CN204871279U - Intelligence security personnel go on patrol machine people - Google Patents

Intelligence security personnel go on patrol machine people Download PDF

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Publication number
CN204871279U
CN204871279U CN201520384043.4U CN201520384043U CN204871279U CN 204871279 U CN204871279 U CN 204871279U CN 201520384043 U CN201520384043 U CN 201520384043U CN 204871279 U CN204871279 U CN 204871279U
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CN
China
Prior art keywords
balance ring
module
frame
universal balance
robot
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Expired - Fee Related
Application number
CN201520384043.4U
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Chinese (zh)
Inventor
金云霄
李世平
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Chongqing Yingmansi Iot Co Ltd
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Chongqing Yingmansi Iot Co Ltd
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Priority to CN201520384043.4U priority Critical patent/CN204871279U/en
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Publication of CN204871279U publication Critical patent/CN204871279U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The application discloses an intelligence security personnel go on patrol machine people, this robot adopts the host computer structure of gyroscope, when the host computer has the counter weight, the counter weight face of ensureing the rotator host computer is all the time towards ground, through the detection to the ground distance, can prevent that the robot from being takeed up or toppling, therefore have lightly small and exquisitely, advantage with low costs, through the control system who adopts above -mentioned robot, can realize the autonomic location of robot, the march guide of route and target of realization, and has a humiture, smog, catch fire, the toxic gas, the super large sound, quick object removes, the recording, the video recording, be close, touch, these earthquake sounds of moving, light, electric alarm and self -defence function.

Description

Intelligent safety patrol robot
Technical field
The utility model relates to Robotics, is specifically related to a kind of structure and control system thereof of intelligent safety patrol robot.
Background technology
Along with the high speed development of economy and technology, the living standard of people improves constantly, and the high efficiency of people to the convenience of life, safety and production it is also proposed higher requirement, and the intelligent robot being therefore applied to industry-by-industry arises at the historic moment.In a lot of industry, especially high risk industries, by adopting intelligent robot, people can free from dangerous onerous toil, and intelligent safety robot has great using value because of it in actual life, be subject to a class robot of extensive concern robot field recent years.
Robot is divided into fixed type and autonomous formula.Can only be fixed on the stationary machine people of certain position operation, its function and application scope is all subject to certain restrictions.Autonomous mobile robot is then movable to the position that stationary machines people cannot arrive, and has better manoevreability and comformability, completes more complicated operation task.Intelligent safety robot belongs to autonomous mobile robot, comes perception environment and oneself state by sensor, realizes object-oriented autokinetic movement in the environment having obstacle, thus completes the robot system of certain operation function.
Existing intelligent safety robot, except having the function of self poisoning, path navigation and target positioning, the more important thing is the function with self-protection, data acquisition and warning aspect.Often there is following problem in existing intelligent safety robot: intelligent safety robot can not carry out teaching display stand protection for the purpose of injury and attack the other side, so existing intelligent safety robot all adopt larger volume (usually and people's height similar, floor area is 4-5 times of people), and adopt entity structure, there is larger weight, to arouse attention collision free, and adopt heavier weight to avoid and moved by people, thus need larger power driven, thus, high-performance motor and battery are absolutely necessary, which in turns increases the weight of robot itself, add the consumption of the energy of robot own, add the difficulty of robot motion itself, add the cost of intelligent safety robot.
Utility model content
The purpose of this utility model is to provide the intelligent safety patrol robot of a kind of miniaturization, hand-held design, low cost.
