CN212553821U - A security protection patrol robot for sealing garden - Google Patents
A security protection patrol robot for sealing garden Download PDFInfo
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- CN212553821U CN212553821U CN202020268845.XU CN202020268845U CN212553821U CN 212553821 U CN212553821 U CN 212553821U CN 202020268845 U CN202020268845 U CN 202020268845U CN 212553821 U CN212553821 U CN 212553821U
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- patrol robot
- toxic gas
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Abstract
The utility model discloses a security patrol robot for sealing a park, which comprises a mobile module, a detection module, a control module, an execution module and a power supply module, wherein the detection module, the control module, the execution module and the power supply module are assembled on the mobile module; the control module comprises a main control computer in communication connection with the power system, an inertial navigation device in communication connection with the main control computer and a wireless communication mechanism, and the main control computer is in communication connection with the remote control end through the wireless communication mechanism; the detection module comprises a camera and a laser radar which are used for collecting pictures, a smoke sensor which is used for detecting smoke information and a toxic gas sensor which is used for detecting toxic gas. The wheel type moving chassis is adopted, and compared with a crawler type moving chassis, the crawler type moving chassis is high in speed, high in efficiency, low in movement noise and high in flexibility, and can normally run in the working environment with uneven ground. The camera, the laser radar, the smoke sensor and the toxic gas sensor are matched for use, so that security and protection patrol can be effectively carried out in a closed park.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a security protection patrol robot for sealing garden.
Background
At present, the security patrol of the industrial park is mainly completed manually. Security patrol personnel are arranged in each industrial park, and particularly at night, the industrial park needs to be electrified and illuminated all night to perform security work. For places with poor illumination, security patrol personnel are required to take the illumination equipment for patrol, and manpower and material resources are greatly wasted. Even to the place that has the installation camera, the control personnel also hardly pay attention to the control picture all the time, is difficult to realize effectual safety protection work.
The patrol robot effectively solves the problem, the prior patrol robot can only collect information of relevant areas and send the information to a remote control end, people or vehicles which are not in compliance in a garden can not be interfered actively, in addition, the prior patrol robot adopts a driving structure of a double-shaft motor matched with an outward wheel, and the power form is only suitable for flat ground and can not move in an industrial garden with irregular terrain.
Disclosure of Invention
The utility model aims at providing a can not satisfy the defect of the demand that industry garden security protection was patrolled among the prior art, and provide a security protection patrolling robot for sealing the garden, including being used for patrolling the removal module, being used for surveying detection module and the information processing module of pedestrian, vehicle, conflagration information, can effectually patrol to sealing and carry out the security protection in the garden.
For realizing the utility model discloses a technical scheme that the purpose adopted is:
a security patrol robot for a closed park comprises a mobile module, a detection module, a control module, an execution module and a power supply module, wherein the detection module, the control module, the execution module and the power supply module are assembled on the mobile module;
the moving module comprises a moving chassis, four inflatable rubber wheels assembled below the moving chassis through an independent suspension structure and a power system for driving the inflatable rubber wheels;
the control module comprises a main control computer in communication connection with the power system, an inertial navigation system in communication connection with the main control computer and a wireless communication mechanism, and the main control computer is in communication connection with a remote control end through the wireless communication mechanism;
the detection module comprises a camera and a laser radar for collecting pictures, a smoke sensor for detecting smoke information and a toxic gas sensor for detecting toxic gas, and the camera, the laser radar, the smoke sensor and the toxic gas sensor are respectively in communication connection with the main control computer through wireless communication mechanisms;
the execution module comprises a voice prompter in communication connection with the main control computer;
the power supply module comprises a battery pack, an inverter and a transformer, the battery pack is electrically connected with the inverter, the inverter is electrically connected with the main control computer, and the inverter is electrically connected with the inertial navigation device, the camera, the smoke sensor, the laser radar, the toxic gas sensor and the voice prompter through the transformer to supply power.
In the above technical solution, the driving member in the power system is a dc brushless servo motor.
In the technical scheme, a headlamp is mounted at the front part of the movable chassis, and the headlamp is electrically connected with a battery unit in the power system.
In the technical scheme, emergency stop switches are arranged on the left side and the right side of the movable chassis and are electrically connected with the power system.
In the technical scheme, the movable chassis is provided with the safe anti-collision pipes on the periphery.
In the above technical solution, a first electrical communication interface for connecting the main control computer is provided on the mobile chassis, and the first electrical communication interface is electrically connected to the power system.
In the above technical solution, the tail of the mobile chassis is provided with a second electrical communication interface for upgrading the power system.
