CN1331641C - Security ensuring and patrolling robot - Google Patents

Security ensuring and patrolling robot Download PDF

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Publication number
CN1331641C
CN1331641C CNB2004100280615A CN200410028061A CN1331641C CN 1331641 C CN1331641 C CN 1331641C CN B2004100280615 A CNB2004100280615 A CN B2004100280615A CN 200410028061 A CN200410028061 A CN 200410028061A CN 1331641 C CN1331641 C CN 1331641C
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China
Prior art keywords
patrol
control
security personnel
robot
sensor
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Expired - Fee Related
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CNB2004100280615A
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CN1593859A (en
Inventor
谢存禧
曾德怀
黄瑞华
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South China University of Technology SCUT
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South China University of Technology SCUT
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Publication of CN1331641C publication Critical patent/CN1331641C/en
Expired - Fee Related legal-status Critical Current
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Abstract

The present invention relates to a security ensuring patrol robot which comprises a robot body 1, a security-monitoring monitor system 2, a control system 3 and a multi-sensor data fusion system, wherein a translational control component and a supporting rack of the robot body are respectively fastened with an outer shell; the security-monitoring monitor system is composed of an infrared temperature measurement sensor, a smoke sensor, a heat-release infrared sensor, a miniature CCD camera, an alarm lamp, a buzzer and a picture signal wireless transmission module; the control system completes the autonomous patrol, the translational control and the alarm control of the security ensuring patrol robot in the environment; the robot of the present invention can be set up for the autonomous patrol operating mode or the manual manipulation operating mode. The robot carries out the patrol according to the preset route and determines the located position by fusing information coming from different sensors. The robot can autonomously keep away from periphery obstacles and can modify the forward route. The present invention can adapt to the development trend that the security ensuring work become onerous increasingly and can improve the automation level of the security ensuring patrol work.

