CN210310320U

CN210310320U - Intelligent robot for railway passenger station

Info

Publication number: CN210310320U
Application number: CN201921025747.7U
Authority: CN
Inventors: 钱增志; 方宏伟; 王宽; 周大兴; 武利平; 孙玉龙
Original assignee: China Railway Construction Group Co Ltd
Current assignee: China Railway Construction Group Co Ltd
Priority date: 2019-07-03
Filing date: 2019-07-03
Publication date: 2020-04-14
Anticipated expiration: 2029-07-03

Abstract

Railway is intelligent robot for passenger station, the robot includes the electrically conductive body of robot, the bottom of the electrically conductive body of robot is equipped with the robot chassis, the earthquake wave detector, electric shock high voltage generator and battery, the middle part is equipped with ID ticket reading ticket checking device, spike smog generating device and arrest the net transmitter, the shoulder is equipped with the arm, be equipped with laser target indicating device on the arm, long-range spraying anti-riot system, fire extinguishing bomb emitter and arm image recognition camera, the head is equipped with the unmanned aerial vehicle platform, the glaring device of highlight, the super high sound megaphone, the export of spike smog generating device, high definition image recognition camera, radiant temperature sensor and high sensitive smoke transducer, be equipped with unmanned aerial vehicle on the unmanned aerial vehicle platform. The utility model has the characteristics of have discovery, warning, instruction, processing and self-defense ability when conflagration, earthquake, riot terrorism attack take place.

Description

Intelligent robot for railway passenger station

Technical Field

The utility model relates to an intelligent robot, concretely relates to railway passenger station uses intelligent robot.

Background

The intelligent robot: to date, there is no uniform definition worldwide. Most experts consider that an intelligent robot has at least the following three elements: the first is a sensory element for recognizing the state of the surrounding environment; second, the movement element, make the responsive action to the outside world; third, the thinking element, which action is taken according to the information obtained by the feeling element. The sensory elements include non-contact sensors capable of sensing vision, proximity, distance, and the like, and contact sensors capable of sensing force, pressure, touch, and the like. These elements are substantially equivalent to five sense organs such as eyes, nose, ears and the like of a human, and the functions thereof can be realized by using electromechanical components such as a camera, an image sensor, an ultrasonic transducer, a laser, conductive rubber, a piezoelectric element, a pneumatic element, a travel switch and the like. For the kinematic elements, the intelligent robot needs to have a trackless type moving mechanism to adapt to different geographical environments such as flat ground, steps, walls, stairs, ramps, and the like. Their function can be accomplished by moving mechanisms such as wheels, tracks, feet, suction cups, air cushions, etc. The moving mechanism is controlled in real time in the motion process, and the control comprises position control, force control, position and force mixed control, expansion and contraction rate control and the like. The thinking elements of the intelligent robot are the key of the three elements and are also the necessary elements for people to endow the robot. The thought elements comprise intelligence activities in aspects of judgment, logic analysis, understanding and the like. These mental activities are essentially a process of information processing, and computers are the primary means of accomplishing this process. The intelligent robot can be divided into three types according to the difference of the intelligent degree: sensing, interactive, and autonomous. The sensing type robot is applied to the engineering field, and interactive and autonomous robots are mainly developed in the aspects of engineering management intellectualization and intelligent buildings at present.

Although powerful, the ability of intelligent robot's fast movement is far inferior to unmanned aerial vehicle. In the aspect of unmanned aerial vehicles, according to the scheme disclosed by the medium iron construction group, "anti-falling unmanned aerial vehicle platform for collecting air and water environment parameters" (CN 201811236274.5), an unmanned aerial vehicle can carry a plurality of throwable loads to throw above a target. In the aspect of automatic fixed-point landing of the unmanned aerial vehicle, besides an automatic return flight positioning device (low positioning accuracy) commonly carried by the unmanned aerial vehicle in the world, various documents such as doctor thesis "vision-guided landing research of multi-rotor unmanned aerial vehicle" by fan long disclose an unmanned aerial vehicle accurate fixed-point landing control method based on image recognition and machine vision.

The intelligent robot can be used for aiming a target when various tasks are performed. According to the patent application of 'water washing robot aiming system based on laser ranging and image recognition' (CN 201520266382.2) of Liuhong Zheng, Tan Lin, Lu Gekko and the like, aiming at a target can be completed through a visible laser beam and an image recognition sensor.

Railway station room intelligent robot: the railway station room has large passenger flow, is concentrated in holiday and festival, and has higher requirements in various aspects such as rapid station entry, security inspection, intelligent guidance, security protection, fire protection, emergency guarantee and the like. Many at home will be equipped with various robots in station room along the line at high-speed railway under construction, can help the fortune luggage, can also navigate by oneself. However, the existing high-speed rail station room robot mainly realizes a small number of functions such as inquiry and guidance, cannot meet the diversified demands of railway passengers and station room operation units, security units and emergency support units, and needs to develop a novel intelligent robot.

The current intelligent robot for railway passenger stations has the following defects:

1) the system provides services for passengers at ordinary times, has sufficient discovery, identification and monitoring capabilities for emergency security events such as fire, earthquake, riot, terrorist attack and the like, and lacks of effective handling means;

2) the self-defense ability in the face of external disturbances such as violent assaults is insufficient. After the Kunming fire station riot and terrorist attacks in 2014, the riot and terrorist attack prevention capability of a high-speed rail station house is always the key point for the operation of the high-speed rail station house, and the current high-speed rail station house depends on special polices or armed polices to stand for a long time on duty, so that the labor consumption is high. The common intelligent robot has poor self-defense capability when being attacked by a riot and terrorist, and because the action and the reaction agility of the robot are far lower than those of a human, when the riot and terrorist attack happens, the common robot arrives at the site for disposal and is extremely easy to be damaged by the riot and terrorist molecules;

3) limited by the height and the position of the robot, the robot cannot find fire disasters and attack by violence and terrorism in a long distance and cannot find earthquake occurrence in time. And when an emergency happens, people are crowded, and the robot is difficult to reach the scene through the crowded people. In addition, no matter whether the wheeled robot or the tracked robot is limited by an elevator, a stair and the like, the detection difficulty is higher when the robot crosses a floor. And the action is relatively slow, the speed of arriving at the site is limited, and the difficulty of timely providing information is high when emergencies such as fire, earthquake, terrorist attack and the like occur.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that, to the not enough of prior art existence, provide one kind and have discovery, warning, instruction, processing and from the intelligent robot for station of defence ability when conflagration, earthquake, riot and terrorist attack take place.