In the technical scheme, a supporting frame is mounted on the movable chassis, the supporting frame comprises a top plate, a middle partition plate, a bottom plate and supporting upright columns arranged between the top plate and the bottom plate, and the camera, the laser radar, the smoke sensor, the toxic gas sensor and the voice prompter are assembled on the top plate;
the inverter, the transformer, the inertial navigation unit and the plugboard are arranged on the middle partition board; the main control machine and the battery pack are arranged on the bottom plate.
In the above technical solution, the inverter is a pure sine wave inverter.
According to the control method of the security patrol robot, inertial navigation transmits positioning navigation information to a power system through a main control computer, and the power system drives a mobile module to move according to the received positioning navigation information;
when the camera detects a pedestrian, face recognition is carried out, when a vehicle is detected, license plate recognition is carried out, and recognition information is sent to the main control computer, if the recognition result of the main control computer is that an unauthorized person or an unauthorized vehicle is available, alarm information is transmitted to a remote control end through a wireless communication mechanism, the main control computer sends a prompt instruction to the voice prompter, and the voice prompter sends a driving prompt tone;
the remote control end can send a command to the main control computer through a wireless communication mechanism, the main control computer sends a prompt instruction to the voice prompter, and the voice prompter sends a prompt tone for prompting a standard behavior of a person or a vehicle;
the toxic gas sensor detects the concentration of the toxic gas and sends toxic gas concentration information to the main control computer through the wireless communication mechanism, the main control computer analyzes and judges after receiving the toxic gas concentration information, when the judgment result is that the toxic gas concentration information exceeds a safety threshold value, the main control computer sends alarm information to the remote control end through the wireless communication mechanism, meanwhile, the main control computer sends a prompt instruction to the voice prompter, and the voice prompter sends an alarm prompt tone;
after the camera and the smoke sensor recognize the fire picture and the smoke information, the camera and the smoke sensor transmit the fire picture and the smoke information to the main control computer through the wireless communication mechanism respectively for real-time analysis and processing, and transmit an analysis and processing result to the remote control end through the wireless communication mechanism.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model discloses the removal module adopts wheeled removal chassis, adopts the composite design who aerifys rubber tyer and independent suspension, and it is fast for crawler-type removal chassis, efficient, the motion noise is low, and the flexibility is high, can be in the normal operating in unevenness ground operational environment. The moving chassis adopts a direct-current brushless servo motor, so that the speed control is accurate, the torque speed characteristic is very hard, the control principle is simple, the linear regulation characteristic is good, and the time response is quick.
2. The utility model discloses a camera and smoke transducer's cooperation is used, not only can carry out license plate discernment and face identification, can also carry out conflagration dangerous situation and detect. The laser radar is additionally arranged and is matched with the camera for perception and identification, and the laser radar has extremely high resolution, strong anti-interference capability and rich acquired information quantity and can work all day long. The safety of the industrial park is effectively enhanced.
3. The utility model discloses a poison gas sensor observable poison gas concentration, when it surpassed the threshold value, sent alarm information to the remote control end, be applicable to chemical industry park, factor of safety is high.
4. The setting of voice prompt, accessible remote control end send instruction information to this robot, and suggestion pedestrian or vehicle move in the fixed area, and the suggestion staff wears the safety protection instrument, and the interactivity is stronger.
Drawings
FIG. 1 shows a front side view of a mobile chassis;
FIG. 2 shows a rear side view of the mobile chassis;
FIG. 3 is a view showing an installation structure of the detection module and the information processing module and the support frame;
fig. 4 is a schematic diagram of module connection.
In the figure: 1-inflatable rubber wheel, 2-independent suspension, 3-headlamp, 4-emergency stop switch, 5-safety anti-collision tube, 6-first electrical communication interface, 7-standard profile bracket, 8-battery bin, 9-tail anti-collision tube, 10-second electrical communication interface, 11-top fixing plate, 12-top cabin panel, 13-main control machine, 14-battery pack, 15-inverter, 16-transformer, 17-inertial navigation, 18-wireless module, 19-camera, 20-smoke sensor, 21-plug board, 22-supporting frame, 22-1-top plate, 22-2-middle partition plate and 22-3-bottom plate.
Detailed Description
The present invention will be described in further detail with reference to specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
A security patrol robot for a closed park comprises a mobile module for patrol movement, and a detection module, a control module, an execution module and a power supply module which are assembled on the mobile module;
the moving module comprises a moving chassis, four inflatable rubber wheels assembled below the moving chassis through an independent suspension structure and a power system for driving the inflatable rubber wheels; the mobile chassis adopts an Ackerman model programmable UGV, a driving piece in a power system is a direct-current brushless servo motor, the Ackerman steering design is adopted, the power module adopts a composite design of an inflatable rubber wheel 1 and an independent suspension 2, and in addition, the direct-current brushless servo motor with strong power (a power battery is positioned in a battery compartment 8 of the mobile chassis) enables the intrinsically safe patrol robot to have strong trafficability and ground adaptability and to flexibly move on different grounds.
