CN207860495U - Land sky security robot - Google Patents
Land sky security robot Download PDFInfo
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- CN207860495U CN207860495U CN201721850997.5U CN201721850997U CN207860495U CN 207860495 U CN207860495 U CN 207860495U CN 201721850997 U CN201721850997 U CN 201721850997U CN 207860495 U CN207860495 U CN 207860495U
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Abstract
The utility model discloses land sky security robot, which includes photographing module, infrared module, control module, motor, the linear guide, ring-shaped guide rail, charging interface, pallet and unmanned plane.Using land security robot as carrier and platform, multiple unmanned planes are ensconced inside the security robot of land, build the empty integrated security robot in land, encounter cannot it is past place when, unmanned plane, which receives, instructs the inspection that flies out successively, tracking, if i.e. by out of power if the robot interior that flies back automatically charge, send another frame unmanned plane to fly out, successively inspection in turn；The security protection of ground is done by land security robot, unmanned plane does aerial security protection, makes up short slab mutually.The quantity of unmanned plane custom tailored, multiple unmanned planes can execute the patrol mission of multiple directions according to demand；Land security robot can also be used to carry other executing agencies；The positioning of unmanned plane is more accurate, facilitates the docking of charging interface.
Description
Technical field
The utility model is related to unmanned plane inspection technology and robot inspection technology more particularly to land sky security robots.
Background technology
There are two types of the security robots of the prior art, and one is land security robots, and one is unmanned planes.
The patrol space of land security robot is limited, and walking disorder is larger, can not efficiently accomplish comprehensive monitoring.
And the unmanned plane working time is short, can not be defendd the rainy day in outdoor, the bad weathers such as strong wind；On the other hand, when nobody
When machine negligible amounts, multidirectional patrol tracking cannot be satisfied.
Invention content
For overcome the deficiencies in the prior art, the purpose of this utility model is to provide land sky security robots, it is intended to solve
Certainly the land security robot walking disorder of the prior art is larger, and the unmanned plane working time is short, can not adapt to adverse circumstances, nothing
Method meets the problem of multi-direction patrol tracking.
The purpose of this utility model is realized using following technical scheme：
A kind of land sky security robot, including photographing module, infrared module, control module, motor, the linear guide, annular
Guide rail, charging interface, pallet and unmanned plane；Wherein,
Window corresponding with the linear guide position is provided in robot；Robot interior is additionally provided with charging interface；
Motor is separately connected with the linear guide, ring-shaped guide rail；
Ring-shaped guide rail is connect with pallet；Unmanned plane is positioned on pallet；
Photographing module is used for the image information of shooting environmental, and image information is sent to control module；
Infrared information is sent to control module by infrared module for incuding infrared information；
For control module for controlling motor, the image information shot according to photographing module judges whether can hide on ground
It keeps away, the image information that the camera of photographing module and unmanned plane is shot is uploaded onto the server, judges whether unmanned plane has charged
At, and judge unmanned plane whether outside window according to infrared information；
Motor is used to that the linear guide to be driven to move in a straight line, and ring-shaped guide rail is driven to rotate；
The linear guide opens or closes window for moving in a straight line；
Ring-shaped guide rail drives pallet rotation, transmits unmanned plane for rotating；
Charging interface is used to provide charge function for unmanned plane；
Pallet is for placing unmanned plane；
Camera is provided on unmanned plane, unmanned plane is believed for going on patrol in the air by the image of camera shooting environmental
Breath, and image information is sent to control module.
On the basis of the above embodiments, it is preferred that ring-shaped guide rail is horizontal positioned；Alternatively, ring-shaped guide rail is placed vertically.
On the basis of above-mentioned any embodiment, it is preferred that ring-shaped guide rail is horizontal positioned, and the opening direction of window is upward.
On the basis of above-mentioned any embodiment, it is preferred that ring-shaped guide rail is placed vertically, and the opening direction of window is level
Direction, and ring-shaped guide rail includes the first annular guide rail and the second ring-shaped guide rail being mutually parallel；First annular guide rail and the second ring
Shape guide rail is connected by connection component；Pallet is movably connected on connection component.
