CN114102617B - Cooperative security robot - Google Patents
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- CN114102617B CN114102617B CN202111330550.6A CN202111330550A CN114102617B CN 114102617 B CN114102617 B CN 114102617B CN 202111330550 A CN202111330550 A CN 202111330550A CN 114102617 B CN114102617 B CN 114102617B
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- 230000007547 defect Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 3
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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—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables
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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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- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention provides a cooperative security robot, which 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 consists of 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 cooperating the security robot with the unmanned aerial vehicle based on the IROS. According to the scheme, the security robot and the security unmanned aerial vehicle can be cooperatively combined, the security robot is used as a master machine and a command center of the security unmanned aerial vehicle, the advantages of the security robot and the command center are fully exerted, the defects of the security unmanned aerial vehicle and the command center are overcome, the security unmanned aerial vehicle can be configured very low, cooperative communication cost is avoided in operation, and a low-cost intelligent security solution is formed.
Description
Technical Field
The invention relates to the field of robots, in particular to a cooperative security robot.
Background
With the development of computer technology and artificial intelligence, intelligent robots and unmanned aerial vehicles are developed in a long-term manner, and the intelligent robots and unmanned aerial vehicles are applied to the field of security and protection. The security robot is also called security robot, is a robot which is semi-autonomous, autonomous or under the complete control of human beings and assists the human beings to complete security work, is used as a subdivision field of the robot industry, is based on the actual production and living needs and is used for solving potential safety hazards, patrol monitoring, disaster early warning and the like, thereby reducing the occurrence of security accidents and reducing the loss of lives and properties. The unmanned aerial vehicle loaded with the camera can also be used for security monitoring, and has a better visual angle in air monitoring.
The security robot which can only walk on the ground has the defects that some places cannot pass, high places and shielded places cannot be monitored, bad people hiding outside the enclosing wall cannot be perceived, and the like. The common low-cost security unmanned aerial vehicle has the defects of limited calculation power, limited battery capacity, short dead time and the like, and cannot be used for long-time dead operation.
Disclosure of Invention
In order to solve the technical problems, the invention provides a cooperative security robot. The intelligent security robot and the unmanned aerial vehicle can be combined, the advantages of the intelligent security robot and the unmanned aerial vehicle are fully exerted, the defects of the intelligent security robot and the unmanned aerial vehicle are overcome, and the intelligent security solution with low cost is formed.
The technical scheme of the invention is as follows:
the system comprises a security robot, a security unmanned aerial vehicle and a collaborative software suite, wherein the security robot consists of 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 collaborative software suite is used for carrying out the collaboration of the security robot and the unmanned aerial vehicle based on the IROS.
For the security robot, the intelligent chassis is a carrier of a foundation and other components of the security robot, and the security robot is enabled to move intelligently and autonomously and patrol security under the command of the computing unit.
Further, the method comprises the steps of,
the wifi basic station is installed on the security protection robot, provides the reliable high performance communication service of removal for security protection unmanned aerial vehicle on the hardware, and the software communication between the 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. The IROS provides communication services such as anonymous message pushing, synchronous service calling, parameter calling and the like, and ensures the coordination between the security robot and the security unmanned aerial vehicle.
The collaborative software suite refers to a series of IROS-based applications installed on a security robot and a security unmanned aerial vehicle. The storage unit on the security robot can be configured with a larger storage space, a plurality of topics are created on the IROS on the security robot, and messages in the topics are persisted on the storage unit. The security robot cooperation 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 cooperation software suite can subscribe to an instruction topic control instruction message on the security robot through an IROS installed by the security unmanned aerial vehicle cooperation software suite, and the security unmanned aerial vehicle is operated according to the control instruction message, such as changing the flight direction, flying height, photographing, and the like; the method comprises the steps that photos and video data generated by photographing and shooting of the security unmanned aerial vehicle can be published to a video topic of the security unmanned aerial vehicle in real time, a collaborative software suite of the security unmanned aerial vehicle subscribes video information from the video topic and analyzes and stores the video information in real time on a storage unit, and if the security unmanned aerial vehicle needs to act next step after analysis, the security unmanned aerial vehicle synchronously invokes control service on the security unmanned aerial vehicle or asynchronously publishes control information to an instruction topic through an IROS; some configuration information of the security unmanned aerial vehicle is stored on IROS configuration parameters of the security unmanned aerial vehicle, the configuration parameters need to be read when the security unmanned aerial vehicle is started each time, and the security unmanned aerial vehicle can modify the configuration parameters.
A security robot can simultaneously carry and control a plurality of security unmanned aerial vehicles, and the security unmanned aerial vehicles communicate through the IROS topics, services and parameters, and each security unmanned aerial vehicle has exclusive IROS topics, services and parameter services.