The utility model scheme is as follows: intelligent safety patrol robot, the main frame comprising the frame for walking and be detachably arranged in frame, frame is provided with hoofing part module, described main frame adopts gyroscope, gyroscope comprises top sieve revolution frame, be arranged on the first universal balance ring in top sieve revolution frame, described first universal balance ring place plane and described top sieve turn round frame place plane orthogonal, first universal balance ring and described top sieve turn round the axis place straight line of the attaching parts between frame and top sieve turns round the diameter of frame on the same line, the second universal balance ring with this first universal balance ring place plane orthogonal is provided with in the first universal balance ring, the axis place straight line of the attaching parts between the second universal balance ring and the first universal balance ring and the diameter of described first universal balance ring are on the same line, described second universal balance ring and top sieve turn round frame place plane orthogonal, spin axis is provided with along the diametric(al) of the second universal balance ring in the second universal balance ring, described spin axis and the first universal balance ring place plane orthogonal, described spin axis is provided with swivel,
Described swivel is provided with mainframe box and the battery pack doubling as counterweight, be provided with drive control module in mainframe box, drive battery module and functional module, described drive control module and the wireless telecommunications of described hoofing part module, described functional module comprises warning device, mainframe box is provided with three-dimensional sensor array, be provided with ground short-range sensors bottom mainframe box, described drive control module is electrically connected with described driving battery module, functional module, sensor array and ground short-range sensors respectively;
Described drive control module comprises main control computer and is arranged on the drived control communication interface on main control computer, long-range broadband connections interface, local wireless broadband interface, satellite positioning communication interface, high speed USB concentrator and drives battery module interface.
Principle of the present utility model and beneficial effect as follows:
Illustrate, the utility model intelligent safety patrol robot, hereinafter referred to as robot.
1. the utility model intelligent safety patrol robot is primarily of the drive part of motion, the control part of motion and security function three part composition, form modular design, each module can have oneself intelligent master control unit, can independently updated, upgrading, iteration, application.
2., in dynamic unknown environment, the utility model intelligent safety patrol robot, by adopting three-dimensional sensor array, under the control of drive control module, gathers different range data to realize location.Further, more perception that three-dimensional sensor array makes robot realize external environment condition, provide more, more fully integrated information data.
3. owing to being provided with drived control communication interface, long-range broadband connections interface, local wireless broadband interface and satellite positioning communication interface on the main control computer of drive control module, therefore, global position system, wireless network designating system can be adopted, as the guide of its patrol path with target of advancing.Drived control communication interface is used for the interface of the controlled in wireless of the hoofing part module of frame; Long-range broadband connections interface, by the 4G network of telecommunication, for intelligent safety patrol robot when there is no local wireless broadband interface (Wi-fi) and the subsidiary communications that manipulates of the long-distance video image transmitting of backstage platform, remote alarms information and remote interaction; Local wireless broadband interface (Wi-Fi), by the broadband Wi-Fi network of local wireless, can realize wireless proximity telemanagement to intelligent safety patrol robot with mobile phone; Satellite positioning communication interface, GPS is the main locate mode of intelligent safety patrol robot, locates on a large scale and at a distance for intelligent safety patrol robot outdoor.
4. the utility model adopts gyrostatic physical construction to connect control mechanism and the hoofing part module of robot, and gyroscope can be connected with the frame with different driving form, can be realized the driving of different institutions by the mode changed in control mechanism.Simultaneously, because frame and main frame removably connect, therefore according to different needs, frame can select the structure with difference in functionality, keeping away barrier as having in outdoor selection, detouring, cross over, climb, descending, cross the frame with dropproof function, the utility model, by selecting different frames, can realize can carrying out intelligent safety patrol at indoor and outdoors.
5. between the hoofing part module of drive control module and frame, adopt wireless telecommunications, decrease the line between gyroscope and drive control module, simplify the connection mode between gyroscope and drive control module, make the utility model robot architecture simpler, outward appearance is more succinct.
6. be placed in the battery pack of a rotating body, as the configuration of swivel, remain level when swivel can be made to rotate, counterweight face is all the time towards ground simultaneously.
7. be placed in the ground short-range sensors bottom mainframe box, for under the non-automatic control pattern of the utility model robot away from ground (as rollover or picked up by people) time alarm detection, detection signal is passed to the main control computer of drive control module, controlled send or send alarm message by master controller, reach the object of robot self-insurance.
To sum up, because the main frame of the utility model robot adopts gyroscope arrangement, because gyroscope arrangement is small and exquisite, therefore compared with prior art, robot of the present utility model has self-insurance, small and exquisite, light feature concurrently simultaneously, and therefore without the need to larger power driven, cost is lower, practicality is high, has good market application foreground.