Description

Security personnel's patrol machine dog
Technical field
The present invention relates to robot, particularly a kind of security personnel's patrol machine dog.
Background technology
Along with The development in society and economy, the scale and the quantity in large-scale places such as superstore, large-scale logistics warehouse, airport, station, hospital, conference and exhibition center constantly enlarge, and the high rise multi-rise commercial building of big and medium-sized cities is increasing, and its security personnel's patrol mission will be heavy day by day.And the patrol work of ensuring public security at present mainly depends on manpower patrol or the monitoring of CCD fixed point, need expend lot of manpower and material resources, and very high to the degree of dependence of security personnel's quality, is difficult to satisfy day and night security personnel's requirement.As adopt robot to combine with above-mentioned means, carry out regularly, fixed point monitoring patrol and robot uninterruptedly flow and go on patrol that to combine will be present a kind of best solution.
U.S. Cybermotion company discloses the indoor security robot of a kind of " SR2 " by name, wheeled mobile robot that adopts trolley type of this robot, can in a tame pharmaceuticals building catwalk, do patrol work, as long as find to have smog or apart from its 30 meters with the interior pedestrian of having, it will give the alarm to the operator on duty of command centre.But do not mention in the document that this robot can be transferred to the surrounding enviroment image in the patrol scope command centre, dynamically avoid advancing barrier in the way and the route of independently revising patrol.
In addition, a kind of " security robot " of the student of the electronic engineering design of Singapore Westbound sloid institute, described robot utilize video camera can with around 300 meters give the control room with interior image by RTTY, in the process of moving, if hard thing is run into by robot, it can halt automatically, conversion direction.But this robot total is small, and very light in weight, the whereabouts of the personnel around can not detecting, even may be embraced away poor practicability by the people.
Similar machine people above-mentioned and of the prior art exists function singleness, investigative range narrow, poor to the adaptability and the patrol efficient of environment, and can not continuous, multi-faceted patrol and defective such as path planning inaccurate coordination.
Summary of the invention
Main purpose of the present invention is to provide a kind of security personnel's patrol machine dog at the defective of prior art existence, can realize manual remote control or from main control, have anti-theft alarm function; Investigative range is wide, strong to the adaptability of environment, patrol efficient height, and can continuous, multi-faceted patrol, path planning harmony is good.
Security personnel's patrol machine dog of the present invention comprises
---security personnel's patrol machine dog body, the front-wheel, the bracing frame of supporting body, the mobile control unit that comprise shell, body is moved;
Described shell is pressed the paranorm moulding by glass-reinforced plastic material, have an integral body of finishing of one's own, the inner chamber of security personnel's patrol machine dog is roomy, can hold control circuit module and power supply, and eyes, face and the ear region of interest of security personnel's patrol machine dog then are used for sensor installation in the preformed hole position;
Bracing frame can be formed by stainless steel and rubber adhesion, and existing certain rigidity has enough elasticity again, can anticollision;
Front-wheel is a kind of universal wheel, be installed in bracing frame below, turned in robot dog fast and flexible ground;
Mobile control unit control robot dog moves freely on the ground, and can regulate the speed of travel and the moving direction of security personnel's patrol machine dog in real time; Mobile control unit is made of two cover direct current generators, miniature gear reduction box and high-resolution photoelectric encoder, can make the parametrization and the modularization of software servo system;
Mobile control unit and bracing frame are fastenedly connected with the shell of security personnel patrol machine dog respectively, make the whole center of gravity of security personnel's patrol machine dog placed in the middle, can walk more reposefully;
---safety defense monitoring system is the concrete execution unit that robot dog carries out the guard monitor operation, releases infrared sensor, miniature CCD camera, warning lamp, buzzer and image signal radio transport module by infrared temperature-test sensor, Smoke Sensor, heat and forms.Wherein, infrared temperature-test sensor is configured in security personnel's patrol machine dog front end, and Smoke Sensor is installed in the afterbody of security personnel's patrol machine dog, and heat is released infrared sensor and is installed in security personnel's patrol machine dog mouth position.Two high accuracy CCD cameras are configured in security personnel's patrol machine dog eyes position, and in order to enlarge the scope of security personnel's patrol machine dog vision pan, by two stepper motors do rotation controls, control is simple, flexible respectively for camera; The picture signal that the CCD camera is gathered sends to the remote monitoring chamber after modulating through the image wireless transport module.Outstanding more " security personnel " fright effect of security personnel's patrol machine dog of the present invention, red green alternate warning lamp is installed in security personnel's patrol machine dog overhead, buzzer is installed in the afterbody of security personnel patrol machine dog, and under certain condition, security personnel's patrol machine dog warning lamp that can glimmer is automatically reported to the police;
---control system, the task of control system is to finish autonomous patrol, mobile control and the controlling alarm of security personnel's patrol machine dog in environment of living in by command information, mainly comprise command information input module, command information receiver module, single chip control module, PC104 core control system, described PC104 kernel control module and instruction information is respectively introduced module and each single chip control module and is electrically connected, and command information input module and instruction information receiving module is to transmit signal in the wireless radiofrequency mode;
Described command information input module comprises the RSC-364 speech recognition circuit of handle button and U.S. SENSORY company.
Speech recognition circuit, robot receive from discerning after removing noise, filtering processing by voice controller behind effector's the voice signal, are converted to data signal and just can realize controlling robot.
---the multi-sensor information fusion system comprises
