CN211554737U - City wisdom inspection robot - Google Patents
City wisdom inspection robot Download PDFInfo
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- CN211554737U CN211554737U CN201921412864.9U CN201921412864U CN211554737U CN 211554737 U CN211554737 U CN 211554737U CN 201921412864 U CN201921412864 U CN 201921412864U CN 211554737 U CN211554737 U CN 211554737U
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Abstract
The utility model relates to an urban intelligent patrol robot, belonging to the technical field of intelligent robots, comprising a vehicle body, a motor driving module, an anti-collision module, a lighting module for lighting, a visual navigation module, a voice broadcast module, a wireless transparent transmission module, a central processing module and a power supply; the anti-collision module comprises a laser radar for ranging and a liftable vision sensor; the anti-collision module is used for acquiring patrol information, planning a path through an internal SLAM algorithm and driving to a specified patrol place under the action of the visual navigation module; the voice broadcasting module comprises an alarm device for remotely transmitting and voice broadcasting the dangerous situation monitored in the patrol process; the wireless transparent transmission module is used for the communication connection between the robot and a client; when an emergency is detected or the robot has a problem, the alarm device is started to give an alarm through the wireless transparent transmission module, and relevant management personnel are informed.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and particularly relates to an intelligent inspection robot for urban areas.
Background
The security work is the basis for maintaining social stability and guaranteeing personal safety, and huge manpower and material resources are input every year. However, large-scale security and protection facilities are difficult to construct in old urban building areas due to problems of electric power, lines and the like, and in addition, the problems of labor cost rise, high loss rate of security and protection personnel and the problems of patrol, dangerous equipment patrol and fire alarm lamps in specific areas are solved, so that the traditional security and protection system cannot meet the increasingly higher security and protection requirements of people. Under the promotion of a new concept of 'artificial intelligence + security protection', an intelligent robot which autonomously patrols and monitors special conditions and gives an alarm in time is created to improve the security protection degree of old and old urban areas, and a wide application scene is displayed.
The existing urban security technology is usually that a camera is installed at a fixed position, captured video information is transmitted to a master control room by the camera and is judged by master control room personnel, and the personnel in the master control room cannot remind and alarm in time when an emergency occurs, so that the best opportunity for remediation is missed. In addition, the fixed camera has the control dead angle, and simultaneously, the camera breaks down or is artificially damaged and can not report to the police in real time, has left the potential safety hazard for the urban area. The existing corridor alarm devices all adopt smoke alarms for identification, and once a fire disaster happens, the specific fire disaster position cannot be judged in time, so that rescue cannot be carried out in time, and the best opportunity for remediation is missed.
SUMMERY OF THE UTILITY MODEL
In order to solve the not enough among the prior art, effectively supply the old and useless security protection facility of urban area safety problem that ageing probably causes, the utility model aims to provide a robot is patrolled and examined to urban area wisdom. The robot can realize regional real-time monitoring, alarming, search and rescue a series of complete operations through intelligent design, integrates modern science and technology into the robot, is convenient and quick, and effectively supplements the safety problems possibly caused by aging of old and old urban security facilities.
In order to achieve the above object, the utility model discloses a concrete scheme does:
an urban intelligent inspection robot comprises a vehicle body, a motor driving module for driving the vehicle body to move, an anti-collision module, an illumination module for illumination, a visual navigation module, a voice broadcasting module, a wireless transparent transmission module, a central processing module and a power supply; the power supply comprehensively manages the motor driving module, the anti-collision module, the illuminating module, the visual navigation module, the voice broadcasting module, the wireless transparent transmission module and the central processing module through a power supply management module arranged in the vehicle body; the motor driving module, the anti-collision module, the illuminating module, the visual navigation module, the voice broadcasting module and the wireless transparent transmission module are all connected with the central processing module and are comprehensively controlled by the central processing module; the anti-collision module comprises a laser radar for ranging and a liftable vision sensor; the anti-collision module is used for acquiring patrol information, planning a path through an internal SLAM algorithm and driving to a specified patrol place under the action of the visual navigation module; the voice broadcasting module comprises an alarm device for remotely transmitting and voice broadcasting the dangerous situation monitored in the patrol process; the wireless transparent transmission module is used for the communication connection between the robot and a client; when an emergency is detected or the robot has a problem, the alarm device is started to give an alarm, and the related management personnel are notified through the wireless transparent transmission module.