The utility model provides a technical scheme that its technical problem adopted is: the intelligent robot for the railway passenger station comprises a robot conductive body,

the bottom of the robot conductive body is provided with a robot chassis, a seismic wave detector, an electric shock high-voltage generator and a storage battery, the robot conductive body is in insulated connection with the robot chassis, the robot conductive body is connected with the electric shock high-voltage generator, and the robot chassis and the electric shock high-voltage generator are connected with the storage battery;

the middle part of the conductive body of the robot is provided with an identity card ticket reading and checking device, a tracing smoke generating device and a capturing net emitter, and the identity card ticket reading and checking device, the tracing smoke generating device and the capturing net emitter are connected with a storage battery;

the robot comprises a robot conductive body, a laser target indicating device, a remote spraying anti-riot system, a fire extinguishing bomb emitting device and a robot arm image recognition camera, wherein the shoulder of the robot conductive body is provided with a robot arm, the robot arm is provided with the laser target indicating device, the remote spraying anti-riot system, the fire extinguishing bomb emitting device and the robot arm image recognition camera, and the robot arm, the laser target indicating device, the remote spraying anti-riot system, the fire extinguishing bomb emitting device and the robot;

the head of the conductive body of robot is equipped with unmanned aerial vehicle platform, highlight dazzling device, super high sound megaphone, spike smoke generator export, high definition image recognition camera, radiation temperature sensor and high sensitive smoke sensor, be equipped with unmanned aerial vehicle on the unmanned aerial vehicle platform, highlight dazzling device, super high sound megaphone, high definition image recognition camera, radiation temperature sensor, high sensitive smoke sensor are connected with the battery, the export of spike smoke generator links to each other with spike smoke generator through the pipeline.

The robot conductive body is based on the robot body with a controller, a communication module, a display and input and output equipment in the prior art, and the body material is replaced by a light conductive metal material. The conductive body of the robot can be seen in the existing equipment of related domestic manufacturers, such as a small fat robot of a certain company in Beijing. The conductive body of the robot can communicate with a building centralized control room through a communication module, upload data such as videos and acquire instructions of the centralized control room. The waist of the conductive body of the robot is provided with a pit, so that an overhaul space is reserved for the mechanical arm and equipment on the mechanical arm.

The robot chassis adopts the crawler-type chassis, like crawler-type robot chassis KT200 to and the general chassis of service class robot that manufacturers such as domestic Gaoxian, Simian science and technology, cloud science and technology and xianzhi robot provided, also can be when concrete implementation to relevant producer's customization. The robot chassis operates stably, is provided with a laser radar and a millimeter wave radar, can independently identify obstacles, and can carry loads to run under the control of the controller of the conductive body of the robot.

The mechanical arm adopts a multi-degree-of-freedom mechanical arm, a 6-degree-of-freedom mechanical arm is preferably selected, and the mechanical arm image recognition camera, the remote spraying anti-riot system and the fire extinguishing bomb launching device are all installed on a small arm at the tail end of the mechanical arm and can move 6 degrees of freedom under the control of the robot conductive body controller.

The unmanned aerial vehicle platform is an unmanned aerial vehicle take-up and pay-off platform with wireless charging and electromagnetic mooring functions. The unmanned aerial vehicle platform includes platform orientation module, electronic cover, netted mooring grid and the response charger that opens and shuts. Carry out the image recognition location when being convenient for unmanned aerial vehicle to descend, unmanned aerial vehicle descending position uses thick solid line to be drawn with the landing point cross target center of being convenient for the image recognition location promptly in the unmanned aerial vehicle platform induction charger place position.

Platform orientation module establishes in unmanned aerial vehicle platform center lower part, is equipped with the UWB location basic station that adopts prior art, adopts UWB location technique, carries UWB location label communication with unmanned aerial vehicle machine, and guide unmanned aerial vehicle hovers behind the flying toward unmanned aerial vehicle platform, reuses image recognition technology fine setting to cross target location, fixed point descending.

The electronic cover that opens and shuts opens when unmanned aerial vehicle takes off and lands, and other times close. When the UWB positioning base station of the lower part of the unmanned aerial vehicle platform detects that the unmanned aerial vehicle carrying the wireless positioning device (namely, the UWB positioning tag) is close to the back, the electric opening and closing cover is opened. When the unmanned aerial vehicle falls on the mesh grid and the pincerlike mooring device is closed, the electric opening and closing cover is closed.

The response charger sets up at unmanned aerial vehicle platform center, for prior art. The bottom of the unmanned aerial vehicle is provided with an induction charger which can be directly charged after being landed on the platform.

Unmanned aerial vehicle is prior art's unmanned aerial vehicle that has infrared image recognition camera and wireless positioner. Unmanned aerial vehicle establishes machine carries UWB location label. For making unmanned aerial vehicle firmly fixed on the unmanned aerial vehicle platform, unmanned aerial vehicle platform surface is netted grid, and unmanned aerial vehicle's landing leg bottom is equipped with the electromagnetism stabilizer blade of mooring. The electromagnetism mooring leg comprises super miniature motor and pincerlike mooring gear, and when unmanned aerial vehicle descended, unmanned aerial vehicle found the netted mooring grid of electromagnetism mooring leg contact back from the infrared image recognition camera in area, and super miniature motor drive pincerlike mooring gear is closed, and the card is on netted mooring grid, accomplishes the mooring of unmanned aerial vehicle on the unmanned aerial vehicle platform. In the implementation, a pressure sensor can be added below the electromagnetic mooring support, and the clamp-shaped mooring device is closed after the electromagnetic mooring support is sensed to be in contact with the mesh mooring grid.

The video data of the infrared image recognition camera that unmanned aerial vehicle carried sends back the utility model discloses or building centralized control room carries out record and image recognition. The infrared image identification camera that unmanned aerial vehicle carried can discover fast and fix a position personnel, the condition of a fire that infrared characteristic is obvious, also can discover fire hazard such as circuit, lamps and lanterns generate heat, can also shoot when night illuminance is lower.

The utility model discloses an unmanned aerial vehicle is according to "be used for air and water environmental parameter collection prevent unmanned aerial vehicle flight platform", replaces the buoy for the bullet of putting out a fire, carries the bullet of putting out a fire as throwing load, hovers in the sky of target, throws on the ignition or on the target personnel, puts out a fire and deals with the attack of riot and terrorist. After the fire extinguishing bomb falls onto the target or is damaged nearby, the fire extinguishing agent in the device leaks out to cover the fire point for extinguishing fire. For the target person, the fire extinguishing bomb may interfere with its vision and breathing. In practical application, as the ignition point cannot move, the throwing precision is high, but the fire extinguishing agent of a single fire extinguishing bomb is less, and a cluster of unmanned aerial vehicles can be used for centralized throwing of a plurality of fire extinguishing bombs; and to the personnel that the translation rate is very fast, be difficult to the accurate throw, also can use the unmanned aerial vehicle cluster to carry out a plurality of concentrated throws of bullet of putting out a fire, improve the hit rate.

The fire extinguishing bomb is prior art, and the fire extinguishing bomb launcher that fire extinguishing bomb emitter and unmanned aerial vehicle adopted all can adopt the imitative antitank grenade of friend's science and technology fire extinguishing bomb. The fire extinguishing bomb emitting device and the unmanned aerial vehicle can carry 1 or more fire extinguishing bombs. The fire extinguishing agent filled in the fire extinguishing bomb can ensure certain pressure, the fire extinguishing agent can be rapidly diffused under the internal pressure after being damaged, and the head of the fire extinguishing bomb is made of a plastic shell which is easy to damage after being impacted.

The unmanned aerial vehicle can transmit the shot image to the conductive body of the robot or directly transmit the shot image to a building centralized control room. When unmanned aerial vehicle navigates back to the unmanned aerial vehicle platform, at first navigate according to prior art through the wireless positioner who carries on machine wireless positioner and the unmanned aerial vehicle platform, when unmanned aerial vehicle flies to close on the unmanned aerial vehicle platform, the utility model discloses stop moving, guide unmanned aerial vehicle hovers after flying near the unmanned aerial vehicle platform, unmanned aerial vehicle carries out image recognition location through infrared image recognition camera to the cross centre of a target on the unmanned aerial vehicle platform again, and the back is accomplished in the location, slowly falls, accomplishes the electromagnetism behind the contact platform and moors.