On the basis of above-mentioned any embodiment, it is preferred that the number of pallet be 1, it is two or more；The number of unmanned plane
Mesh is no more than the number of pallet.
On the basis of above-mentioned any embodiment, it is preferred that the charging interface is wireless charging interface.
On the basis of above-mentioned any embodiment, it is preferred that be additionally provided with executing agency in robot；The executing agency
It is one or more in display screen, full-view camera and mechanical arm.
Compared with prior art, the beneficial effects of the utility model are：
The utility model discloses land sky security robots, using land security robot as carrier and platform, in conjunction with land
Security robot and unmanned plane ensconce multiple unmanned planes inside the security robot of land, build the empty integrated safety anti-theft apparatus in land
Device people, encounter cannot past place when, unmanned plane, which receives, instructs the inspection that flies out successively, tracking, if i.e. by out of power
The automatic robot interior that flies back charges, and sends another frame unmanned plane to fly out, successively inspection in turn；By land security robot
The security protection of ground is done, unmanned plane does aerial security protection, makes up short slab mutually, exerts one's advantage.The utility model uses land machine
People adapts to a variety of environment, and the quantity of unmanned plane custom tailored, multiple unmanned planes can execute patrolling for multiple directions according to demand
Patrol task；It can also be used to carry other executing agencies right over the security robot of land, such as display screen, full-view camera
And/or mechanical arm；By infrared induction and image analysis technology, the positioning of unmanned plane can be more accurate, automatically right by window
Standard, while facilitating the docking of automatic charging interface.
Description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 shows a kind of structural schematic diagram for land sky security robot that the utility model embodiment provides；
Fig. 1 a show a kind of structural schematic diagram for horizontal positioned ring-shaped guide rail that the utility model embodiment provides；
Fig. 1 b and Fig. 1 c show that a kind of structure for ring-shaped guide rail placed vertically that the utility model embodiment provides is shown
It is intended to.
Specific implementation mode
In the following, in conjunction with attached drawing and specific implementation mode, the utility model is described further, it should be noted that
Under the premise of not colliding, it can be formed in any combination between various embodiments described below or between each technical characteristic new
Embodiment.
As shown in Figure 1, the utility model embodiment provides a kind of land sky security robot, including it is photographing module, infrared
Module, control module, motor, the linear guide, ring-shaped guide rail, charging interface, pallet and unmanned plane；Wherein,
Window corresponding with the linear guide position is provided in robot；Robot interior is additionally provided with charging interface；
Motor is separately connected with the linear guide, ring-shaped guide rail；
Ring-shaped guide rail is connect with pallet；Unmanned plane is positioned on pallet；
Photographing module is used for the image information of shooting environmental, and image information is sent to control module；
Infrared information is sent to control module by infrared module for incuding infrared information；
For control module for controlling motor, the image information shot according to photographing module judges whether can hide on ground
It keeps away, the image information that the camera of photographing module and unmanned plane is shot is uploaded onto the server, judges whether unmanned plane has charged
At, and judge unmanned plane whether outside window according to infrared information；
Motor is used to that the linear guide to be driven to move in a straight line, and ring-shaped guide rail is driven to rotate；
The linear guide opens or closes window for moving in a straight line；
Ring-shaped guide rail drives pallet rotation, transmits unmanned plane for rotating；
Charging interface is used to provide charge function for unmanned plane；
Pallet is for placing unmanned plane；
Camera is provided on unmanned plane, unmanned plane is believed for going on patrol in the air by the image of camera shooting environmental
Breath, and image information is sent to control module.
The utility model embodiment does not limit the number of pallet and unmanned plane, it is preferred that the number of pallet be 1,
It is two or more；Because unmanned plane needs to be placed on pallet, therefore the number of unmanned plane is no more than the number of pallet.
