CN208812106U - A kind of intelligent security guard robot - Google Patents
A kind of intelligent security guard robot Download PDFInfo
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- CN208812106U CN208812106U CN201821214603.1U CN201821214603U CN208812106U CN 208812106 U CN208812106 U CN 208812106U CN 201821214603 U CN201821214603 U CN 201821214603U CN 208812106 U CN208812106 U CN 208812106U
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Abstract
The utility model discloses a kind of intelligent security guard robots, it include: installation chassis, for driving the mechanism that is movably walking of installation chassis, the photographing module of image information for collection site, for measuring and the range finder module of the range information of object in situ, for recording the walking locating module of the run trace information of walking mechanism, main control module, wireless transport module, main control module respectively with photographing module, range finder module, locating module of walking connects, main control module is connected with the wireless transmission module with by image information, range information and run trace information are sent to background monitoring end, background monitoring end sends control signals to main control module control walking mechanism running according to information above is specified, the design increases security robot to the ranging of object in garden and the measuring and calculating function of robot ambulation track, assist background monitoring end Building updates garden map datum, and can be realized background monitoring end in the case where there is emergency case and be precisely controlled to robot.
Description
Technical field
The utility model relates to robot field, especially a kind of intelligent robot applied to region security protection.
Background technique
Traditional intelligent security guard robot only has the function of that walking and image taking acquisition, main control module can drive
Dynamic intelligent security guard robot replace security personnel in garden on a patrol duty, and by photographing module acquire by area
The image information in domain, function is relatively simple, and intelligent security guard robot can only be according to preset program on the specific route in garden
Patrol, encounters the abnormal conditions of burst, if hindering on route, or needs to track specific place, intelligent security guard machine
Device people has only fed back image information, and background monitoring end can not be judged to instruct intelligent security guard robot ambulation according to image information
Path, therefore many additional functions cannot achieve.
Utility model content
In order to solve the above technical problems, the purpose of the utility model is to provide one kind can acquire in garden image data with
And ranging localization is in order to the intelligent security guard robot of background monitoring end building garden map datum.
The technical solution adopted in the utility model is:
A kind of intelligent security guard robot, comprising:
Installation chassis；
The bottom of installation chassis is arranged in drive installation chassis mobile in walking mechanism；
Photographing module is arranged on installation chassis and is used for the image information of collection site；
Range finder module is arranged on installation chassis, and the range finder module is for measuring and the range information of object in situ；
Walking locating module, is arranged on installation chassis, which is used to record the walking rail of walking mechanism
Mark information；
Main control module is connect respectively with photographing module, range finder module, walking locating module to receive image information, distance
Information and run trace information；
Wireless transport module, main control module are connected with the wireless transmission module with by image information, range information and walking
Trace information is sent to background monitoring end, and background monitoring end is used for according to image information, range information and run trace information
It formulates and sends control signals to main control module control walking mechanism running.
The photographing module includes the binocular stereo vision camera being arranged on installation chassis, which takes the photograph
As head is connect with main control module.
The photographing module includes camera shooting ball machine and camera cradle head, main control module respectively with camera shooting ball machine, camera cradle head
Connection, camera shooting ball machine are arranged on camera cradle head, and main control module control camera cradle head is run to adjust the shooting angle of camera shooting ball machine
Degree.
The range finder module includes the laser radar or sound wave for acquiring the range information of robot and object in situ
Perhaps binocular stereo vision camera main control module and laser radar or sound radar or binocular stereo vision image radar
Head connection.
The walking mechanism includes the driving motor group being arranged on installation chassis and is arranged on installation chassis with band
The mobile wheel group of dynamic installation chassis, the drive shaft of driving motor group are connect to drive wheel group to rotate with wheel group, master control mould
Block is connect to control the operation of driving motor group with driving motor group, and the walking locating module includes that driving motor group is arranged in
The encoder of wheel group encoded radio is detected in drive shaft, which connect with main control module.
The walking locating module further includes the inertia for detecting robot now relative to the path position of starting point
Measurement module, main control module are connect with inertia measurement module.
Further include the flame sensor being arranged on installation chassis and/or temperature sensor and/or humidity sensor and/or
Smoke sensor device, main control module and flame sensor and/or temperature sensor and/or humidity sensor and/or smoke sensor device
It is electrically connected.