As a further optimization of the above scheme, the liftable vision sensor comprises a lifting rod arranged on the vehicle body and a camera mounted on the lifting rod. Furthermore, the robot also comprises a smoke sensor connected with the alarm device; the smoke sensor is arranged on the lifting rod.
As a further optimization of the above scheme, a display screen is further arranged on the vehicle body, and the display screen is used for displaying information including but not limited to electric quantity, signals and routes.
As a further optimization of the scheme, the central control module comprises a main controller, the main controller is composed of intel-core-i5, a linux system is embedded, the ROS system is used for completing bottom layer vehicle body driving, and a computer vision library OpenCV is configured; the main controller reads the data of the camera, performs drying processing on the read data to extract ROI, and judges to send decision instructions to the robot according to different scenes.
Has the advantages that:
the robot passes through each module coordination, realizes intelligent becoming more meticulous and patrols and examines, can in time report city area emergency, adopts height-adjustable's vision sensor, can catch scene and pedestrian in more field of vision scopes, and the control end is judged the pedestrian action according to artificial intelligence algorithm. The inspection robot monitors and broadcasts the special conditions, such as sudden fire in urban areas, resident help seeking and the like. When the robot stops running due to failure or damage, the controller triggers the alarm device in time to give an alarm to remind security personnel of the community. For the current security measure of building old zone, the utility model provides a pair of independently patrol wisdom robot can not only follow the individual of unusual action, can in time report urban area emergency moreover, make district safety more intelligent become more meticulous, be applicable to the old scheduling problem of ancient building district security protection facility, can not in time handle and cause loss and injures and deaths to emergency.
The robot of the utility model is provided with a laser radar at the front end of the vehicle body, so as to measure distance intelligently and prevent collision; simultaneously, camera and smoke transducer on the lifter can be according to the mobile adjustment height of actual conditions, detect the security situation on different visual angles and the not co-altitude aspect, carry out the analysis through transmission video data and smog concentration data, and the omission of the dangerous condition is avoided in dual assurance, reduces the emergence of lou examining. The alarm device can not only give an alarm when detecting an emergency, but also remind and give an alarm when a robot breaks down, thereby reducing potential safety hazards.
Drawings
Fig. 1 is an overall structure diagram of the robot of the present invention;
FIG. 2 is a block control diagram of the present invention;
in the figure: 1. a vehicle body; 2. a universal wheel; 3. a laser radar; 4. a lifting rod; 5. a display screen; 6. a main controller; 7. an alarm device; 8. a power source; 9. and an infinite transparent transmission module.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention.
An intelligent urban patrol robot is shown in figures 1 and 2 and comprises a vehicle body 1, a motor driving module for driving the vehicle body 1 to move, an anti-collision module, an illumination module for illumination, a visual navigation module, a voice broadcasting module, a wireless transparent transmission module 9, a central processing module and a power supply 8; the power supply 8 comprehensively manages the motor driving module, the anti-collision module, the illuminating module, the visual navigation module, the voice broadcasting module, the wireless transparent transmission module 9 and the central processing module through a power supply management module arranged in the vehicle body 1; the motor driving module, the anti-collision module, the illuminating module, the visual navigation module, the voice broadcasting module and the wireless transparent transmission module 9 are all connected with the central processing module and are comprehensively controlled by the central processing module. The anti-collision module is used for acquiring patrol information, planning a path through an internal SLAM algorithm and driving to a specified patrol place under the action of the visual navigation module; the voice broadcasting module comprises an alarm device 7 for remotely transmitting and voice broadcasting the dangerous situation monitored in the patrol process; the robot is also provided with a smoke sensor connected with the alarm device 7; the wireless transparent transmission module 9 is used for the communication connection between the robot and the client; when an emergency is detected or the robot has a problem, the alarm device 7 is started to give an alarm through the wireless transparent transmission module 9, and relevant management personnel are informed.