(1) PC104 computer, it is the core of The whole control system, after receiving button control instruction or voice control signal, patrol or manually-operated pattern are automatically selected according to command content by robot, simultaneously the robot instruction is sent to walking control driver module, move simultaneously by walking control driver module control direct current generator, to satisfy the control requirement of friction speed, different radiuss of turn.
PC104 adopts the SED-586SEV-P computer, and higher arithmetic speed and high reliability are arranged, and makes it can satisfy the coordination control requirement of multiple single chip microcomputer control module control system.PC104 controls main advantage to robot and has shown as enough memory capacity and high-speed computation speed, can carry out various interface, communication, data logical operation and complicated logic control.In order to improve the interference free performance of The whole control system, complicated algorithms such as control strategy, path planning, multi-sensor information fusion are finished by PC104, and the motor-driven bottom control then adopts single-chip microcomputer to finish.
The present invention can adopt the MCS-51 series monolithic, with its low cost, high integrated, instruction is strong, speed is fast, easily expansion is widely used in industrial every aspect.The upper strata control system of described robot has adopted the advantage of instruction flexibly of PC104 high speed and high reliability, and the PC104 system is carried out core control as host computer; The motor-driven control module has absorbed the with low cost and strong characteristics of autgmentability of SCM system, utilizes single-chip microcomputer as slave computer; Thereby avoided interference and the misoperation of single computer system in control.And each system all adopts modularized design in this control system, and the reliability of system and maintainability are also corresponding to be increased substantially.
(2) ultrasonic sensor, vision sensor and geomagnetic sensor make described robot stablize, finish reliably the task of security personnel's patrol more.Any sensor all has the certain precision and the scope of application, because the existence of external interference, single-sensor can only provide part, coarse information, thereby cause whether the existence of material object is judged by accident or its distance detection is produced error, therefore the patrol robot of ensuring public security is equipped with multiple message complementary sense sensor, and the kind of these sensors and performance and reaction speed all differ greatly, because uncertainty and incompleteness that single-sensor is measured, obtaining pretreated sensor information can't guarantee reliable fully and correct, so the multi-level information from multiple information sources is carried out denoising, conversion and processing such as calibration mutually, thus navigation is merged in the behavior of realization self adaptation.
The present invention has following advantage and economic results in society with respect to prior art:
(1) the present invention is with multiple sensors information, visual information integration technology, and wireless remote control technology, speech recognition and interactive function are in one.Its basic structure is made of sensor, controller and motion, and wherein sensor is made up of ultrasonic ranging sensor, infrared sensor, Smoke Detection sensor and camera.These sensors have constituted mobile robot's multisensor syste.The mobile robot is exactly situation and the variation of every perceptional function to adapt to extraneous complex environment of finishing oneself on the basis of this multi-sensor information fusion.
(2) machine human heart-central processor CPU utilizes multi-sensor information fusion technology, the various information of the robot environment of living in that is obtained by a plurality of sensors and CCD (position, path, barrier etc.) are integrated, these information are carried out fusion treatment, thereby make robot can understand oneself state and own residing external environmental information, and make in real time the motion control of oneself decision-making-avoiding barrier, seek optimal path, realize independently moving, basic functions such as fixed-point motion, track following, trackless walking.
(3) utilize sensor and controller, on the one hand the mobile robot can be autonomous finishes functions such as movement navigation, avoiding barrier; On the other hand, people can utilize diversified means that it is carried out the control of variety of way, can be to the robot straighforward operation in the control room.In addition, the patrol security robot also has the function of accepting phonetic order.Robot can realize human-computer dialogue after through the teaching training, acceptor's sound instruction can be understood to executor's corresponding action by robot.
The present invention adapts to the heavy day by day development trend of security work preferably, improves the automatization level of security personnel's patrol work.
Description of drawings
Fig. 1 is a perspective view of the present invention;
Fig. 2 is a mobile control unit assembly structure schematic diagram of the present invention;
Fig. 3 is a control system structural representation of the present invention;
Fig. 4 is the motor speed measurement circuit diagram among the embodiment;
Fig. 5 is to the present invention's control program flow chart that patrol robot implements of ensuring public security.
The specific embodiment
The present invention is described in further detail below in conjunction with embodiment and accompanying drawing, and robot can control by manual remote control/and the mode of autonomous patrol carries out security work, and present embodiment illustrates in the mode of autonomous patrol.
Accompanying drawing 1 shows schematic perspective view of the present invention, and the robot ambulation system is made up of the bracing frame 2 of universal wheel 1, body, body 8, driving wheel 10, motor stop sleeve 11 etc.; Accompanying drawing 3 shows robot control system structure chart of the present invention, and elder generation is the course of work of the robot autonomous patrol of 1,3 explanations in conjunction with the accompanying drawings.To the robot teaching of programming, the teaching patrol route is kept in the memory of embedded computer earlier for the workplace of going into according to machine, route on request.In the time of the ready work of robot, send enabled instruction by the manual control button with wireless mode, allow robot be operated in autonomous patrol mode.In the patrol process, robot is according to ultrasonic sensor 4, the information that CCD vision sensor 6 and geomagnetic sensor are gathered, determine residing position according to information fusion algorithm, and according to the image scene analysis result, carry out kinematic parameter setting or state transformation, the barrier around avoiding, independently revise the route of patrol, return then and continue patrol on the original setting moving line.