It further include the anti-sensing module of staggering along being arranged on installation chassis, which includes for detecting
The periphery wall of robot is with the first sensing unit of external object distance and for road surface feelings in robot measurement direction of advance
Second sensing unit of condition, the main control module are connect with the first sensing unit, the second sensing unit.
It further include alarm module, main control module is connect to send prompt, alarm signal by alarm module with alarm module.
It further include the energy-storage module, charging circuit and charging jack being arranged on installation chassis, energy-storage module is master control
Module, photographing module, walking mechanism, range finder module, walking locating module, wireless transport module power supply, charging jack can be with
Extraneous charging pile connection, charging circuit are connect respectively to be supplied by extraneous charging pile as energy-storage module with charging jack, energy-storage module
Electricity.
The utility model has the beneficial effects that
The utility model intelligent security guard robot, photographing module acquires image information in garden, and range finder module then detects
The range information of robot periphery object and the track walked relative to starting point and moving distance analyze run trace
Information, background monitoring end group can construct the map of garden in numerous run trace information and the range information of cooperation
Data are modified update on original garden map datum, when analyzing image information, if happening suddenly
Abnormal conditions, background monitoring end is capable of on the basis of the map datum of garden, cooperates the location information of robot, accurately control
Robot positioned at other regions of garden close to there is the region of abnormal conditions, meanwhile, if the object of abnormal conditions is removable, after
Platform monitoring client also can be according to range information and the location information control robot of robot is tracked or guides at this time, this
Design increases security robot to the ranging of object in garden and the measuring and calculating function of robot ambulation track, and auxiliary backstage is supervised
It controls end building and updates garden map datum, and can be realized background monitoring end to the accurate of robot in the case where there is emergency case
Control.
Detailed description of the invention
Specific embodiment of the present utility model is described further with reference to the accompanying drawing.
Fig. 1 is the structural schematic diagram of the utility model intelligent security guard robot.
Fig. 2 is the schematic diagram of the utility model intelligent security guard robot.
Specific embodiment
As shown in Figure 1 and Figure 2, the design intelligent security guard robot, comprising:
Installation chassis 11；
The bottom of installation chassis 11 is arranged in drive installation chassis 11 mobile in walking mechanism 12；
Photographing module 13 is arranged on installation chassis 11 and is used for the image information of collection site；
Range finder module 14 is arranged on installation chassis 11, which believes at a distance from object in situ for measuring
Breath；
Walking locating module 15, is arranged on installation chassis 11, and the walking locating module 15 is for recording walking mechanism 12
Run trace information；
Main control module 16 is connect respectively with photographing module 13, range finder module 14, walking locating module 15 to receive image letter
Breath, range information and run trace information；
Wireless transport module 17, main control module 16 connect with wireless transport module 17 with by image information, range information with
And run trace information is sent to background monitoring end 18, background monitoring end 18 is used for according to image information, range information and row
Trace information is walked to formulate and send control signals to the control running of walking mechanism 12 of main control module 16.
Wherein, main control module 16 can be MCU or CPU and its peripheral circuit, and wireless transport module 17 can be WIFI
Perhaps mobile communication module wireless transport module 17 can receive background monitoring end 18 or remote-control handle for module or bluetooth module
The control signal of transmission, control robot moving direction, movement speed etc., installation chassis, which can be, herein pacifies modules
Set the heat dissipation suction hole that lattice-shaped is provided on internal shell, shell or heat dissipation gas vent.
Photographing module 13 includes the binocular stereo vision camera 131 being arranged on installation chassis 11, the binocular tri-dimensional
Feel that camera 131 is connect with main control module 16, binocular stereo vision camera 131 is connect by USB with main control module 16 herein,
Binocular stereo vision camera 131 has the function of shooting image and ranging.
Photographing module 13 includes camera shooting ball machine 132 and camera cradle head 133, main control module 16 respectively with camera shooting ball machine 132,
Camera cradle head 133 connects, and camera shooting ball machine 132 is arranged on camera cradle head 133, and main control module 16 controls camera cradle head 133 and runs
To adjust the shooting angle of camera shooting ball machine 132, camera cradle head 133 herein can drive camera shooting 132 left and right turn of ball machine and upper
Lower rotation adjusts the camera lens elevation angle, and the image that camera shooting ball machine 132 is absorbed can be developed using OpenCV, realizes recognition of face, vehicle
The functions such as management.