The identity card ticket reading and checking device is a device in the prior art, and can be used for carrying out three-in-one check of 'ticket, card and person' identification together with a high-definition image identification sensor. Compare current entrance to a station "ticket, card, people" trinity image recognition check-out set, the utility model discloses can be in the inspection of station-ahead square flow, the scope of inspection has been extended. And the ticket checking device can be used as a ticket checking device of a temporarily increased entrance during a peak period, an entrance passage is added, and passengers are shunted. It can also be intercepted in the face of a riot molecule by requiring ticket checking verification in a similar manner to a police officer. When a suspect is found through identification of an identity card or a facial image, the suspect can be alarmed through various ways, and can be controlled through a capture net emitter, a remote spray anti-riot system or a fire extinguishing bomb emitting device according to instructions of a centralized control room, so that personal safety risks of an inspector during manual inspection are avoided.

The storage battery is connected with a robot chassis, mechanical arms, an unmanned aerial vehicle platform, a highlight dazzling device, a super-high sound loudspeaker, a tracing smoke generating device, a laser target indicating device, a remote spraying anti-riot system, a fire extinguishing bomb emitting device, a high-definition image recognition camera, a radiation temperature sensor, a high-sensitivity smoke sensor, a capturing net emitter and the like to supply power for the components.

The glaring lamp is dazzled to the highlight device that adopts prior art, along the utility model discloses head circumference equipartition guarantees to be not more than every 60 and arranges a glaring lamp, and the highlight of transmission has stronger amazing effect to the people's eye for riot and terrorist molecule can't visualize the utility model discloses, can't implement accurate attack, play self-defense effect.

The ultra-high sound loudspeaker adopts the prior art, and can adopt a Wheatstone TN28-B ultra-high sound loudspeaker.

Tracer smoke generator can send smog instruction the utility model discloses a position plays sign danger source, guide functions such as sparse. An AG electronic constant-temperature remote control 1000W smoke sprayer can be adopted. Trace smoke generator establishes the utility model discloses a middle part the utility model discloses a head is equipped with the export of tracer smoke generator, and the export of tracer smoke generator passes through the tube coupling with tracer smoke generator. The smoke emitted from the trace smoke generating device can be conveyed to the outlet of the trace smoke generating device through a pipeline and discharged.

The laser target indicating device can emit visible laser beams to indicate targets, is similar to a laser sighting device of an infrared temperature measuring gun, but has larger laser beam diameter (reaching the diameter of 5-10 cm), and is easier to be found and identified by mechanical arm image recognition cameras when the laser beam irradiates the targets. And when the mechanical arm image recognition camera shooting recognizes that the laser beam of the laser target indicating device irradiates on the target object, the aiming is considered to be finished. The remote spraying anti-riot system, the fire extinguishing bomb launching device, the mechanical arm image recognition camera and the laser target indicating device on the mechanical arm are installed in a common aiming line, and when a laser beam of the laser target indicating device irradiates on a target object, the remote spraying anti-riot system and the fire extinguishing bomb launching device can be considered to be aimed at the target.

The remote spray anti-riot system adopts the anti-riot spray system in the prior art and selects products with concentrated spray liquid flow and long spray range. The agricultural electric sprayer can refer to a high-voltage multifunctional lithium battery. The remote spray anti-riot system sprays by using the anti-riot spraying agent in the prior art, the size of a storage tank of the spraying agent is not less than 1000ml, so that the remote spray anti-riot system has continuous spraying capacity, and the problem that the spray metering of a common handheld anti-riot spraying device is too small is solved.

The fire extinguishing bomb launching device adopts a continuous firing air gun technology with a compressed air tank, selects a continuous firing air gun for launching large-size bullets, and uses the fire extinguishing bomb to replace the bullets of the continuous firing air gun. It can also be made according to the principle of existing toy spring launcher (such as spring empire luxury launcher B7765 of NERF hot fire star wars of children's treasure), and the bullet is replaced by a fire extinguishing bullet. The fire extinguishing bomb is a throwable fire extinguishing bomb which is wrapped by a breakable film and filled with a fire extinguishing agent in the prior art. The fire extinguishing bomb is damaged after hitting the target, and the fire extinguishing agent is discharged to extinguish the fire or interfere with target personnel.

The high-definition image recognition camera and the mechanical arm image recognition camera are ultra-high-definition cameras. Haekwondo or Sony related products (e.g., Haekwondo MV-CE200-10 GC) may be used.

The radiation temperature sensor can select a non-contact infrared temperature measurement module MLX90614, can measure the comprehensive radiation temperature of the ground and the top surface of the indoor wall at ordinary times, and can measure the radiation temperature of the surface of a dangerous object when fire hazard patrol is carried out.

The high-sensitivity smoke sensor adopts a JD-SD51-W WIFI smoke detector which is provided with a small storage battery and a small communication module, and an alarm signal of the high-sensitivity smoke sensor is directly transmitted to a building centralized control room. The benefit of doing so is, when calamity such as conflagration takes place the utility model discloses control system is impaired, highly sensitive smoke transducer still can not be influenced completion alarm signal transmission.

Arresting net transmitter is prior art the utility model discloses openly install, work the utility model discloses a high definition image recognition camera passes through face identification technique or other image recognition technique, when discerning positive crime, the riot terrorism molecule or the personnel that have dangerous action, and the net is arrested in the transmission carries out injury-free control to the personnel. The catching net emitter can be controlled by a controller of the robot conductive body or a building centralized control room. The arresting net emitter adopts a pneumatic anti-riot arresting net gun in the prior art.

The seismic wave detector is a product in the prior art, is provided with a lithium battery and independently supplies power. Seismic longitudinal waves (P-waves) can be sensitively monitored. When an earthquake occurs, the earthquake wave detector firstly detects primary earthquake waves (P waves) and finds the occurrence of the earthquake. Although the earthquake is felt by the personnel in the building when the earthquake longitudinal wave arrives at the building, the personnel can not confirm whether the earthquake occurs or not because of different individual feelings, and confirmation and hesitation exist. And once the earthquake wave detector detects earthquake waves, an alarm signal of earthquake occurrence is sent to a controller in the conductive body of the robot immediately, and then the ultrahigh-sound loudspeaker immediately gives a sound warning of 'earthquake occurrence, people please evacuate as soon as possible', the earthquake occurrence is confirmed, and people are reminded to evacuate as soon as possible. Because outside earthquake early warning signal need have the delay through network transmission, speed the utility model discloses set up the earthquake wave detector and carry out the ground detection earthquake wave on the spot, report to the police on the spot, can further shorten the early warning time. And, be equipped with super high pitch megaphone the utility model discloses can remind people sparse through the high pitch broadcasting in the personnel's active area in the building, avoid people can not in time look over the early warning information that the outside conveying that cell-phone or display screen received was come, miss the best sparse opportunity. When loudspeaker received outside alarm information broadcast evacuation information in the railway station room, the utility model discloses an instruction that super high-pitched sound megaphone passes through the centralized control room can switch into with railway station room in loudspeaker broadcast same information, but can move to in the bathroom, in the dining room equal station room broadcast equipment do not have the region of covering and broadcast.