The detection module comprises a camera 19 and a laser radar which are used for collecting pictures, a smoke sensor 20 which is used for detecting smoke information and a toxic gas sensor which is used for detecting toxic gas, and the camera, the laser radar, the smoke sensor and the toxic gas sensor are respectively in communication connection with the main control computer through wireless communication mechanisms. Through the cooperation of each sensor in the detection module use, not only can carry out license plate discernment and face identification, can also carry out conflagration dangerous situation and detect and toxic gas detects, the effectual security that has strengthened the industrial park.
The laser radar and the camera are matched for perception identification, and the laser radar has extremely high resolution, strong anti-interference capability and rich acquired information quantity and can work all day long. The camera can gather image data in good visibility environment, and clear image data also can be gathered in foggy day or dust environment to laser radar, can be according to different changeable use both of environment, is applicable to the industrial production environment more.
The control module comprises a main control machine 13 in communication connection with the power system, an inertial navigation system 17 in communication connection with the main control machine and a wireless communication mechanism 18; the main control machine is in communication connection with the remote control end through a wireless communication mechanism;
the detection module comprises a camera and a laser radar for collecting pictures, a smoke sensor for detecting smoke information and a toxic gas sensor for detecting toxic gas, and the camera, the laser radar, the smoke sensor and the toxic gas sensor are respectively in communication connection with the main control computer through wireless communication mechanisms;
the execution module comprises a voice prompter in communication connection with the main control computer;
the power supply module comprises a battery pack 14, an inverter 15 for converting direct current in the battery pack 14 into pure sine wave alternating current, a transformer 16 for converting alternating current into working voltage of each component, and a plugboard 21, wherein the inverter 15 is electrically connected with the main control computer to supply power, and is electrically connected with the inertial navigation system, the camera, the smoke sensor, the laser radar, the toxic gas sensor and the voice prompter through the transformer to supply power.
According to the control method of the security patrol robot, inertial navigation transmits positioning navigation information to a power system through a main control computer, and the power system drives a mobile module to move according to the received positioning navigation information;
when the camera detects a pedestrian, face recognition is carried out, when a vehicle is detected, license plate recognition is carried out, and recognition information is sent to the main control computer, if the recognition result of the main control computer is that an unauthorized person or an unauthorized vehicle is available, alarm information is transmitted to a remote control end through a wireless communication mechanism, the main control computer sends a prompt instruction to the voice prompter, and the voice prompter sends a driving prompt tone;
the remote control end can send a command to the main control computer through a wireless communication mechanism, the main control computer sends a prompt instruction to the voice prompter, and the voice prompter sends a prompt tone for prompting a standard behavior of a person or a vehicle;
the toxic gas sensor detects the concentration of the toxic gas and sends toxic gas concentration information to the main control computer through the wireless communication mechanism, the main control computer analyzes and judges after receiving the toxic gas concentration information, when the judgment result is that the toxic gas concentration information exceeds a safety threshold value, the main control computer sends alarm information to the remote control end through the wireless communication mechanism, meanwhile, the main control computer sends a prompt instruction to the voice prompter, and the voice prompter sends an alarm prompt tone;
after the camera and the smoke sensor recognize the fire picture and the smoke information, the camera and the smoke sensor transmit the fire picture and the smoke information to the main control computer through the wireless communication mechanism respectively for real-time analysis and processing, and transmit an analysis and processing result to the remote control end through the wireless communication mechanism.
The security patrol robot for the closed park adopts the wheel type moving chassis, and is high in speed, high in efficiency, low in motion noise and high in flexibility compared with a crawler type moving chassis.
Example 2
The present embodiment is described with reference to embodiment 1.
Preferably, the driving part in the power system is a direct current brushless servo motor, the speed control is accurate, the torque speed characteristic is very hard, the control principle is simple, the linear regulation characteristic is good, and the time response is fast.
Preferably, as shown in fig. 1, a front lamp 3 is mounted at the front part of the moving chassis, and the front lamp is electrically connected with a battery unit in the power system, namely a power battery in a battery compartment 8; the illumination is carried out, and the work at night is facilitated.
Preferably, emergency stop switches 4 are installed on the left side and the right side of the movable chassis, and the emergency stop switches are electrically connected with the power system and can perform emergency stop operation in emergency.
Preferably, safety anti-collision pipes 5 are arranged around the movable chassis to ensure the safety of the security patrol robot.