Patrol route can be revised in independent and flexible ground by described robot, is to have many heat transfer agents emerging system on the one hand, rejects interfere information; Be direct current generator parametrization driver module on the other hand.Describe described parametrization driver module below in detail.
As shown in Figure 2, two running wheels are driven by two direct current generators respectively, and direct current generator 13 output shafts link to each other with miniature gear reduction box 12, and running wheel 10 is connected in the key mode with reduction gearbox output shaft, and photoelectric encoder is installed on the tailing axle of motor 12.Similarly, direct current generator 16 output shafts link to each other with miniature gear reduction box 17, and running wheel 18 is connected in the key mode with reduction gearbox output shaft, and photoelectric encoder is installed on the tailing axle of motor 15, direct current generator 13 and direct current generator 16 coaxial being installed on the sleeve 11.Two driving wheels are based on the software servo control system of AT89C52 single-chip microcomputer, drive circuit mainly is made up of pulse acquisition circuit, pulse-scaling circuit and control drive circuit three parts, thereby forms position feedback, speed feedback in the direct current generator servo-control system of one.
Dc motor speed measuring circuit described in Fig. 2 is referring to accompanying drawing 4, and PUSLE1 is the pulse of photoelectric encoder output, and CLK is the 8MHz clock pulses, and the 4027th, two JK flip-flops.JK flip-flop is connected into the T trigger, and each PUSLE1 rising edge makes output state flip once.Because 14 pin of U6 are opposite forever with 15 pin level, and the high level of GATE is the key that starts 8253 internal counters, and when it was low level, internal counter stopped counting, but count value does not disappear, and arrives up to new high level.As seen, each PUSLE1 rising edge pulse comes interim, and 8253 must have a counter to stop counting, and count value can read for single-chip microcomputer, and another counter begins counting simultaneously, and two counter work have in turn guaranteed the continuity that tests the speed.Above process realizes automatically by hardware circuit, can also provide up-to-date measurement data to single-chip microcomputer at any time.After the count value that calculates with velocity correlation, compare with the count value of default, determine this to take turns to be to quicken or slow down, slow down the still anti-deceleration of dragging of freely slowing down if desired.Testing the speed when interrupting, according to the result of the comparison of testing the speed, or give the motor forward voltage, or outage or give backward voltage, by section break period one by one, motor is realized indirect PWM speed regulating control.Above-mentioned robot ambulation system adopts open parametrization design, only needs given speed, corner and radius of turn, robot just can realize forward and reversely directly walking, about turning, and any semidiameter turn in original place etc.
Robot of the present invention is when carrying out security personnel's patrol at night security work, referring to accompanying drawing 1,3, robot work is gathered night at the half-light environment or the image of light is arranged by ccd video camera 6, obtain the information of patrol scene flow of personnel all around, in order to realize that the comprehensive scanning of patrol environment has been designed the video camera rotation platform.Platform is made up of rotation platform and camera mechanism for regulating elevation angle two parts; Adopt the driving control system of stepper motor.The information, particularly temperature of obtaining the rising of deposit temperature by infrared temperature-test sensor 3 surpass the setting threshold values, and robot sends rapid chimes of doom by buzzer.5 pairs of human body pyroelectricity processes of human body pyroelectric detector are surveyed, and sensitivity is higher.The afterbody smoke detector also can detect the information of fire.The information that patrol robot is gathered is handled by information combination and is emitted to the remote monitoring level through transmitter, antenna, and this grade is located in the Control Room of user's appointment, shows on monitor after information reception, separating treatment.
Robot of the present invention also has the function of artificial remote control, is in an emergency when robot finds surrounding environment, and reporting information is behind total Control Room, and the monitor staff can switch to robot the manual control state, so that handle critical event etc.
With reference to the accompanying drawings 3, the master stage planning and the multi-sensor information fusion task of control system are finished by built-in PC 104 computers, and the software program flow chart of this main control computer is seen Fig. 5.The following describes this workflow: in the time of startup, each communication interface of first initialization and setting communication baud rate, if communication interface initialization failure carries buzzer and sends " sound of makeing mistakes " on the PC104 plate, prompting operation person restarts.Under the initialization normal condition, robot reads in the patrol route data calculator memory and route data is translated into corresponding machine instruction, and patrol route is presented on the display device then.At this moment, the next wireless instructions of robot waits, when receiving that instruction is automatic action command, robot will start the multi-sensor information fusion module, will be to carrying out denoising, conversion and processing such as calibration mutually from the multi-level information of multiple information sources in the patrol environment, thus realizing that the self adaptation behavior is merged navigates.Automatically in the patrol process, when emergency situation occurring, robot can send execute instruction to Control Room, and the personnel of controlling will carry out manual control to robot, so that finish complicated more patrol mission.
Security personnel's patrol robot of realizing according to mode of the present invention and structure can reach following specification requirement and index:
(1), a universal wheel and two driving wheels are formed the two-wheel drive mode
(2), robot weight: 30kg
(3), the maximum speed of travel can reach 1.5m/s, radius of turn is at 0-2.5m
(4), ultrasonic listening obstacle distance :≤3m
(5), heat is released stranger's distance range that the infrared sensor monitoring is swarmed into: 5m
(6), infrared measurement of temperature distance: 5~10m
(7), alarm temperature threshold values: 60 ℃
(8), wireless image transmission range: 500m (can increase as required)
(9), wireless remote control radius: 500m
(10), video camera revolution range :-25~+ 25 °
(11), robot operating voltage: DC24V (storage battery power supply, stream time 6 hours)