A kind of optimal way is that spin axis, the second universal balance ring, the first universal balance ring and Tuo Luo turn round frame and form feed circuit, for being electrically connected battery pack and hoofing part module.By above-mentioned design, hoofing part module of the present utility model can directly be powered by battery pack, and without the need to additionally installing other driving powers, alleviates weight of the present utility model further, reduces cost of the present utility model.
Another kind of optimal way is, described hoofing part module is driven by motor, spin axis, the second universal balance ring, the first universal balance ring and Tuo Luo turn round frame and form feed circuit, and the electric energy for being produced by motor supplies drive control module simultaneously, drives battery module, functional module, sensor array and ground short-range sensors.When the electricity of battery pack exhausts, power to mainframe box by the motor in frame.
Further, described mainframe box is six casings, sensor array shows five groups, wherein Four composition is not arranged on four vertical planes of mainframe box, another group is arranged on the end face of mainframe box, often organizes sensor array and includes ultrasonic distance measuring module, camera, microwave motion sensor, temperature sensor, humidity sensor, opto-electronic pickup and Smoke Sensor.The design form of the sensor array, forms the aware space of omnibearing stereo, can the more information of perception, and information more comprehensively.Ultrasonic distance measuring module is used for range finding, realizes robot site surrounding environment three-dimensional localization roughly; Infrared camera is used for the collection of the view data of robot; Whether microwave motion sensor has the object of movement in ambient environment for detecting, as early warning.
Accompanying drawing explanation
Fig. 1 is the structural representation of intelligent safety patrol robot main frame of the present utility model;
Fig. 2 is the structural representation of mainframe box in Fig. 1 embodiment;
Fig. 3 is the illustrative view of functional configuration of drive control module;
Fig. 4 is the illustrative view of functional configuration driving battery module;
Fig. 5 is the front view of sensor array;
Fig. 6 is the right elevation of sensor array.
Detailed description of the invention
Below by detailed description of the invention, the utility model is described in further detail:
Reference numeral in Figure of description 1 comprises: top sieve revolution frame 101, first universal balance ring 102, second universal balance ring 103, spin axis 104, swivel 105, first connecting rod 106, second connecting rod 107.
The intelligent safety patrol robot of the present embodiment, comprises frame and main frame, and frame, as traveling gear, is provided with hoofing part module, and hoofing part module can adopt the motor self arranged to drive, and also supplies electric drive by external power.
As shown in Figure 1: main frame adopts gyroscope arrangement, gyroscope arrangement comprises top sieve revolution frame 101 of ring-type, the first universal balance ring 102 of top sieve revolution frame 101 inside casing is connected to by two first connecting rods 106, axis place straight line and top sieve of two first connecting rods 106 turn round the diameter of frame 101 on the same line, and the first universal balance ring 102 place plane and top sieve turn round frame 101 place plane orthogonal.The second universal balance ring 103 with the first universal balance ring 102 place plane orthogonal is provided with by two second connecting rods 107 in the first universal balance ring 102, on the same line, this second universal balance ring 103 turns round frame 101 place plane orthogonal with top sieve simultaneously for the axis place straight line of two second connecting rods between the second universal balance ring 103 and the first universal balance ring 102 and the diameter of described first universal balance ring 102.Radial direction along the second universal balance ring 103 is provided with a spin axis 104, this spin axis 104 and first universal balance ring 102 place plane orthogonal, above-mentioned spin axis 104 is provided with swivel 105, and above-mentioned swivel 105 and described first universal balance ring 102 are at grade.Top sieve revolution frame 101 bottom be provided with bearing, the longitudinal center line of described bearing and the longitudinal center line of described spin axis 104 on the same line, are provided with chassis in the bottom of bearing, for being connected with above-mentioned frame.
In the present embodiment, spin axis 104, second universal balance ring 103, first universal balance ring 102 and Tuo Luo turn round frame 101 as current supply circuit.Swivel 105 inside arranges Hi cell group, is that frame is powered by above-mentioned current supply circuit.If frame is provided with motor, then motor is also powered to swivel 105 by current supply circuit.