Further, the method comprises the steps of,
the intelligent chassis is provided with the parking apron specially designed for the security unmanned aerial vehicle, and when the security unmanned aerial vehicle works, the security unmanned aerial vehicle can be stably parked on the security unmanned aerial vehicle, so that the security unmanned aerial vehicle can be used as a master machine and a command center of the security unmanned aerial vehicle. The ground is convenient for the security robot to execute the task, and the security robot executes the task in the air, and when the ground is inconvenient, the security robot automatically calls or manually remotely calls the security unmanned aerial vehicle which is parked on the security robot.
The charging station specially designed for the security unmanned aerial vehicle is arranged above the security robot, and when the electric quantity of the security unmanned aerial vehicle is insufficient, the security unmanned aerial vehicle can automatically charge by using the charging station above the security robot.
The security robot is provided with a stronger computing unit and a storage unit, and the computing unit integrates AI computing power, 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 tasks; the security robot can recall the security unmanned aerial vehicle which is in the task according to the situation. The security robot is provided with a remote control module, and a director can indirectly remotely control the security unmanned aerial vehicle through the remote control module.
The invention has the beneficial effects that
The security robot and the security unmanned aerial vehicle are cooperatively combined, the security robot is used as a master machine and a command center of the security unmanned aerial vehicle, the advantages of the security unmanned aerial vehicle and the command center are fully exerted, the defects of the security unmanned aerial vehicle and the command center are overcome, the security unmanned aerial vehicle can be configured very low, cooperative communication cost is avoided in operation, and an intelligent security solution with low cost is formed.
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
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection 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 consists of an intelligent chassis, an air park, a charging station, a wifi base station, a computing unit, a storage unit, a remote control module, an IROS (intelligent remote control system) and the like, the security unmanned aerial vehicle is also provided with the IROS, and the cooperative software suite is used for cooperating the security robot with the unmanned aerial vehicle based on the IROS.
The wifi basic station is installed on the security protection robot, provides the reliable high performance communication service of removal for security protection unmanned aerial vehicle on the hardware, and the software communication between the 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. The IROS provides communication services such as anonymous message pushing, synchronous service calling, parameter calling and the like, and ensures the coordination between the security robot and the security unmanned aerial vehicle.
As shown in fig. 1, the collaborative software suite refers to a series of IROS-based applications installed on security robots and security drones. The storage unit on the security robot can be configured with a larger storage space, a plurality of topics are created on the IROS on the security robot, and messages in the topics are persisted on the storage unit. The security robot cooperation software suite issues control instructions of the security unmanned aerial vehicle to the instruction topics 101 on the security robot, the security unmanned aerial vehicle cooperation software suite can subscribe to the instruction topics 101 control instruction information on the security robot through the IROS installed by the security unmanned aerial vehicle cooperation software suite, and the security unmanned aerial vehicle is operated according to the control instruction information, such as changing the flight direction, flying height, photographing and the like; the photos and video data generated by photographing and shooting of the security unmanned aerial vehicle can be published to the video topic 102 of the security unmanned aerial vehicle in real time, the collaborative software suite of the security unmanned aerial vehicle subscribes video information from the video topic 102 and analyzes and stores the video information in real time on a storage unit, and if the security unmanned aerial vehicle needs to act next step after analysis, the control service 301 on the security unmanned aerial vehicle is synchronously called through an IROS or control information is asynchronously published to the instruction topic 101; some configuration information of the security unmanned aerial vehicle is stored on the security robot IROS configuration parameters 201, the security unmanned aerial vehicle needs to read the configuration parameters 201 when being started each time, and the security unmanned aerial vehicle can modify the configuration parameters 201.
A security robot can simultaneously carry and control a plurality of security unmanned aerial vehicles, and the security unmanned aerial vehicles communicate through the IROS topics, services and parameters, and each security unmanned aerial vehicle has exclusive IROS topics, services and parameter services.
For the security robot, the intelligent chassis is a carrier of a foundation and other components of the security robot, and the security robot is enabled to move intelligently and autonomously and patrol security under the command of the computing unit. The intelligent chassis is provided with the parking apron specially designed for the security unmanned aerial vehicle, and when the security unmanned aerial vehicle works, the security unmanned aerial vehicle can be stably parked on the security unmanned aerial vehicle, so that the security unmanned aerial vehicle can be used as a master machine and a command center of the security unmanned aerial vehicle. The ground is convenient for the security robot to execute the task, and the security robot executes the task in the air, and when the ground is inconvenient, the security robot automatically calls or manually remotely calls the security unmanned aerial vehicle which is parked on the security robot. The charging station specially designed for the security unmanned aerial vehicle is arranged above the security robot, and when the electric quantity of the security unmanned aerial vehicle is insufficient, the security unmanned aerial vehicle can automatically charge by using the charging station above the security robot. The security robot is provided with a stronger computing unit and a storage unit, and the computing unit integrates AI computing power, 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 tasks; the security robot can recall the security unmanned aerial vehicle which is in the task according to the situation. The security robot is provided with a remote control module, and a director can indirectly remotely control the security unmanned aerial vehicle through the remote control module.