Preferably, the mobile chassis is provided with a first electrical communication interface 6 for connecting with the main control computer, and is connected with the main control computer 13.
Preferably, as shown in fig. 2, the rear portion of the mobile chassis is provided with a second electrical communication interface 10, which is a DB9 serial port and can be used for firmware upgrade.
Example 3
This embodiment is described based on embodiment 2.
The moving chassis is provided with a supporting frame 22, as shown in fig. 2, the moving chassis is provided with a standard section bar supporting frame 7 and a top fixing plate 11, the top fixing plate is fixed on the top chamber panel 12, and the bottom of the supporting frame is arranged on the standard section bar supporting frame 7 and the top fixing plate 11. The support frame 22 is shown in fig. 3 and includes a top plate 22-1, a middle partition plate 22-2, and a bottom plate 22-3, and support columns therebetween.
The camera 19, the smoke sensor 20, the laser radar, the toxic gas sensor and the voice prompter (not shown in the figure) are assembled on the top plate 22-1 and positioned at the topmost end of the supporting frame 22, so that information detection and identification are facilitated; the pure sine wave inverter 15, the transformer 16, the inertial navigation system 17, the wireless communication mechanism 18 and the plug board 21 are arranged on the middle partition board 22-2; the main control machine 13 and the battery pack 14 with heavy weight are arranged on the bottom plate 22-3, which is beneficial to the overall stability of the supporting frame 22.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A security patrol robot for a closed park is characterized by comprising a mobile module, a detection module, a control module, an execution module and a power supply module, wherein the detection module, the control module, the execution module and the power supply module are assembled on the mobile module;
the moving module comprises a moving chassis, four inflatable rubber wheels assembled below the moving chassis through an independent suspension structure and a power system for driving the inflatable rubber wheels;
the control module comprises a main control computer in communication connection with the power system, an inertial navigation system in communication connection with the main control computer and a wireless communication mechanism, and the main control computer is in communication connection with a remote control end through the wireless communication mechanism;
the detection module comprises a camera and a laser radar for collecting pictures, a smoke sensor for detecting smoke information and a toxic gas sensor for detecting toxic gas, and the camera, the laser radar, the smoke sensor and the toxic gas sensor are respectively in communication connection with the main control computer through wireless communication mechanisms;
the execution module comprises a voice prompter in communication connection with the main control computer;
the power supply module comprises a battery pack, an inverter and a transformer, the battery pack is electrically connected with the inverter, the inverter is electrically connected with the main control computer, and the inverter is electrically connected with the inertial navigation device, the camera, the smoke sensor, the laser radar, the toxic gas sensor and the voice prompter through the transformer to supply power.
2. The security patrol robot as recited in claim 1, wherein the driving member of the power system is a dc brushless servo motor.
3. The security patrol robot as claimed in claim 1, wherein a front part of the mobile chassis is provided with a head lamp, and the head lamp is electrically connected with a battery unit in the power system.
4. The security patrol robot as recited in claim 1, wherein emergency stop switches are provided on both left and right sides of the mobile chassis, the emergency stop switches being electrically connected to the power system.
5. The security patrol robot as recited in claim 1, wherein the mobile chassis is provided with safety crash tubes around the mobile chassis.
6. The security patrol robot as claimed in claim 1, wherein a first electrical communication interface for connecting with the main control computer is arranged on the mobile chassis, and the first electrical communication interface is electrically connected with the power system.
7. The security patrol robot of claim 1, wherein a second electrical communication interface is provided at a tail of the mobile chassis for upgrading the powered system.
8. The security patrol robot of claim 7, wherein the mobile chassis has a support frame mounted thereon, the support frame comprising a top plate, a middle partition, and a bottom plate and support posts therebetween.
9. The security patrol robot of claim 8, wherein the camera, lidar, smoke sensor, toxic gas sensor, and voice prompt are mounted on the top plate;
the inverter, the transformer, the inertial navigation unit and the plugboard are arranged on the middle partition board; the main control machine and the battery pack are arranged on the bottom plate.
10. The security patrol robot of claim 1, wherein the inverter is a pure sine wave inverter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020268845.XU CN212553821U (en) | 2020-03-06 | 2020-03-06 | A security protection patrol robot for sealing garden |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020268845.XU CN212553821U (en) | 2020-03-06 | 2020-03-06 | A security protection patrol robot for sealing garden |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212553821U true CN212553821U (en) | 2021-02-19 |
Family
ID=74618166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020268845.XU Expired - Fee Related CN212553821U (en) | 2020-03-06 | 2020-03-06 | A security protection patrol robot for sealing garden |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212553821U (en) |
-
2020
- 2020-03-06 CN CN202020268845.XU patent/CN212553821U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20210219 |