In swivel 105, be provided with mainframe box, the shape of mainframe box can be box-shaped, also can be spherical, and the present embodiment is box-shaped.
As shown in Figure 2, mainframe box comprises the sensor array being arranged on casing outside and the drive control module 206 being arranged on box house, drives battery module 207 and functional module 208.The present embodiment intelligent safety patrol robot has five groups of sensor arraies, wherein first group of sensor array, 201, second group of sensor array 202, the 3rd group of sensor array 203, the 4th group of sensor array 204 are positioned at four vertical surface of mainframe box, and the 5th group of sensor array 205 is arranged on the top of intelligent safety patrol robot mainframe box.In Fig. 2, ground short-range sensors is not shown.What the ground short-range sensors of the present embodiment adopted is ultrasonic range finder.
Drive control module as shown in Figure 3, comprises main control computer and is arranged on drived control communication interface (Zigbee), long-range broadband connections interface (4G), local wireless broadband interface (Wi-Fi), satellite positioning communication interface (GPS), high speed USB concentrator, the driving battery module interface on main control computer.Wherein, high speed USB concentrator is two pieces, arranges five sensor array interfaces and five functional module interface respectively.
Main control computer: the core intelligence parts being intelligent safety patrol robot, these parts resident " Internet of Things network operating system ", realize real-time control, process, scheduling and management to each intelligent parts forming intelligent safety patrol robot;
Local wireless broadband interface (Wi-Fi): by the broadband Wi-Fi network of local wireless, wireless proximity telemanagement can be realized to intelligent safety patrol robot with mobile phone, what also can be used for that intelligent safety patrol robot and the preferred long-distance video image transmitting of backstage platform, remote alarms information manipulates with remote interaction communicates, and guides for this locality in intelligent safety patrol robot patrol path;
Long-range broadband connections interface (4G): by the 4G network of telecommunication, for intelligent safety patrol robot when not having local wireless broadband interface (Wi-fi) and the subsidiary communications that manipulates of the long-distance video image transmitting of backstage platform, remote alarms information and remote interaction;
Satellite positioning communication interface (GPS): GPS is the main detent mechanism of intelligent safety patrol robot, locates on a large scale and at a distance for intelligent safety patrol robot outdoor, to determine operation main path and the target of intelligent safety patrol robot;
Drived control communication interface (Zigbee): for the interface of the controlled in wireless of the hoofing part module of frame;
Drive battery module interface: for driving the interface of battery module;
High speed USB concentrator: for the line concentration interface of multiple parts;
Sensor array interface 1-5: for the interface of sensor array module;
Functional module interface 1-5: for the interface of other difference in functionality modules of intelligent safety patrol robot.
As shown in Figure 4, drive that battery module comprises primary controller and the driving battery module interface be connected with primary controller respectively, Intelligent wireless charger/manager, battery charge/steady arm, gyro sensor, acceleration pick-up, the ground short-range sensors of tracking, wherein, Intelligent wireless charger/manager is connected with Hi cell group.
Drive battery module primary controller: be the main control part driving battery module ,/steady arm, wireless charger/manager, gyro sensor, the data acquisition of acceleration pick-up, operational administrative and the control of tracking of charging for driving battery;
Drive battery module interface: for the interface with intelligent safety patrol robot drive control module;
Hi cell group: the energy storage component being intelligent safety patrol robot electric energy is also the gravity weight member of swivel 105, guarantees that the main frame of intelligent safety patrol robot can keep the state of level in any;
Intelligent wireless charger/manager: be arranged on the intelligent wireless charger in driving battery module and power management component, provide battery to be full of auto-breaking signal, the functions such as the low warning of battery electric quantity;
Battery charging tracks/steady arm: be arranged on drive the charging of the battery in battery module track/steady arm is when the battery electric quantity of intelligent safety patrol robot is not enough, under the effect of satellite positioning, local radio communication, infrared guiding, realize Automatic Track Finding and the location of charge point;
Gyro sensor: be arranged on and drive the gyro sensor in battery module for providing the intelligent safety patrol robot status data that posture own judges, when status data mal, namely can be used as a kind of alert data, intelligent security patrol robot, after combining multiple alert data, can send alerting signal exactly;
Acceleration pick-up: be arranged on and drive acceleration pick-up in battery module for providing the status data of the motion determination of intelligent safety patrol robot own, when status data mal, namely can be used as a kind of alert data, intelligent security patrol robot, after combining multiple alert data, can send alerting signal exactly;
Ground short-range sensors: be arranged on the short-range ultrasonic distance measuring module in ground driven in battery module, above-mentioned ultrasonic distance measuring module is arranged on the bottom of swivel 105, for the monitoring of the terrain clearance of intelligent security patrol robot, when the rollover of intelligent security patrol robot or after being picked up by people, the elevation of normal work can not be guaranteed, namely can be used as a kind of alert data, intelligent security patrol robot, after combining multiple alert data, can send alerting signal exactly.