Range finder module 14 includes the laser radar or sound wave thunder for acquiring the range information of robot and object in situ
It reaches perhaps binocular stereo vision camera main control module 16 and laser radar or sound radar or binocular stereo vision images
Head connection.
Walking mechanism 12 includes the driving motor group being arranged on installation chassis 11 and is arranged on installation chassis with band
The mobile wheel group of dynamic installation chassis, the drive shaft of driving motor group are connect to drive wheel group to rotate with wheel group, master control mould
Block is connect to control the operation of driving motor group with driving motor group, and the walking locating module 15 includes being arranged in driving motor group
Drive shaft on to detect the encoder 151 of wheel group encoded radio, which connect with main control module 16, herein wheel
Group includes front wheels and rear wheels, and driving motor group includes the rear wheel drive motor and driving for driving rear wheels forward/backward
Front wheels or so are deviated to control the front-wheel drive motor of robot direction of advance, and specific connection structure can be by the routine of this field
Technological means is realized, herein without repeating, and main control module 16 can obtain the forward/backward of robot according to control signal
Direction, and encoder 151 is able to record that the circle number of wheel group rotation, main control module 16 extrapolate the path of robot traveling again.
Walking locating module 15 further includes surveying now relative to the inertia of the path position of starting point for detecting robot
Module 152 is measured, main control module 16 is connect with inertia measurement module 152, and inertia measurement module 152 herein can be gyroscope etc.
Angular movement detection part, to more accurately detect robot driving direction.
Main control module 16 or background monitoring end 18 are deviated by the path travelled to robot and in walking process
Direction can extrapolate run trace information, at the same by each point on robot ambulation trace information at a distance from surrounding objects
The combination of information is capable of forming corresponding cartographic information, while being navigated according to the position of robot for it.
Further, further include the flame sensor 19 being arranged on installation chassis 11 and/or temperature sensor 20 and/or
Humidity sensor 21 and/or smoke sensor device 22, main control module 16 and flame sensor 19 and/or temperature sensor 20 and/or
Humidity sensor 21 and/or smoke sensor device 22 are electrically connected, and add a large amount of environmental detection sensor herein, can be to garden
All kinds of accidents of interior generation are detected.
Further, the design further includes the anti-anti- sensing of staggering along of sensing module 23 of staggering along being arranged on installation chassis 11
Device module 23 includes the first sensing unit 231 for detecting the periphery wall of robot and external object distance and for measuring
Second sensing unit 232 of surface conditions in robot direction of advance, the main control module 16 and the first sensing unit 231,
The connection of two sensing units 232, the first sensing unit 231 can be photoelectric sensor or sonic sensor, may be provided at installation
On pedestal or the bracket of walking mechanism, in the periphery wall and external object hypotelorism of robot, main control module control is walked
Mechanism stop driving robot move on, prevent to collide, and the second sensing unit 232 can be infrared scanner or
Sonic detector, whether that detects road surface has the uneven road conditions such as hollow, prevents robot from falling and being unable to run.
In addition, further including alarm module 24, main control module 16 is connect to be sent by alarm module 24 with alarm module 24
Prompt, alarm signal, alarm module 24 herein can be the LED stroboscopic warning light band or language being arranged on installation chassis 11
Sound broadcast device etc..
The design further includes the energy-storage module 25, charging circuit 26 and charging jack 27 being arranged on installation chassis 11,
Energy-storage module 25 is main control module 16, photographing module 13, walking mechanism 12, range finder module 14, walking locating module 15, wireless biography
Defeated module 17 is powered, and charging jack 27 can be connect with extraneous charging pile, charging circuit 26 respectively with charging jack 27, energy storage mould
Block 25 is connected to be powered by extraneous charging pile as energy-storage module 25.
The foregoing is merely the preferred embodiments of the utility model, the utility model is not limited to above-mentioned embodiment party
Formula, if with essentially identical means realize the utility model aim technical solution belong to the protection scope of the utility model it
It is interior.
Claims (10)
1. a kind of intelligent security guard robot characterized by comprising
Installation chassis；
The bottom of installation chassis is arranged in drive installation chassis mobile in walking mechanism；
Photographing module is arranged on installation chassis and is used for the image information of collection site；
Range finder module is arranged on installation chassis, and the range finder module is for measuring and the range information of object in situ；
Walking locating module, is arranged on installation chassis, which is used to record the run trace letter of walking mechanism
Breath；
Main control module is connect respectively with photographing module, range finder module, walking locating module to receive image information, range information
And run trace information；
Wireless transport module, main control module are connected with the wireless transmission module with by image information, range information and run trace
Information is sent to background monitoring end, and background monitoring end is used to be formulated according to image information, range information and run trace information
And send control signals to main control module control walking mechanism running.