The utility model embodiment does not limit the modes of emplacement of ring-shaped guide rail, it is preferred that ring-shaped guide rail is horizontal positioned；
Alternatively, ring-shaped guide rail is placed vertically.
As shown in Figure 1a, when ring-shaped guide rail is horizontal positioned, the opening direction of window can be upward, and unmanned plane flies out window upwards
Mouth is on a patrol duty.
As shown in fig. 1b and fig. lc, when ring-shaped guide rail is placed vertically, the opening direction of window can be horizontal direction, and ring
Shape guide rail may include the first annular guide rail and the second ring-shaped guide rail being mutually parallel；First annular guide rail and the second ring-shaped guide rail
It is connected by connection component；Pallet is movably connected on connection component.At this point, the outside level of unmanned plane flies out, window executes
Patrol mission.
The utility model embodiment does not limit the direction of rotation of ring-shaped guide rail, and ring-shaped guide rail can the clockwise or inverse time
Needle rotates, and is transported to immediately below window after a unmanned plane flies out, then by another unmanned plane, and so on.
In the utility model embodiment, control module drives the linear guide by motor, by the window on security robot
It opens and closes；By motor drive ring-shaped guide rail, will outbound unmanned plane be sent to position corresponding with window, wait for window
Unmanned plane flies out after opening；By infrared and image analysis technology, opened when sensing that unmanned plane flies back to outside window automatically
Window, unmanned plane decline or fly back onto the pallet of ring-shaped guide rail, then ring-shaped guide rail internal operation again, then the pallet that will be vacated
Alignment windows position can recycle multiple unmanned planes successively, and unmanned plane can charge in robot interior.
The utility model embodiment does not limit the charging modes of unmanned plane, it is preferred that the charging interface can be
Wireless charging interface, unmanned plane use wireless charging.
The surface space of robot can utilize, it is preferred that can also be arranged or carry executing agency in robot；Institute
It can be one or more in display screen, full-view camera and mechanical arm to state executing agency.
The utility model embodiment is using land security robot as carrier and platform, in conjunction with land security robot and nobody
Machine ensconces multiple unmanned planes inside the security robot of land, builds the empty integrated security robot in land, encountering cannot pass by
Place when, unmanned plane, which receives, instructs the inspection that flies out successively, tracking, if i.e. by out of power if fly back automatically robot interior
It charges, sends another frame unmanned plane to fly out, successively inspection in turn；The security protection of ground is done by land security robot, nobody
Machine does aerial security protection, makes up short slab mutually, exerts one's advantage.The utility model adapts to a variety of environment using land robot, and
The quantity of unmanned plane custom tailored, multiple unmanned planes can execute the patrol mission of multiple directions according to demand；Land safety anti-theft apparatus
It can also be used to carry other executing agencies right over device people, such as display screen, full-view camera and/or mechanical arm；By red
The positioning of outer induction and image analysis technology, unmanned plane can be more accurate, is automatically aligned to by window, while facilitating automatic charging
The docking of interface.
The application scenarios of the utility model embodiment can be：
When robot, which is normally gone on patrol, encounters barrier, photographing module shooting image information is sent to control module, controls
Module judges whether can hide on ground according to the image information that photographing module is shot；
When that can hide on ground, robot is normally gone on patrol, and shoots image information by photographing module, and image is believed
Breath is uploaded onto the server；Unmanned plane is charged standby by charging interface；
When that can not hide on ground, control module controls motor and the linear guide is driven to open window, and control motor
Ring-shaped guide rail rotation is driven, unmanned plane is transmitted to position corresponding with window, control module also sends the finger that takes off to unmanned plane
It enables；Unmanned plane receives take off instruction after fly out patrol from window, image information, and general are shot by the camera on unmanned plane
Image information is uploaded onto the server by control module；After unmanned plane takes off, control module controls motor and drives the linear guide
Close window；
When unmanned plane flies back outside window, after control module senses unmanned plane by infrared module, control motor drives
The linear guide opens window；Unmanned plane enters robot interior from window and stops in pallet；Control module controls motor and drives
The linear guide closes window.