As shown in Figure 5, each sensor array comprises nine ultrasonic distance measuring modules, 301, infrared camera 302 and a microwave motion sensor 303 to the front view of sensor array.Nine ultrasonic distance measuring module row-column arrangement, wherein infrared camera and microwave motion sensor lay respectively between two ultrasonic distance measuring modules of same column.The sensor gap determined, can install temperature, wet, sound, the sensor that optical, electrical, gas, cigarette, fire etc. are different, think collection and the comprehensive treatment of different information.
1, ultrasonic distance measuring module: ultrasonic distance measuring module is used for range finding, realizes intelligent safety patrol robot site surrounding environment three-dimensional localization roughly;
2, infrared camera: infrared camera is used for the collection of the view data of intelligent safety patrol robot, the multiple view data in backstage can be used to synthesize panoramic picture;
3, microwave motion sensor: for detecting the object whether having movement in ambient environment, as early warning.
As shown in Figure 6, installation and the horizontal surface of ultrasonic distance measuring module have different relative angles to the right elevation of sensor array, and nethermost ultrasonic distance measuring module and horizontal surface have-5 oangle, middle ultrasonic distance measuring module and horizontal surface have 10 oangle, ultrasonic distance measuring module above and horizontal surface have 15 oangle, to guarantee that intelligent safety patrol robot has the distance test of enough vertical surface.Installation and the horizontal surface of camera have 30 orelative angle, to guarantee that intelligent safety patrol robot has the image data acquiring of enough vertical surface.Microwave motion sensor does not have the requirement of horizontal surface setting angle.
Sensor array: installation and the horizontal surface of ultrasonic distance measuring module have relative angle, to guarantee that intelligent safety patrol robot has the distance test of enough horizontal surfaces.The installation of camera with horizontal surface, there is certain relative angle, to guarantee that intelligent safety patrol robot has the image data acquiring of enough horizontal surfaces.Microwave motion sensor does not have the requirement of vertical surface setting angle.
Functional module:
1, speech control module: for the speech recognition on local and backstage, Voice command, voice dialogue, speech exchange and voice broadcast service, above-mentioned functions all gathers voice by 4G module or Wi-Fi module by acoustic pickup, analog voice is carried out digitized processing, by circuit and the circuit of radio communication, be transmitted into the communication terminal of far-end, thus realize the communication of voice;
2, comprehensive detection module: the data acquisition comprising the sensor such as temperature, wet, sound, optical, electrical, gas, cigarette, fire, this adopts microprocessor that the sensor A/D converter is realized data acquisition usually, the data gathered are compared with real data, as the height of temperature, be the analysis for integrated data, the exception exceeding routine data is reported to the police;
3, integrated alarm module: the sound of standard, optical, electrical warning device, when namely collecting abnormal data by above-mentioned sensor, by the output control interface of microprocessor, drive panalarm, namely when occurring reporting to the police, intelligent safety patrol robot independently can realize sound, optical, electrical warning, the alert data that simultaneously also can will collect, by the communication component of drive control module, as alert data to be sent to the backstage of warning by 4G or Wi-Fi communication module, realize the warning of long range data;
4, image processing module: the hardware circuit of currently marketed image processing module Plays, the digitized processing realizing five tunnel vision signals can be supported, the buffer memory of view data, the work such as the package of view data, when needing to transmit the video image collected, the platform by 4G or Wi-Fi in drive control module data image being sent to backstage gets on.