The utility model discloses still can set up seismic information receiving arrangement, seismic information receiving arrangement can receive earthquake early warning or alarm information that are sent by earthquake bureau, emergent guarantee unit from taking lithium cell and wireless communication module. After the earthquake information receiving device receives the earthquake alarm information, the ultrahigh sound loudspeaker is started immediately to send out sound warning of 'earthquake occurrence, people please evacuate as soon as possible'. Due to time delay of wireless communication and the like, the earthquake early warning or alarm information received by the earthquake information receiving device may be slower than the alarm signal sent by the earthquake wave detector, and in addition, in remote areas, due to imperfect facilities, the earthquake information receiving device cannot receive the earthquake early warning or alarm information. Therefore, the earthquake information receiving device receives earthquake early warning or alarm information and sends out evacuation alarm through the super-high sound loudspeaker, which is a supplement to the alarm working mode of the earthquake wave detector.

The utility model discloses all sensors, the executor (like the robot chassis, the seismic wave detector, electric shock high voltage generator, ID card ticket reading ticket checking device, spike smoke generating device, capture net transmitter, seismic information receiving arrangement, the arm, laser target indicating device, long-range spraying anti-riot system, fire extinguishing bomb emitter, arm image recognition camera, the unmanned aerial vehicle platform, the bright light dazzles the device, super high sound megaphone, the export of spike smoke generating device, high definition image recognition camera, radiation temperature sensor and highly sensitive smoke sensor) all can be carried out data communication and is carried out the control of the controller of robot electric conduction body self-bring or by building centralized control room by the control room of robot electric conduction body self-bring or carry out work by the control of building centralized control room. And the control instruction of the building centralized control room is prior to the control instruction of the controller of the conductive body of the robot.

The utility model discloses a following part discovery conflagration, earthquake, riot terrorism attack: high definition image recognition camera, arm image recognition camera, radiation temperature sensor, high sensitive smoke transducer, unmanned aerial vehicle, seismic detector, earthquake information receiving arrangement.

The following components are used for alarming fire, earthquake and attack of riot and terrorist: an ultra-high pitch loudspeaker, a tracing smoke generating device and a tracing smoke generating device outlet.

The fire disaster and the violent and terrorist attack occurrence position indication is carried out by the following components: tracer smoke generator, tracer smoke generator export, laser target indicating device, unmanned aerial vehicle, super high sound megaphone.

The treatment of fire and violent and terrorist attacks is carried out by the following components: the system comprises a strong light dazzling device, a laser target indicating device, a remote spray anti-riot system, a fire extinguishing bomb launching device and a capture net launcher.

The self-defense of fire and violent and terrorist attacks is carried out through the following components: the robot comprises a conductive body, a highlight dazzling device and a capture net emitter.

The operation method of the intelligent robot for the railway passenger station comprises the following steps:

when a fire occurs;

1) the fire is detected in a plurality of ways: when a fire occurs, the unmanned aerial vehicle takes off from the unmanned aerial vehicle platform, the infrared image identification camera carried by the unmanned aerial vehicle is used for detecting and positioning the fire, after the fire is confirmed, the unmanned aerial vehicle throws a fire extinguishing bomb carried by the unmanned aerial vehicle to a fire point, and the fire is rapidly disposed at the initial stage of the fire and before the fire spreads; when a fire occurs, if the unmanned aerial vehicle does not take off or fly around the fire place, receiving an instruction of a building centralized control room to acquire the fire, and then taking off the unmanned aerial vehicle or indicating the unmanned aerial vehicle to fly to a specified position; for the fire condition of monitoring dead angles such as a toilet and the like, the unmanned aerial vehicle can fly into a corresponding room according to the smoke condition to confirm the fire condition;

2) and (3) alarming and indicating the position of the fire: when the fire takes place, after accepting unmanned aerial vehicle signal or building centralized control room's instruction and obtaining the fire, also remove to the fire place, when removing the incident position, open spike smoke generating device, smog emits from the export of spike smoke generating device, can clearly instruct incident position and warning in the big space of high-speed railway station room, makes things convenient for follow-up personnel to arrive the processing, simultaneously, uses super high pitch megaphone to shout: alarm and target indication are carried out when the fire is on and the evacuation is carried out as soon as possible; the unmanned aerial vehicle can also hover above the incident position in an idle mode to mark the incident position; the laser target indicating device can directly project a visible laser beam on the surface of a target to mark the target;

3) fire fighting: throwing a fire extinguishing bomb after the unmanned aerial vehicle rapidly positions the ignition point, aiming the ignition point by using a laser target indicating device when the unmanned aerial vehicle moves to the incident position, and then launching the fire extinguishing bomb to the ignition point by using a fire extinguishing bomb launching device to extinguish the fire;

when an earthquake occurs:

the earthquake wave detector firstly detects earthquake longitudinal waves (P waves), finds the earthquake occurrence, and people in the building have a seismic sense when the earthquake longitudinal waves reach the building, but the people still cannot confirm whether the earthquake occurs or not due to different individual senses, and have confirmation and hesitation periods; when the loudspeaker in the railway station room receives external alarm information to play evacuation information, the ultrahigh-tone loudspeaker can be switched to play the same information as the loudspeaker in the railway station room through an instruction of the centralized control room, but can be moved to areas which are not covered by station room sound playing equipment in a toilet, a restaurant and the like to play sound, and personnel are guided to quickly avoid danger or evacuate to the outside in a relatively safe space before the earthquake transverse wave arrives;

when a riot terrorist attack occurs:

1) the riot and terrorist attacks are detected in various ways: when the riot and terrorist attacks occur, the unmanned aerial vehicle takes off from the unmanned aerial vehicle platform, and the carried infrared image is used for identifying the camera to detect and position the riot and terrorist attacks; when the riot terrorist attack occurs, if the unmanned aerial vehicle does not take off or fly around the place where the riot terrorist attack occurs, receiving an instruction of a building centralized control room to acquire the riot terrorist attack, then taking off the unmanned aerial vehicle or indicating the unmanned aerial vehicle to fly to a specified position, and after confirming the riot terrorist attack and the riot terrorist molecules, throwing a fire extinguishing bomb carried by the unmanned aerial vehicle to the riot terrorist molecules to interfere the action of the riot terrorist molecules; for the riot and terrorist attacks in dead monitoring corners such as a toilet, the unmanned aerial vehicle can fly into a corresponding room according to the smoke condition to confirm and treat the riot and terrorist attacks;

2) alarming and indicating the position of the attack of the riot and terrorist: when the attack of riot terrorism takes place, the instruction of accepting unmanned aerial vehicle signal or building centralized control room obtains the attack of riot terrorism, also remove to the conflagration emergence, when removing the incident position, open spike smoke generating device, smog emits from the export of spike smoke generating device, the high direct roof of plume, can be in the big space of high-speed railway station room far away the clear indication incident position and report to the police, make things convenient for follow-up personnel to arrive the processing, simultaneously, use super high pitch megaphone to shout: "riots here, please evacuate as soon as possible" for alarm and target indication; the unmanned aerial vehicle can also hover above the incident position in an idle mode to mark the incident position; the laser target indicating device can directly project a visible laser beam on the surface of a target to mark the target;