Because the power supply, calculation, storage and the like are mainly performed on the security robot, the cost of the unmanned aerial vehicle and the whole is low.
The security robot cooperation scheme combining the robot and the unmanned aerial vehicle can be expanded to other fields according to different sensors and algorithms.
The foregoing description is only illustrative of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (5)
1. The 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; the cooperative software suite performs cooperative operation between the security robot and the unmanned aerial vehicle based on the IROS;
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 installed on the security robot and the unmanned aerial vehicle;
the IROS provides anonymous message pushing, synchronous service calling and parameter calling services, and cooperation between the security robot and the unmanned aerial vehicle is guaranteed;
the collaborative software suite refers to an IROS-based application installed on a security robot and an unmanned aerial vehicle, more than one topic is created on the IROS on the security robot, information in the topics is persisted on a storage unit, and communication operation is carried out between the security robot and the unmanned aerial vehicle based on the IROS;
the control instruction of the unmanned aerial vehicle is issued to an instruction topic on the security robot by the security robot cooperative software suite, the unmanned aerial vehicle cooperative software suite subscribes to an instruction topic control instruction message on the security robot through the IROS, the unmanned aerial vehicle is operated according to the control instruction message, photos and video data generated by photographing and shooting of the unmanned aerial vehicle are issued to the video topic of the unmanned aerial vehicle in real time, the cooperative software suite of the security robot subscribes to the video message from the video topic, and analyzes and saves the video message to the storage unit in real time, and after analysis, the unmanned aerial vehicle synchronously invokes control service on the unmanned aerial vehicle or asynchronously issues the control message to the instruction topic through the IROS if the unmanned aerial vehicle needs to act next step;
the configuration information of the unmanned aerial vehicle is stored on the IROS configuration parameters of the security robot, the configuration parameters need to be read when the unmanned aerial vehicle is started each time, and the unmanned aerial vehicle can modify the configuration parameters.
2. The security robot of claim 1, wherein the robot comprises a plurality of sensors,
one security robot can simultaneously carry and control one or more unmanned aerial vehicles, communication is carried out between the unmanned aerial vehicles through IROS topics, services and parameters, and each unmanned aerial vehicle has exclusive IROS topics, services and parameter services.
3. The security robot of claim 1, wherein the robot comprises a plurality of sensors,
the security robot can automatically call through a remote control module or call the unmanned aerial vehicle through manual remote control to execute an aerial task.
4. The security robot of claim 1, wherein the robot comprises a plurality of sensors,
the charging station designed for the unmanned aerial vehicle is arranged above the security robot, and when the electric quantity of the unmanned aerial vehicle is insufficient, the unmanned aerial vehicle can automatically charge by using the charging station above the security robot.
5. The security robot of claim 1, wherein the robot comprises a plurality of sensors,
the security robot is provided with the 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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| CN101853006B (en) * | 2010-04-17 | 2011-08-31 | 上海交通大学 | Multi-agent cooperative control system |
| CN105429858B (en) * | 2015-12-11 | 2018-08-03 | 中国人民解放军国防科学技术大学 | A kind of real-time Message Passing method between multirobot |
| US11107090B2 (en) * | 2016-06-06 | 2021-08-31 | Epiance Software Pvt. Ltd. | System and method for automated content generation |
| CN107589752B (en) * | 2017-07-25 | 2021-08-20 | 天津大学 | Method and system for realizing cooperative formation of unmanned aerial vehicle and ground robot |
| CN108762206B (en) * | 2018-05-21 | 2021-01-12 | 弗徕威智能机器人科技（上海）有限公司 | Cooperative operation system and method for unmanned aerial vehicle and service robot |
| EP3690383A1 (en) * | 2019-02-04 | 2020-08-05 | CMI Defence S.A. | Operational section of armoured vehicles communicating with a flotilla of drones |
| CN110647145B (en) * | 2019-09-05 | 2022-12-09 | 新疆大学 | Ground mobile robot and unmanned aerial vehicle cooperative operation system and method based on security |
| CN111300372A (en) * | 2020-04-02 | 2020-06-19 | 同济人工智能研究院(苏州)有限公司 | Air-ground cooperative intelligent inspection robot and inspection method |
| CN214112731U (en) * | 2020-12-21 | 2021-09-03 | 河海大学常州校区 | Unmanned aerial vehicle-robot is inspection device in coordination |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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Denomination of invention: A Collaborative Security Robot Granted publication date: 20230704 Pledgee: Qilu Bank Co.,Ltd. Jinan Science and Technology Innovation Financial Center Branch Pledgor: Shandong new generation Information Industry Technology Research Institute Co.,Ltd. Registration number: Y2024980023411 |