2. a kind of intelligent security guard robot according to claim 1, it is characterised in that: the photographing module includes that setting exists
Binocular stereo vision camera on installation chassis, the binocular stereo vision camera are connect with main control module.
3. a kind of intelligent security guard robot according to claim 1, it is characterised in that: the photographing module includes camera ball
Machine and camera cradle head, main control module are connect with camera shooting ball machine, camera cradle head respectively, and camera shooting ball machine is arranged on camera cradle head,
Main control module control camera cradle head operation is to adjust the shooting angle for imaging ball machine.
4. a kind of intelligent security guard robot according to claim 1, it is characterised in that: the range finder module includes for adopting
The laser radar or sound radar or binocular stereo vision camera of collection robot and the range information of object in situ, master control
Module is connect with laser radar or sound radar or binocular stereo vision camera.
5. a kind of intelligent security guard robot according to claim 4, it is characterised in that: the walking mechanism includes that setting exists
Driving motor group on installation chassis and the wheel group on installation chassis to drive installation chassis mobile, driving motor are set
The drive shaft of group is connect to drive wheel group to rotate with wheel group, and main control module is connect with driving motor group to control driving motor
Group operation, the walking locating module include the coding in the drive shaft for be arranged in driving motor group to detect wheel group encoded radio
Device, the encoder are connect with main control module.
6. a kind of intelligent security guard robot according to claim 5, it is characterised in that: the walking locating module further includes
For detecting robot now relative to the inertia measurement module of the path position of starting point, main control module and inertia measurement module
Connection.
7. a kind of intelligent security guard robot according to claim 1, it is characterised in that: further include being arranged on installation chassis
Flame sensor and/or temperature sensor and/or humidity sensor and/or smoke sensor device, main control module and flame sense
Device and/or temperature sensor and/or humidity sensor and/or smoke sensor device are electrically connected.
8. a kind of intelligent security guard robot according to claim 1, it is characterised in that: further include being arranged on installation chassis
Anti- sensor module of staggering along, which includes for detecting the periphery wall of robot and external object distance
The first sensing unit and in robot measurement direction of advance surface conditions the second sensing unit, the main control module
It is connect with the first sensing unit, the second sensing unit.
9. a kind of intelligent security guard robot according to claim 1, it is characterised in that: further include alarm module, master control mould
Block is connect to send prompt, alarm signal by alarm module with alarm module.
10. a kind of intelligent security guard robot according to claim 1, it is characterised in that: further include being arranged in installation chassis
On energy-storage module, charging circuit and charging jack, energy-storage module be main control module, photographing module, walking mechanism, ranging mould
Block, walking locating module, wireless transport module power supply, charging jack can connect with extraneous charging pile, charging circuit respectively with
Charging jack, energy-storage module connection by extraneous charging pile as energy-storage module to be powered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821214603.1U CN208812106U (en) | 2018-07-27 | 2018-07-27 | A kind of intelligent security guard robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821214603.1U CN208812106U (en) | 2018-07-27 | 2018-07-27 | A kind of intelligent security guard robot |
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| Publication Number | Publication Date |
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| CN208812106U true CN208812106U (en) | 2019-05-03 |
Family
ID=66272011
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821214603.1U Active CN208812106U (en) | 2018-07-27 | 2018-07-27 | A kind of intelligent security guard robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110231180A (en) * | 2019-06-21 | 2019-09-13 | 浙江神汽电子商务有限公司 | A kind of intelligent overhaul robot |
| CN110345987A (en) * | 2019-06-12 | 2019-10-18 | 特斯联（北京）科技有限公司 | A kind of the safety monitoring test device and its system of artificial intelligence scene |
-
2018
- 2018-07-27 CN CN201821214603.1U patent/CN208812106U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110345987A (en) * | 2019-06-12 | 2019-10-18 | 特斯联（北京）科技有限公司 | A kind of the safety monitoring test device and its system of artificial intelligence scene |
| CN110231180A (en) * | 2019-06-21 | 2019-09-13 | 浙江神汽电子商务有限公司 | A kind of intelligent overhaul robot |
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