3) handling of attack by riot terrorists: the fire extinguishing bomb is thrown after the unmanned aerial vehicle rapidly positions the riot and terrorist molecules, when the unmanned aerial vehicle moves to an incident position, the laser target indicating device is used for aiming at an ignition point, then the fire extinguishing bomb launching device is used for launching the fire extinguishing bomb to the riot and terrorist molecules, and the riot and terrorist molecules are interfered and attacked; continuously spraying a large amount of riot spray to riot and terrorist molecules by using a remote spray riot control system, so that eyes and a respiratory system of the riot and terrorist molecules are stimulated to lose attack ability; the robot can receive an instruction of a building centralized control room for handling the attack of the riot terrorist, the strong light dazzling device is started to enable the riot terrorist molecules to be invisible, the electric shock high-voltage generator is started to enable the conductive body of the robot to be electrified, when the riot terrorist molecules approach to attack by using a metal cutter, an instrument or bare hands, the electric shock of the riot terrorist molecules contacting the surface of the conductive body of the robot is lost, the robot is protected, innocent masses are prevented from being shocked, when the electric shock high-voltage generator is started and the conductive body of the robot is electrified, the ultrahigh sound loudspeaker continuously sends out a ' danger ' and please keep away from the people ', the people are prompted to be far away, and under the high-sound prompt, the strong light dazzling device also continuously flickers, and general masses cannot approach to generate danger; when the riot terrorist molecules approach to the front, the catching net emitter can be used for emitting the riot terrorist molecules controlled by the anti-riot net according to an external instruction (an instruction of a building centralized control room);

when the mobile robot moves to a position for incident to carry out attack treatment, a high-definition image recognition camera is arranged to shoot and obtain evidence; unmanned aerial vehicle also takes off and shoots and collect evidence and investigation, uses unmanned aerial vehicle can discover rapidly that there is being close of riot terrorist molecule at the rear portion, promotes the comprehensiveness of the peripheral situation perception of robot.

The utility model has the advantages that:

1) the utility model discloses be equipped with unmanned aerial vehicle and unmanned aerial vehicle platform, show the remote discovery conflagration that has extended the robot, the scope of attack of riot terrorism. And when an emergency occurs, crowds are crowded and the robot cannot reconnaissance the situation, the carried unmanned aerial vehicle can fly freely above the crowds for reconnaissance. And the unmanned aerial vehicle can not be restricted by elevator, stair etc. when the emergency takes place, and the high-speed scene of flying to of crossing the floor is fit for in time providing the information when dealing with emergency such as conflagration, earthquake and riot terrorism attack. And unmanned aerial vehicle is equipped with electromagnetism mooring leg, pincerlike mooring rope ware can be fixed with netted mooring grating on the unmanned aerial vehicle platform to use the induction charger to charge, make the utility model discloses a robot has the full flow ability of carrying on, charging, letting fly, utilizing and retrieving the robot. Just the utility model discloses an unmanned aerial vehicle platform portability many unmanned aerial vehicles at robot top has the multitask investigation ability simultaneously. In addition, unmanned aerial vehicle carries the fire extinguishing bomb as the load of throwing, still can make the utility model discloses have remote, quick conflagration and the ability that the attack of riot and terrorism was dealt with.

Furthermore, the unmanned aerial vehicle of free flight can compensate the utility model discloses the blind area that back high definition image recognition camera can't cover promotes the utility model discloses a comprehensive nature of peripheral situation perception the utility model discloses in time discover behind one's back or other vision blind areas such as after the crowd emergence event.

For fire or riot attack in dead monitoring corners such as a toilet, the unmanned aerial vehicle can fly into a corresponding room according to the smoke condition to confirm and dispose of the fire or riot attack.

2) The utility model discloses be equipped with super high sound megaphone, spike smoke generator export, laser target indicating device and unmanned aerial vehicle, can report to the police and position indication when conflagration, earthquake, riot and terrorist attack take place. Specifically, attack when conflagration, riot terrorism and take place, the utility model discloses when removing the accident position, open spike smoke generating device, smog emits from the export of spike smoke generating device, can clearly instruct the accident position and report to the police in the big space in high-speed railway station room, makes things convenient for follow-up personnel to arrive in the processing, and simultaneously, uses super high pitch megaphone to shout: the warning and target indication is given by "fire here, please evacuate as soon as possible" or "riot here, please evacuate as soon as possible". The unmanned aerial vehicle can also hover above the incident position in an empty mode to mark the incident position. The laser target indicating device can directly project a visible laser beam on the target surface to mark the target.

3) The utility model discloses be equipped with the highlight and dazzle the device, laser target indicating device, the anti-riot system of long-range spraying, fire extinguishing bomb emitter and arresting net transmitter, to the conflagration, emergent guarantee events such as riot and terrorist attack have abundant processing means, can not only pass through unmanned aerial vehicle, high definition image recognition camera etc. discover dangerously, also can in time use various means to deal with dangerously, discovery and processing integration have been realized, the delay and the distortion of middle communication link have been avoided, the efficiency is promoted, and the personal safety risk of dealing with people's self when having avoided carrying out artifical the processing.

4) The ability of preventing riot and terrorist attacks in high-speed rail station houses is always the key point of high-speed rail station house operation, and the current high-speed rail station houses depend on special polices or armed polices to stop guard for a long time and work, so that the labor consumption is large. The common intelligent robot has poor self-defense capability when being attacked by a riot and terrorist, and because the action and the reaction agility of the robot are far lower than those of a human, when the riot and terrorist attack happens, the common robot arrives at the site for disposal and is extremely easy to be damaged by the riot and terrorist molecules. The utility model discloses be equipped with the electrically conductive body of robot, highlight dazzles the device and catches the net transmitter, have the self-defense ability of sufficient anti-riot power attack. The strong light dazzling device prevents riot and terrorist molecules from directly viewing the utility model; the capture net emitter can emit the anti-riot net control riot molecules according to external instructions (instructions of a building centralized control room) when the riot molecules approach to the front. In addition, the acceptable building centralized control room of robot reply sudden and violent terrorism attack's instruction is opened electric shock high voltage generator for the electrically conductive body of robot is electrified, approaches to using metal cutter, apparatus or bare-handed attack when sudden and violent terrorism molecule the utility model discloses time, contacting the utility model discloses sudden and violent terrorism molecule on surface suffers the electric shock and loses the aggressivity, makes the utility model discloses protect.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention;

fig. 2 is a schematic structural diagram of the unmanned aerial vehicle carried by the embodiment shown in fig. 1;

in the figure: 1. the robot comprises a robot conductive body, 2 a robot chassis, 3 a mechanical arm, 4 an unmanned aerial vehicle platform, 5 a platform positioning module, 6 an electric opening and closing cover, 7 a mesh mooring grid, 8 an induction charger, 9 an unmanned aerial vehicle, 10 an electromagnetic mooring leg, 11 an ultra-miniature motor, 12 a pincer-shaped mooring device, 13 a fire extinguishing bomb, 14 an electric shock high-voltage generator, 15 a storage battery, 16 a highlight dazzling device, 17 an ultra-high sound loudspeaker, 18 a tracing smoke generating device, 19 a tracing smoke generating device outlet, 20 a laser target indicating device, 21 a remote spray anti-riot system, 22 a fire extinguishing bomb emitting device, 23 a high-definition image recognition camera, 24 a mechanical arm image recognition camera, 25 a radiation temperature sensor, 26 a high-sensitivity smoke sensor, 27 a catching net emitter, 28 a seismic wave detector, 29. earthquake information receiving device, 30. ID card ticket reading and checking device.