The vehicle body 1 comprises a chassis device, and four universal wheels 2 are respectively arranged at four corners of the chassis device so as to adjust the direction at will. The chassis device adopts a four-wheel Mecanum chassis M4M111, the chassis has strong adaptability and light weight, and each part is greatly optimized by combining finite element analysis. The universal wheel 2 is convenient to move and can freely move, turn and retreat on a narrow road. The chassis device is controlled by Arduino to move, and the track that the chassis device moved moves according to the route that has set for in advance, carries out daily patrol operation.
The anti-collision module comprises a laser radar 3 for ranging and a liftable vision sensor; liftable formula vision sensor is liftable camera, and it is installed in chassis device back top, and the camera is installed on liftable pole 4, through adjusting the visual angle that 4 lifting control cameras of lifter shot. When the robot moves, the height of the camera is reduced, and balance is kept. When a fixed point is monitored, the camera is lifted to enlarge a monitoring angle, recorded videos are transmitted to the control center to carry out data analysis and scene prediction, and the control center formulates the robot to finish autonomous movement inspection in a specified area through path planning and an SLAM algorithm. The smog signal near the detection building passes back controller analysis and judgement, marks in the map area red to smog concentration exceedes normal worth region, reminds the staff to attend to.
The vision navigation sets up the front upper place that is located the chassis device, and the robot can set up oneself to walk to the arbitrary place according to the navigation and carry out automatic cruise, and the wisdom robot can be appointed directly to appointed regional cruise when the staff has the needs, and after appointed regional cruise, when not having next cruise command, the robot is automatic to get back to again and first appointed position cruise.
The robot is further provided with a display device, the display device is a display screen 5, and the display screen 5 is used for displaying electric quantity, signals and route information. The display device is arranged at the forefront of the chassis device and is connected with the camera and the smoke sensor, the display device can read out the electric quantity, the current time and the detailed conditions of a route of the robot, and can display images shot by the camera and areas with excessive smoke under the working mode of a manager.
The smoke sensor is arranged on the lifting rod 4, is connected with the position of the camera and is slightly higher than the camera, and reduces the height when the robot moves to keep the robot to run stably; the smoke sensor can move up and down to detect smoke conditions of different heights, data are transmitted to the controller to be analyzed, and when smoke reaches a certain threshold value, prompt is timely carried out, namely the alarm device is triggered.
The alarm device is divided into two parts for alarming, wherein one part is used for alarming when an emergency is detected, and the other part is used for snapshotting and alarming when the robot has problems (including self damage and artificial damage).
The central processing module comprises a main controller 6, the main controller 6 is composed of intel-core-i5, a linux system is embedded, bottom layer driving is completed by using an ROS system, and a computer vision library OpenCV is configured. The main control system reads the data of the camera, performs drying treatment on the read data to extract ROI, and judges to send decision instructions to the robot according to different scenes.
The wireless transparent transmission module 9 mainly selects WH-G405tf, and the chip is an M2M4G product with small volume and rich functions. The function is complete, most of conventional application scenes are covered, the user-defined registration packet is supported, and the method has the characteristics of high transmission speed, low time delay and the like. The robot is in wireless communication connection with the client, and a local and remote control mode can be adopted. The robot is internally provided with an internet of things card for receiving transmission signals and data.
When the robot patrols and examines a specified area for the first time, the construction of an area map is completed, and an optimal driving route is searched through a self path planning algorithm. The specific routing inspection place and route can be set manually at the client, and the working mode is improved. The robot finishes the set inspection work through the visual navigation module, data acquisition and real-time monitoring are carried out when the robot reaches a specified area, and the control center analyzes the data and judges the danger level.
It should be noted that the above-mentioned embodiments should be considered illustrative, rather than limiting, the scope of the invention, which is defined by the appended claims. It will be apparent to those skilled in the art that certain modifications and adaptations of the invention that are not essential to the invention can be made without departing from the spirit and scope of the invention.