The utility model embodiment can also be directed to the low unmanned plane of electricity and take charging of flying back, when the electricity of unmanned plane is low
When predetermined charge threshold, unmanned plane flies back outside window；After control module senses unmanned plane by infrared module, motor is controlled
The linear guide is driven to open window；Unmanned plane enters robot interior from window and stops in pallet；Control module controls motor
Ring-shaped guide rail rotation is driven, the unmanned plane of charging complete is transmitted to position corresponding with window, and to the nothing of the charging complete
Man-machine transmission is taken off instruction；The unmanned plane of the charging complete receives take off instruction after fly out patrol from window, pass through unmanned plane
On camera shoot image information, and image information is uploaded onto the server by control module；In the nothing of the charging complete
It is man-machine take off after, control module control motor drive the linear guide close window.
The utility model embodiment can send a unmanned plane on a patrol duty, can also send simultaneously it is multiple nobody
Machine recycles multiple unmanned planes on a patrol duty, then simultaneously.
When that can not hide on ground, control module controls motor and the linear guide is driven to open window, and control motor
Drive ring-shaped guide rail rotation, multiple unmanned planes be sequentially transmitted position corresponding with window, control module also to it is multiple nobody
Machine sends instruction of taking off successively；Multiple unmanned planes receive take off instruction after fly out patrol from window successively, by unmanned plane
Camera shoot image information, and image information is uploaded onto the server by control module；In nothing on a patrol duty
After man-machine whole is taken off, control module controls motor and the linear guide is driven to close window；
When unmanned plane flies back outside window, if control module senses more than one unmanned plane by infrared module,
Controlling motor drives the linear guide to open window, and control motor drives ring-shaped guide rail rotation, and idle pallet is driven to rotate to successively
The window's position；Multiple unmanned planes enter robot interior from window successively and stop in pallet；Stop into pallet in whole unmanned planes
Afterwards, control module control motor drives the linear guide to close window.
The utility model embodiment can be realized：
When the normal patrol of robot encounters barrier, judge whether can hide on ground；
When that can hide on ground, robot is normally gone on patrol, and unmanned plane charging is standby；Image information returns；
When that can not hide on ground, robot automatically opens window, and unmanned plane receives instruction of taking off, and unmanned plane, which flies out, to patrol
It patrols, image information passback.
The utility model embodiment realize unmanned plane and robot it is infrared dock, wireless location, automatic charging, wherein
Unmanned plane and docking technique, robot automatic window technology, unmanned plane and the machine on robot architecture and information are used
The infrared docking automatic charging technology of people, video image acquire integration technology, multiple no-manned plane conveying technology, multiple no-manned plane security protection in real time
Patrol technology.
The utility model is from using in purpose, and in efficiency, the viewpoints such as progress and novelty are illustrated, the practicality having
Progressive, oneself meets the function that Patent Law is emphasized and promotes and use important document, explanation more than the utility model and attached drawing, only
The preferred embodiment of the utility model and oneself, the utility model is not limited to this, therefore, it is all with the utility model structure
It makes, device, the approximations, identical such as waits levying, i.e., it is all according to equivalent replacement or modification etc. made by the utility model patent application range,
Within the scope of the patent application protection that the utility model should all be belonged to.
It should be noted that in the absence of conflict, the feature in the embodiments of the present invention and embodiment can
To be combined with each other.Although the utility model has been carried out a degree of description, it will be apparent that, in the essence for not departing from the utility model
God can carry out the appropriate variation of each condition under conditions of range.It is appreciated that the utility model is not limited to the embodiment party
Case, and it is attributed to the scope of the claims comprising the equivalent replacement of each factor.It will be apparent to those skilled in the art that
Technical solution that can be as described above and design, make various other corresponding changes and deformation, and all these
Change and deformation should all belong within the protection domain of the utility model claims.