Detailed Description

The present invention will be further explained with reference to the drawings and examples.

Examples

Referring to the attached drawings, the intelligent robot for the railway passenger station comprises a robot conductive body 1,

the bottom of the robot conductive body 1 is provided with a robot chassis 2, a seismic wave detector 28, an electric shock high-voltage generator 14 and a storage battery 15, the robot conductive body 1 is in insulated connection with the robot chassis 2, the robot conductive body 1 is connected with the electric shock high-voltage generator 14, and the robot chassis 2 and the electric shock high-voltage generator 14 are connected with the storage battery 15;

the identity card ticket reading and checking device 10, the tracing smoke generating device 18 and the capturing net emitter 27 are arranged in the middle of the robot conductive body 1, and the identity card ticket reading and checking device 10, the tracing smoke generating device 18 and the capturing net emitter 27 are connected with the storage battery 15;

the robot comprises a robot conductive body 1, a laser target indicating device 20, a remote spraying anti-riot system 21, a fire extinguishing bomb emitting device 22 and a robot arm image recognition camera 24, wherein the shoulder of the robot conductive body 1 is provided with the robot arm 3, the robot arm 3 is provided with the laser target indicating device 20, the remote spraying anti-riot system 21, the fire extinguishing bomb emitting device 22 and the robot arm image recognition camera 24, and the robot arm 3, the laser target indicating device 20, the remote spraying anti-riot system 21, the fire extinguishing bomb emitting;

the head of the robot conductive body 1 is equipped with unmanned aerial vehicle platform 4, highlight and dazzles device 16, super high sound megaphone 17, spike smoke generating device export 19, high definition image recognition camera 23, radiation temperature sensor 25 and high sensitive smoke sensor 26, be equipped with unmanned aerial vehicle 9 on the unmanned aerial vehicle platform 4, the highlight dazzles device 16, super high sound megaphone 17, high definition image recognition camera 23, radiation temperature sensor 25, high sensitive smoke sensor 26 and is connected with battery 15, spike smoke generating device export 19 links to each other with spike smoke generating device 18 through the pipeline.

The robot conductive body 1 is made of a light conductive metal material instead of a body material based on a robot body with a controller, a communication module, a display and input and output equipment in the prior art. The robot conductive body 1 can be referred to the existing equipment of related domestic manufacturers, such as a small fat robot of a certain company in Beijing. The robot conductive body 1 can communicate with a building centralized control room through a communication module, upload data such as videos and acquire instructions of the centralized control room. The waist of the conductive body 1 of the robot is provided with a pit, and an overhaul space is reserved for the mechanical arm and equipment on the mechanical arm.

Robot chassis 2 adopts crawler-type chassis, like crawler-type robot chassis KT200 to and the general chassis of service class robot that manufacturers such as domestic Ganxian, Silan science and technology, cloud science and technology and xianzhi robot provided, also can be when concrete implementation to relevant producer's customization. The robot chassis operates stably, is provided with a laser radar and a millimeter wave radar, can independently identify obstacles, and can carry loads to run under the control of the controller of the conductive body of the robot.

The mechanical arm 3 adopts an ABB 6-freedom mechanical arm, and the mechanical arm image recognition camera 24, the remote spraying anti-riot system 21 and the fire extinguishing bomb launching device 22 are all installed on a small arm at the tail end of the mechanical arm 3 and can move 6-freedom under the control of the robot conductive body controller.

The unmanned aerial vehicle platform 4 is an unmanned aerial vehicle take-up and pay-off platform with wireless charging and electromagnetic mooring functions. Unmanned aerial vehicle platform 4 includes platform orientation module 5 (one), electronic cover 6 that opens and shuts, netted mooring grid 7 and induction charger 8 (a plurality of). Carry out the image recognition location when being convenient for unmanned aerial vehicle to descend, unmanned aerial vehicle descending position is the response charger place position on unmanned aerial vehicle platform 4 and is drawn with the landing point cross target center of being convenient for the image recognition location using thick solid line.

Platform orientation module 5 is established in 4 central lower parts of unmanned aerial vehicle platform, is equipped with the UWB location basic station that adopts prior art, adopts UWB location technique, carries UWB location label communication with unmanned aerial vehicle machine, and guide unmanned aerial vehicle hovers after flying near unmanned aerial vehicle platform, reuses image recognition technology fine setting to cross centre of a target location, fixed point descending.

Electronic cover 6 that opens and shuts opens when unmanned aerial vehicle takes off and lands, and other times close. When the UWB positioning base station of the lower part of the unmanned aerial vehicle platform detects that the unmanned aerial vehicle carrying the wireless positioning device (namely, the UWB positioning tag) is close to the back, the electric opening and closing cover is opened. When the unmanned aerial vehicle falls on the mesh grid and the pincerlike mooring device is closed, the electric opening and closing cover is closed.

The setting of response charger 8 is at unmanned aerial vehicle platform center, for prior art. The bottom of the unmanned aerial vehicle is provided with an induction charger which can be directly charged after being landed on the platform.

Unmanned aerial vehicle 9 is prior art's unmanned aerial vehicle that has infrared image recognition camera and wireless positioner. Unmanned aerial vehicle establishes machine carries UWB location label. For making unmanned aerial vehicle firmly fixed on the unmanned aerial vehicle platform, unmanned aerial vehicle platform surface is netted grid, and unmanned aerial vehicle 9's landing leg bottom is equipped with electromagnetism stabilizer blade 10 that moors. Electromagnetism mooring leg 10 comprises super miniature motor 11 and pincerlike mooring gear 12, and when unmanned aerial vehicle 9 descends, unmanned aerial vehicle 9 finds electromagnetism mooring leg 10 contact netted mooring grid 7 back from the infrared image recognition camera in area, and super miniature motor 11 drive pincerlike mooring gear 12 is closed, and the card is on netted mooring grid 7, accomplishes the mooring of unmanned aerial vehicle 9 on unmanned aerial vehicle platform 4. In a specific implementation, a pressure sensor can be added below the electromagnetic mooring leg 10, and the clamp-shaped mooring 12 is closed when the electromagnetic mooring leg 10 is sensed to contact the mesh mooring grid 7.

The video data of the infrared image recognition camera that unmanned aerial vehicle 9 carried sends back the utility model discloses or building centralized control room carries out record and image recognition. The infrared image identification camera that unmanned aerial vehicle carried can discover fast and fix a position personnel, the condition of a fire that infrared characteristic is obvious, also can discover fire hazard such as circuit, lamps and lanterns generate heat, can also shoot when night illuminance is lower.