Claims (5)
1. The utility model provides a robot is patrolled and examined to city wisdom which characterized in that: the intelligent anti-collision vehicle comprises a vehicle body, a motor driving module for driving the vehicle body to move, an anti-collision module, an illumination module for illumination, a visual navigation module, a voice broadcasting module, a wireless transparent transmission module, a central processing module and a power supply; the power supply comprehensively manages the motor driving module, the anti-collision module, the illuminating module, the visual navigation module, the voice broadcasting module, the wireless transparent transmission module and the central processing module through a power supply management module arranged in the vehicle body; the motor driving module, the anti-collision module, the illuminating module, the visual navigation module, the voice broadcasting module and the wireless transparent transmission module are all connected with the central processing module and are comprehensively controlled by the central processing module; the anti-collision module comprises a laser radar for ranging and a liftable vision sensor; the anti-collision module is used for acquiring patrol information, planning a path through an internal SLAM algorithm and driving to a specified patrol place under the action of the visual navigation module; the voice broadcasting module comprises an alarm device for remotely transmitting and voice broadcasting the dangerous situation monitored in the patrol process; the wireless transparent transmission module is used for the communication connection between the robot and a client; when an emergency is detected or the robot has a problem, the alarm device is started to give an alarm, and the related management personnel are notified through the wireless transparent transmission module.
2. The intelligent urban patrol robot according to claim 1, wherein: the liftable vision sensor comprises a lifting rod arranged on the vehicle body and a camera arranged on the lifting rod.
3. The intelligent urban patrol robot according to claim 2, wherein: the robot also comprises a smoke sensor connected with the alarm device; the smoke sensor is arranged on the lifting rod.
4. The intelligent urban patrol robot according to claim 1, wherein: the vehicle body is also provided with a display screen, and the display screen is used for displaying information including but not limited to electric quantity, signals and routes.
5. The intelligent urban patrol robot according to claim 1, wherein: the central processing module comprises a main controller, the main controller is composed of intel-core-i5, a linux system is embedded, the ROS system is used for completing bottom layer vehicle body driving, and a computer vision library OpenCV is configured; the main controller reads the data of the camera, performs noise reduction processing on the read data to extract the ROI, and judges to send decision instructions to the robot according to different scenes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921412864.9U CN211554737U (en) | 2019-08-28 | 2019-08-28 | City wisdom inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921412864.9U CN211554737U (en) | 2019-08-28 | 2019-08-28 | City wisdom inspection robot |
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| CN211554737U true CN211554737U (en) | 2020-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921412864.9U Expired - Fee Related CN211554737U (en) | 2019-08-28 | 2019-08-28 | City wisdom inspection robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112449160A (en) * | 2020-11-13 | 2021-03-05 | 珠海大横琴科技发展有限公司 | Video monitoring method and device and readable storage medium |
| CN114578410A (en) * | 2022-04-06 | 2022-06-03 | 核工业航测遥感中心 | Channel type vehicle radioactivity monitoring system dynamic calibration platform |
| CN117173853A (en) * | 2023-11-02 | 2023-12-05 | 山东新顺达信息科技有限公司 | Patrol and examine smog alarm device |
-
2019
- 2019-08-28 CN CN201921412864.9U patent/CN211554737U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112449160A (en) * | 2020-11-13 | 2021-03-05 | 珠海大横琴科技发展有限公司 | Video monitoring method and device and readable storage medium |
| CN114578410A (en) * | 2022-04-06 | 2022-06-03 | 核工业航测遥感中心 | Channel type vehicle radioactivity monitoring system dynamic calibration platform |
| CN117173853A (en) * | 2023-11-02 | 2023-12-05 | 山东新顺达信息科技有限公司 | Patrol and examine smog alarm device |
| CN117173853B (en) * | 2023-11-02 | 2024-02-23 | 山东新顺达信息科技有限公司 | Patrol and examine smog alarm device |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200922 |