Claims (7)
1. a kind of land sky security robot, which is characterized in that including photographing module, infrared module, control module, motor, straight line
Guide rail, ring-shaped guide rail, charging interface, pallet and unmanned plane；Wherein,
Window corresponding with the linear guide position is provided in robot；Robot interior is additionally provided with charging interface；
Motor is separately connected with the linear guide, ring-shaped guide rail；
Ring-shaped guide rail is connect with pallet；Unmanned plane is positioned on pallet；
Photographing module is used for the image information of shooting environmental, and image information is sent to control module；
Infrared information is sent to control module by infrared module for incuding infrared information；
For control module for controlling motor, the image information shot according to photographing module judges whether can hide on ground, will
The camera of photographing module and unmanned plane shooting image information upload onto the server, judge unmanned plane whether charging complete, with
And judge unmanned plane whether outside window according to infrared information；
Motor is used to that the linear guide to be driven to move in a straight line, and ring-shaped guide rail is driven to rotate；
The linear guide opens or closes window for moving in a straight line；
Ring-shaped guide rail drives pallet rotation, transmits unmanned plane for rotating；
Charging interface is used to provide charge function for unmanned plane；
Pallet is for placing unmanned plane；
Camera is provided on unmanned plane, unmanned plane for going on patrol in the air, by the image information of camera shooting environmental, and
Image information is sent to control module.
2. sky security robot in land according to claim 1, which is characterized in that ring-shaped guide rail is horizontal positioned；Alternatively, annular
Guide rail is placed vertically.
3. sky security robot in land according to claim 1 or 2, which is characterized in that ring-shaped guide rail is horizontal positioned, window
Opening direction is upward.
4. sky security robot in land according to claim 1 or 2, which is characterized in that ring-shaped guide rail is placed vertically, window
Opening direction is horizontal direction, and ring-shaped guide rail includes the first annular guide rail and the second ring-shaped guide rail being mutually parallel；First ring
Shape guide rail and the second ring-shaped guide rail are connected by connection component；Pallet is movably connected on connection component.
5. sky security robot in land according to claim 1 or 2, which is characterized in that the number of pallet be 1, two or
It is multiple；The number of unmanned plane is no more than the number of pallet.
6. sky security robot in land according to claim 1 or 2, which is characterized in that the charging interface is wireless charging
Interface.
7. sky security robot in land according to claim 1 or 2, which is characterized in that be additionally provided with execution machine in robot
Structure；The executing agency is one or more in display screen, full-view camera and mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721850997.5U CN207860495U (en) | 2017-12-26 | 2017-12-26 | Land sky security robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721850997.5U CN207860495U (en) | 2017-12-26 | 2017-12-26 | Land sky security robot |
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| Publication Number | Publication Date |
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| CN207860495U true CN207860495U (en) | 2018-09-14 |
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ID=63466539
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721850997.5U Active CN207860495U (en) | 2017-12-26 | 2017-12-26 | Land sky security robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108557108A (en) * | 2017-12-26 | 2018-09-21 | 杭州哈智机器人有限公司 | Land sky security robot and its application process |
| CN111265807A (en) * | 2020-03-06 | 2020-06-12 | 南京晓庄学院 | Fire-fighting robot system for air-ground cooperative work |
| CN113733943A (en) * | 2021-09-03 | 2021-12-03 | 上海卡珀林智能科技有限公司 | Wireless charging method and system for unmanned security combination equipment |
-
2017
- 2017-12-26 CN CN201721850997.5U patent/CN207860495U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108557108A (en) * | 2017-12-26 | 2018-09-21 | 杭州哈智机器人有限公司 | Land sky security robot and its application process |
| CN111265807A (en) * | 2020-03-06 | 2020-06-12 | 南京晓庄学院 | Fire-fighting robot system for air-ground cooperative work |
| CN113733943A (en) * | 2021-09-03 | 2021-12-03 | 上海卡珀林智能科技有限公司 | Wireless charging method and system for unmanned security combination equipment |
| CN113733943B (en) * | 2021-09-03 | 2023-08-08 | 上海卡珀林智能科技有限公司 | Wireless charging method and system of unmanned security combined equipment |
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