The utility model discloses an unmanned aerial vehicle is according to the scheme that "be used for preventing falling unmanned aerial vehicle platform" (CN 201811236274.5) promulgated of air and water environmental parameter collection, replaces the buoy for fire extinguishing bomb 13, carries fire extinguishing bomb 13 as the load that can throw, hovers over the target, throws on the ignition or on the target personnel, puts out a fire and attack the processing with the riot and terrorism. After the fire extinguishing bomb falls onto the target or is damaged nearby, the fire extinguishing agent in the device leaks out to cover the fire point for extinguishing fire. For the target person, the fire extinguishing bomb may interfere with its vision and breathing. In practical application, as the ignition point cannot move, the throwing precision is high, but the fire extinguishing agent of a single fire extinguishing bomb is less, and a cluster of unmanned aerial vehicles can be used for centralized throwing of a plurality of fire extinguishing bombs; and to the personnel that the translation rate is very fast, be difficult to the accurate throw, also can use the unmanned aerial vehicle cluster to carry out a plurality of concentrated throws of bullet of putting out a fire, improve the hit rate.

Fire extinguishing bomb 13 is prior art, and the fire extinguishing bomb that fire extinguishing bomb emitter 22 and unmanned aerial vehicle adopted all can adopt the imitative antitank grenade of friend's science and technology fire extinguishing bomb. The fire extinguishing bomb emitting device and the unmanned aerial vehicle can carry 1 or more fire extinguishing bombs. The fire extinguishing agent filled in the fire extinguishing bomb can ensure certain pressure, the fire extinguishing agent can be rapidly diffused under the internal pressure after being damaged, and the head of the fire extinguishing bomb is made of a plastic shell which is easy to damage after being impacted.

The unmanned aerial vehicle 9 can transmit the shot image to the conductive body of the robot or directly to the building centralized control room. When unmanned aerial vehicle navigates back to the unmanned aerial vehicle platform, at first navigate according to prior art through the wireless positioner who carries on machine wireless positioner and the unmanned aerial vehicle platform, when unmanned aerial vehicle flies to close on the unmanned aerial vehicle platform, the utility model discloses stop moving, guide unmanned aerial vehicle hovers after flying near the unmanned aerial vehicle platform, unmanned aerial vehicle carries out image recognition location through infrared image recognition camera to the cross centre of a target on the unmanned aerial vehicle platform again, and the back is accomplished in the location, slowly falls, accomplishes the electromagnetism behind the contact platform and moors.

The identification card ticket reading and checking device 10 is a device in the prior art, and can perform three-in-one check of 'ticket, card and person' identification together with a high-definition image identification sensor. Compare current entrance to a station "ticket, card, people" trinity image recognition check-out set, the utility model discloses can be in the inspection of station-ahead square flow, the scope of inspection has been extended. And the ticket checking device can be used as a ticket checking device of a temporarily increased entrance during a peak period, an entrance passage is added, and passengers are shunted. It can also be intercepted in the face of a riot molecule by requiring ticket checking verification in a similar manner to a police officer. When a suspect is found through identification of an identity card or a facial image, the suspect can be alarmed through various ways, and can be controlled through a capture net emitter, a remote spray anti-riot system or a fire extinguishing bomb emitting device according to instructions of a centralized control room, so that personal safety risks of an inspector during manual inspection are avoided.

The storage battery 15 is connected with the robot chassis 2, the mechanical arm 3, the unmanned aerial vehicle platform 4, the highlight dazzling device 16, the ultrahigh-sound loudspeaker 17, the tracing smoke generating device 18, the laser target indicating device 20, the remote spray anti-riot system 21, the fire extinguishing bomb emitting device 22, the high-definition image recognition camera 23, the radiation temperature sensor 25, the high-sensitivity smoke sensor 26, the capturing net emitter 27 and the like to supply power for the components.

The glaring lamp is dazzled to highlight dazzle device 16 adopts prior art's highlight, along the utility model discloses head circumference equipartition guarantees to be not more than every 60 and arranges a glaring lamp, and the highlight of transmission has stronger amazing effect to the human eye for riot and terrorist molecule can't visualize the utility model discloses, can't implement accurate attack, play self-defense effect.

The althorn 17 is known in the art and may be a whiskey TN28-B alt speaker.

Tracer smoke generator 18 can send smog instruction the utility model discloses a position plays sign danger source, guide functions such as sparse. An AG electronic constant-temperature remote control 1000W smoke sprayer can be adopted. Trace smoke generator establishes the utility model discloses a middle part the utility model discloses a head is equipped with tracer smoke generator export 19, and tracer smoke generator export 19 passes through the tube coupling with tracer smoke generator 18. Smoke emitted from the trace smoke generator 18 may be ducted to the trace smoke generator outlet 19 for discharge.

The laser target indicating device 20 can emit visible laser beams to indicate targets, is similar to a laser sight of an infrared temperature measuring gun, but has larger laser beam diameter (reaching the diameter of 5-10 cm) and is easier to be found and identified by mechanical arm image recognition cameras when the laser sight irradiates the targets. And when the mechanical arm image recognition camera shooting recognizes that the laser beam of the laser target indicating device irradiates on the target object, the aiming is considered to be finished. The remote spraying anti-riot system, the fire extinguishing bomb launching device, the mechanical arm image recognition camera and the laser target indicating device on the mechanical arm are installed in a common aiming line, and when a laser beam of the laser target indicating device irradiates on a target object, the remote spraying anti-riot system and the fire extinguishing bomb launching device can be considered to be aimed at the target.

The remote spray anti-riot system 21 uses the anti-riot spray system in the prior art and selects products with concentrated spray liquid flow and long spray range. The agricultural electric sprayer can refer to a high-voltage multifunctional lithium battery.

The fire extinguishing bomb launching device 22 adopts a continuous-firing air gun technology with a compressed air tank, selects a continuous-firing air gun for launching large-size bullets, and uses fire extinguishing bombs to replace the bullets of the continuous-firing air gun. It can also be made according to the principle of existing toy spring launcher (such as spring empire luxury launcher B7765 of NERF hot fire star wars of children's treasure), and the bullet is replaced by a fire extinguishing bullet. The fire extinguishing bomb is a throwable fire extinguishing bomb which is wrapped by a breakable film and filled with a fire extinguishing agent in the prior art. The fire extinguishing bomb is damaged after hitting the target, and the fire extinguishing agent is discharged to extinguish the fire or interfere with target personnel.

The high-definition image recognition camera 23 and the mechanical arm image recognition camera 24 are ultra-high-definition cameras. Haekwondo or Sony related products (e.g., Haekwondo MV-CE200-10 GC) may be used.

The radiation temperature sensor 25 can be a non-contact infrared temperature measurement module MLX90614, can measure the comprehensive radiation temperature of the ground and the top surface of the indoor wall at ordinary times, and can measure the radiation temperature of the surface of a dangerous object during fire hazard patrol.

The high-sensitivity smoke sensor 26 adopts a JD-SD51-W WIFI smoke detector which is provided with a small storage battery and a small communication module, and an alarm signal of the high-sensitivity smoke detector is directly transmitted to a building centralized control room. The benefit of doing so is, when calamity such as conflagration takes place the utility model discloses control system is impaired, highly sensitive smoke transducer still can not be influenced completion alarm signal transmission.

Arresting net transmitter 27 is prior art the utility model discloses openly install, work the utility model discloses a high definition image recognition camera passes through face identification technique or other image recognition technique, when discerning positive crime, the riot terrorism or the personnel of dangerous action, and the net is arrested in the transmission carries out injury-free control to personnel. The catching net emitter can be controlled by a controller of the robot conductive body or a building centralized control room. The arresting net emitter adopts a pneumatic anti-riot arresting net gun in the prior art.