Claims (4)

1, a kind of security personnel's patrol machine dog is characterized in that comprising
---security personnel's patrol machine dog body, the front-wheel, the bracing frame of supporting body, the mobile control unit that comprise shell, body is moved; Mobile control unit and bracing frame are fastenedly connected with shell respectively;
---safety defense monitoring system, release infrared sensor, miniature CCD camera, warning lamp, buzzer and image signal radio transport module by infrared temperature-test sensor, Smoke Sensor, heat and form; Wherein, infrared temperature-test sensor is configured in security personnel's patrol machine dog front end, and Smoke Sensor is installed in the afterbody of security personnel's patrol machine dog, and heat is released infrared sensor and is installed in security personnel's patrol machine dog mouth position; Two high accuracy CCD cameras are configured in security personnel's patrol machine dog eyes position;
---control system, finish autonomous patrol, mobile control and the controlling alarm of security personnel's patrol machine dog in environment of living in by command information, mainly comprise command information input module, command information receiver module, single chip control module, PC104 core control system, described PC104 kernel control module and instruction information is respectively introduced module and each single chip control module and is electrically connected, and command information input module and instruction information receiving module is to transmit signal in the wireless radiofrequency mode;
---the multi-sensor information fusion system comprises
(1) PC104 computer, after receiving button control instruction or voice control signal, security personnel's patrol machine dog is selected patrol or manually-operated pattern automatically according to command content, the patrol machine dog of will ensuring public security simultaneously instruction is sent to walking control driver module, move simultaneously by walking control driver module control direct current generator, to satisfy the control requirement of friction speed, different radiuss of turn;
(2) ultrasonic sensor, vision sensor and geomagnetic sensor.
2, security personnel's patrol machine dog according to claim 1, it is characterized in that described shell by glass-reinforced plastic material by the paranorm moulding, the inner chamber of security personnel's patrol machine dog holds control circuit module and power supply, and eyes, face and the ear region of interest of security personnel's patrol machine dog then are used for sensor installation in the preformed hole position;
Front-wheel is a kind of universal wheel, be installed in bracing frame below.
3, security personnel's patrol machine dog according to claim 1 and 2 is characterized in that mobile control unit control security personnel patrol machine dog moves freely on the ground, and can regulate the speed of travel and the moving direction of security personnel's patrol machine dog in real time; Mobile control unit is made of two cover direct current generators, miniature gear reduction box and high-resolution photoelectric encoder.
4, security personnel's patrol machine dog according to claim 3 is characterized in that described CCD camera respectively by two stepper motors do rotation controls, and the picture signal that the CCD camera is gathered sends to the remote monitoring chamber after modulating through the image wireless transport module; Red green alternate warning lamp is installed in security personnel's patrol machine dog overhead, and buzzer is installed in the afterbody of security personnel's patrol machine dog.
CNB2004100280615A 2004-07-14 2004-07-14 Security ensuring and patrolling robot Expired - Fee Related CN1331641C (en)

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多传感器信息融合在移动机器人导航及其相关技术的研究 陈华志,谢存禧,机床与液压,第4卷 2003 *
多传感器信息融合在移动机器人导航及其相关技术的研究 陈华志,谢存禧,机床与液压,第4卷 2003;多传感器信息融合在移动机器人导航中的应用 陈华志,谢存禧,曾德怀,组合机床与自动化加工技术,第9期 2003;巡航机器人的研究现状与应用前景 陈华志,谢存禧,曾德怀,机电工程技术,第32卷第6期 2003;自主导航巡逻机器人的行走系统的研究 张铁,李琳,曾德怀,机床与液压,第5卷 2003 *
巡航机器人的研究现状与应用前景 陈华志,谢存禧,曾德怀,机电工程技术,第32卷第6期 2003 *
自主导航巡逻机器人的行走系统的研究 张铁,李琳,曾德怀,机床与液压,第5卷 2003 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105511469A (en) * 2015-12-18 2016-04-20 北京联合大学 Unmanned intelligent patrol electric vehicle and patrol system
CN105511469B (en) * 2015-12-18 2018-06-15 北京联合大学 A kind of unmanned intelligent patrol electric vehicle and patrol system

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