5, more function can self-defining, as the image transmitting flow in order to reduce remote radio communication, only by the image uploading of certain hour before and after time of fire alarming point (as each in front and back 20 seconds, for 40 seconds) to backstage.
Above-described is only embodiment of the present utility model, and in scheme, the general knowledge such as known concrete structure and characteristic does not do too much description at this.Should be understood that; for a person skilled in the art, under the prerequisite not departing from the utility model structure, some distortion and improvement can also be made; these also should be considered as protection domain of the present utility model, and these all can not affect effect and the practical applicability of the utility model enforcement.

Claims (4)

1. intelligent safety patrol robot, the main frame comprising the frame for walking and be detachably arranged in frame, frame is provided with hoofing part module, it is characterized in that, described main frame adopts gyroscope, gyroscope comprises top sieve revolution frame, be arranged on the first universal balance ring in top sieve revolution frame, described first universal balance ring place plane and described top sieve turn round frame place plane orthogonal, first universal balance ring and described top sieve turn round the axis place straight line of the attaching parts between frame and top sieve turns round the diameter of frame on the same line, the second universal balance ring with this first universal balance ring place plane orthogonal is provided with in the first universal balance ring, the axis place straight line of the attaching parts between the second universal balance ring and the first universal balance ring and the diameter of described first universal balance ring are on the same line, described second universal balance ring and top sieve turn round frame place plane orthogonal, spin axis is provided with along the diametric(al) of the second universal balance ring in the second universal balance ring, described spin axis and the first universal balance ring place plane orthogonal, described spin axis is provided with swivel,
Described swivel is provided with mainframe box and the battery pack doubling as counterweight, be provided with drive control module in mainframe box, drive battery module and functional module, described drive control module and the wireless telecommunications of described hoofing part module, described functional module comprises warning device, mainframe box is provided with three-dimensional sensor array, be provided with ground short-range sensors bottom mainframe box, described drive control module is electrically connected with described driving battery module, functional module, sensor array and ground short-range sensors respectively;
Described drive control module comprises main control computer and is arranged on the drived control communication interface on main control computer, long-range broadband connections interface, local wireless broadband interface, satellite positioning communication interface, high speed USB concentrator and drives battery module interface.
2. intelligent safety patrol robot according to claim 1, is characterized in that, spin axis, the second universal balance ring, the first universal balance ring and Tuo Luo turn round frame and form feed circuit, for being electrically connected battery pack and hoofing part module.
3. intelligent safety patrol robot according to claim 1, it is characterized in that, described hoofing part module is driven by motor, spin axis, the second universal balance ring, the first universal balance ring and Tuo Luo turn round frame and form feed circuit, and the electric energy for being produced by motor supplies drive control module simultaneously, drives battery module, functional module, sensor array and ground short-range sensors.
4. intelligent safety patrol robot according to claim 1, it is characterized in that, described mainframe box is six casings, sensor array shows five groups, wherein Four composition is not arranged on four vertical planes of mainframe box, another group is arranged on the end face of mainframe box, often organizes sensor array and includes ultrasonic distance measuring module, camera, microwave motion sensor, temperature sensor, humidity sensor, opto-electronic pickup and Smoke Sensor.
CN201520384043.4U 2015-06-04 2015-06-04 Intelligence security personnel go on patrol machine people Expired - Fee Related CN204871279U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104890761A (en) * 2015-06-04 2015-09-09 重庆英曼斯物联网有限公司 Intelligent security patrol robot and control system thereof
CN107984480A (en) * 2017-12-15 2018-05-04 长沙志唯电子科技有限公司 Intelligent safety patrol robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104890761A (en) * 2015-06-04 2015-09-09 重庆英曼斯物联网有限公司 Intelligent security patrol robot and control system thereof
CN107984480A (en) * 2017-12-15 2018-05-04 长沙志唯电子科技有限公司 Intelligent safety patrol robot

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Granted publication date: 20151216

Termination date: 20160604