The seismic wave detector 28 is a product in the prior art, is provided with a lithium battery and independently supplies power. Seismic longitudinal waves (P-waves) can be sensitively monitored. When an earthquake occurs, the earthquake wave detector firstly detects primary earthquake waves (P waves) and finds the occurrence of the earthquake. Although the earthquake is felt by the personnel in the building when the earthquake longitudinal wave arrives at the building, the personnel can not confirm whether the earthquake occurs or not because of different individual feelings, and confirmation and hesitation exist. And once the earthquake wave detector detects earthquake waves, an alarm signal of earthquake occurrence is sent to a controller in the conductive body of the robot immediately, and then the ultrahigh-sound loudspeaker immediately gives a sound warning of 'earthquake occurrence, people please evacuate as soon as possible', the earthquake occurrence is confirmed, and people are reminded to evacuate as soon as possible. Because outside earthquake early warning signal need have the delay through network transmission, speed the utility model discloses set up the earthquake wave detector and carry out the ground detection earthquake wave on the spot, report to the police on the spot, can further shorten the early warning time. And, be equipped with super high pitch megaphone the utility model discloses can remind people sparse through the high pitch broadcasting in the personnel's active area in the building, avoid people can not in time look over the early warning information that the outside conveying that cell-phone or display screen received was come, miss the best sparse opportunity. When loudspeaker received outside alarm information broadcast evacuation information in the railway station room, the utility model discloses an instruction that super high-pitched sound megaphone passes through the centralized control room can switch into with railway station room in loudspeaker broadcast same information, but can move to in the bathroom, in the dining room equal station room broadcast equipment do not have the region of covering and broadcast.

In this embodiment, the earthquake warning system is further provided with an earthquake information receiving device 29, and the earthquake information receiving device 29 is provided with a lithium battery and a wireless communication module, and can receive earthquake warning or alarm information sent by an earthquake bureau and an emergency security unit. After the earthquake information receiving device receives the earthquake alarm information, the ultrahigh sound loudspeaker is started immediately to send out sound warning of 'earthquake occurrence, people please evacuate as soon as possible'. Due to time delay of wireless communication and the like, the earthquake early warning or alarm information received by the earthquake information receiving device may be slower than the alarm signal sent by the earthquake wave detector, and in addition, in remote areas, due to imperfect facilities, the earthquake information receiving device cannot receive the earthquake early warning or alarm information. Therefore, the earthquake information receiving device receives earthquake early warning or alarm information and sends out evacuation alarm through the super-high sound loudspeaker, which is a supplement to the alarm working mode of the earthquake wave detector.

All of the sensors of the present embodiment are, the actuators (such as the robot chassis 2, the seismic wave detector 28, the electric shock high voltage generator 14, the identification card ticket reading and checking device 10, the tracing smoke generator 18, the capturing net emitter 27, the seismic information receiver 29, the mechanical arm 3, the laser target indicating device 20, the remote spray riot-prevention system 21, the fire extinguishing bomb emitting device 22, the mechanical arm image recognition camera 24, the unmanned aerial vehicle platform 4, the highlight dazzling device 16, the ultra-high sound loudspeaker 17, the smoke generator outlet 19, the high-definition image recognition camera 23, the radiation temperature sensor 25 and the high-sensitivity smoke sensor 26) can be controlled by a controller of a robot conductive body or work under the control of a building centralized control room or under the control of the controller of the robot conductive body. And the control instruction of the building centralized control room is prior to the control instruction of the controller of the conductive body of the robot.

In this embodiment, the fire, earthquake, and riot attack are discovered by the following components: high-definition image recognition camera 23, mechanical arm image recognition camera 24, radiation temperature sensor 25, high-sensitivity smoke sensor 26, unmanned aerial vehicle 9, seismic wave detector 28, seismic information receiving device 29.

The following components are used for alarming fire, earthquake and attack of riot and terrorist: an ultra-high pitch loudspeaker 17, a trace smoke generator 18, and a trace smoke generator outlet 19.

The fire disaster and the violent and terrorist attack occurrence position indication is carried out by the following components: tracer smoke generator 18, tracer smoke generator export 19, laser target indicating device 20, unmanned aerial vehicle 9, super high sound megaphone 17.

The treatment of fire and violent and terrorist attacks is carried out by the following components: the system comprises a strong light dazzling device 16, a laser target indicating device 20, a remote spray anti-riot system 21, a fire extinguishing bomb launching device 22 and a catching net launcher 27.

The self-defense of fire and violent and terrorist attacks is carried out through the following components: the robot comprises a robot conductive body 1, a highlight dazzling device 16 and a catching net emitter 27.

when a fire occurs;

when an earthquake occurs:

when a riot terrorist attack occurs:

2) alarming and indicating the position of the attack of the riot and terrorist: when the attack of riot terrorism takes place, the instruction of accepting unmanned aerial vehicle signal or building centralized control room obtains the attack of riot terrorism after, also removes to the conflagration emergence, when removing the incident position, opens spike smoke generating device, and smog emits from the export of spike smoke generating device, can clearly instruct incident position and warning in the big space in high-speed railway station room, makes things convenient for follow-up personnel to arrive the processing, simultaneously, uses super high pitch megaphone to shout: "riots here, please evacuate as soon as possible" for alarm and target indication; the unmanned aerial vehicle can also hover above the incident position in an idle mode to mark the incident position; the laser target indicating device can directly project a visible laser beam on the surface of a target to mark the target;

Claims

1. Intelligent robot is used at railway passenger station, its characterized in that: comprises a conductive body of the robot,

2. The intelligent robot for railway passenger stations according to claim 1, characterized in that: the robot conductive body is based on the robot body with a controller, a communication module, a display and input and output equipment in the prior art, and the body material is replaced by a light conductive metal material.

3. The intelligent robot for railway passenger stations according to claim 1 or 2, characterized in that: the robot chassis adopts a crawler-type chassis.

4. The intelligent robot for railway passenger stations according to claim 1 or 2, characterized in that: the mechanical arm adopts a 6-degree-of-freedom mechanical arm.

5. The intelligent robot for railway passenger stations according to claim 1 or 2, characterized in that: the unmanned aerial vehicle platform is an unmanned aerial vehicle take-up and pay-off platform with wireless charging and electromagnetic mooring functions and comprises a platform positioning module, an electric opening and closing cover, a net-shaped mooring grid and an induction charger.

6. The intelligent robot for railway passenger stations according to claim 1 or 2, characterized in that: unmanned aerial vehicle is for having infrared image recognition camera and wireless positioner's unmanned aerial vehicle.

7. The intelligent robot for railway passenger stations according to claim 1 or 2, characterized in that: the radiation temperature sensor adopts a non-contact infrared temperature measurement module MLX 90614.

8. The intelligent robot for railway passenger stations according to claim 1 or 2, characterized in that: the high-sensitivity smoke sensor adopts a JD-SD51-W WIFI smoke detector which is provided with a small storage battery and a small communication module, and an alarm signal of the high-sensitivity smoke sensor is directly transmitted to a building centralized control room.

9. The intelligent robot for railway passenger stations according to claim 1 or 2, characterized in that: the earthquake early warning system is also provided with an earthquake information receiving device, wherein the earthquake information receiving device is provided with a lithium battery and a wireless communication module, and can receive earthquake early warning or alarm information sent by an earthquake bureau and an emergency support unit.