CN215006379U - Robot control circuit and security robot - Google Patents
Robot control circuit and security robot Download PDFInfo
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- CN215006379U CN215006379U CN202120564702.8U CN202120564702U CN215006379U CN 215006379 U CN215006379 U CN 215006379U CN 202120564702 U CN202120564702 U CN 202120564702U CN 215006379 U CN215006379 U CN 215006379U
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Abstract
The application relates to a robot control circuit and a security robot. The robot control circuit can comprise a function control board arranged in the robot body; the function control board is provided with an image processing module and a computing chip matched with the image processing module; the image processing module is used for connecting security equipment arranged on the robot body; the image processing module comprises an image processing chip and an audio processing chip; the image processing chip is respectively connected with the force calculating chip and the audio processing chip; the robot has the advantages that the processing capacity of the image information and the audio information in the robot is improved, and the accurate data processing result is efficiently output, so that the robot controls the action of the corresponding action mechanism, and the quick response is realized. The function of security robot has been perfected in this application, improves the processing output efficiency of data processing result greatly, improves the performance.
Description
Technical Field
The application relates to the technical field of robots, in particular to a robot control circuit and a security robot.
Background
Along with the steady increase of social economy in China, more and more giant enterprise factories, high and new parks and giant markets are continuously present in national life, and with the continuous expansion of inspection ranges, the factors of indoor and outdoor mixed environments, the rising of human cost and the like, the current security requirements cannot be met only by security personnel. With the development of science and technology, robots play an increasingly important role in the security field.
In the implementation process, the inventor finds that at least the following problems exist in the conventional technology: the traditional robot has the problems of incomplete function, untimely response, poor performance and the like.
SUMMERY OF THE UTILITY MODEL
In view of the above, it is desirable to provide a robot control circuit and a security robot capable of improving performance.
In order to achieve the above object, in one aspect, the embodiment of the present invention provides a robot control circuit, which includes a function control board disposed in a robot body;
the function control panel is provided with an image processing module and a force calculating chip used for matching with the image processing module; the image processing module is used for connecting security equipment arranged on the robot body;
the image processing module comprises an audio processing chip and an image processing chip; the image processing chip is connected with the force calculating chip;
the data input end of the audio processing chip is used for connecting security equipment, and the data output end of the audio processing chip is connected with the data input end of the image processing chip; the data input end of the image processing chip is used for connecting the security equipment, and the data output end of the image processing chip is used for outputting a data processing result so that the robot controls the action of the corresponding action mechanism.
In one embodiment, the function control panel is further provided with a detector processing module;
the detector processing module is used for connecting a detector arranged on the robot body.
In one embodiment, the probe processing module is an ultrasonic processing chip; the function control panel is also provided with an ultrasonic data input connecting seat and an ultrasonic data output connecting seat;
the ultrasonic processing chip is connected with a plurality of ultrasonic detectors which are positioned at a position close to the top of the robot body, arranged on the side surface of the robot body and arranged around the robot body through an ultrasonic data input connecting seat;
the ultrasonic processing chip is connected with the ultrasonic data output connecting seat.
In one embodiment, the function control board is provided with a LAN input interface seat;
the LAN input interface seat is used for connecting a plurality of cameras which are positioned in the middle of the robot body, arranged on the side surface of the robot body and arranged around the robot body;
the image processing chip is connected with the LAN input interface seat through a LAN data line.
In one embodiment, the system further comprises a gigabit switch and a PHY chip;
one end of the kilomega switch is connected with the LAN input interface seat, and the other end of the kilomega switch is connected with one end of the PHY chip through the LAN data line; the other end of the PHY chip is connected with the image processing chip.
In one embodiment, the audio processing chip comprises an amplifier and a digital audio processor;
one end of the digital audio processor is connected with the image processing chip, and the other end of the digital audio processor is connected with the amplifier; the amplifier is used for connecting a microphone arranged on the side surface of the machine body.
In one embodiment, the function control board is also provided with a LAN output interface seat; the image processing chip outputs a data processing result through the LAN output interface seat.
In one embodiment, the system further comprises a PHY chip connected between the image processing chip and the LAN output interface group.
In one embodiment, the function control panel is also provided with a storage device connected with the image processing chip; the function control panel is also provided with a micro control unit connected with the image processing chip.
A security robot comprises a robot body, a chassis and a connecting seat for connecting the robot body and the chassis;
the connecting seat comprises a base and a plurality of supporting legs arranged at the bottom of the base; the base is connected with the machine body, and the supporting legs are connected with the chassis; the connection part of the chassis and the supporting leg is provided with a threading hole, and the inside of the supporting leg is provided with a wiring channel respectively communicated with the threading hole and the inside of the machine body;
the security robot also comprises the robot control circuit.
One of the above technical solutions has the following advantages and beneficial effects:
the robot comprises a function control panel arranged in a robot body, wherein the function control panel is provided with an image processing module and a force calculating chip matched with the image processing module; the image processing module is used for connecting security equipment arranged on the robot body; the image processing module comprises an image processing chip and an audio processing chip; the image processing chip is respectively connected with the force calculating chip and the audio processing chip; furthermore, the computational power chip matched with the image processing chip is adopted, the processing speed of the image information and the audio information in the robot is improved, an accurate data processing result can be efficiently output, and the quick response of the robot is realized. The function of security robot can be perfected to this application, improves the processing output efficiency of data processing result greatly, improves the performance.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a diagram of an exemplary environment in which a robot control circuit may be implemented;
FIG. 2 is a block diagram of a robot control circuit according to an embodiment;
FIG. 3 is a schematic diagram of a robot control circuit according to an embodiment;
FIG. 4 is a block diagram showing the construction of a robot control circuit according to another embodiment;
fig. 5 is a schematic diagram of an internal structure of a robot control circuit according to an embodiment.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are set forth in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.
Spatial relational terms, such as "under," "below," "under," "over," and the like may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements or features described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary terms "under" and "under" can encompass both an orientation of above and below. In addition, the device may also include additional orientations (e.g., rotated 90 degrees or other orientations) and the spatial descriptors used herein interpreted accordingly.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. Further, "connection" in the following embodiments is understood to mean "electrical connection", "communication connection", or the like, if there is a transfer of electrical signals or data between the connected objects.
As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof. Also, as used in this specification, the term "and/or" includes any and all combinations of the associated listed items.
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The robot control circuit provided by the application can be applied to the application environment shown in fig. 1. Wherein, the robot can include a body 20, a connecting seat 40 disposed at the bottom of the body 20, and a chassis 30 disposed below the connecting seat 40; the connecting seat 40 comprises a base 41 and a plurality of supporting legs 42 arranged at the bottom of the base 41, the base 41 is connected with the machine body 20, and the supporting legs 42 are connected with the chassis 30;
wherein, the connection part of the chassis 30 and the supporting leg 42 is provided with a threading hole 31, and the supporting leg 42 is internally provided with a routing channel respectively communicated with the threading hole and the interior of the machine body 20; the routing channels may provide for routing of wires and the like from the fuselage 20 to the chassis 30. In addition, it should be noted that the supporting leg 42 may be partially or completely provided with a routing channel.
Furthermore, security equipment is arranged on the robot body; security devices may include probes (e.g., ultrasound probes), cameras (e.g., starlight cameras), lidar and microphones (e.g., microphones), among others. The security device may be one of the above devices or a combination of multiple devices. The robot can be applied to the field of security and protection and is used as a security and protection robot.
In addition, the robot can interact with external devices, such as a cloud server and/or a terminal. The terminal may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers and portable wearable devices, and the server may be implemented by an independent server or a server cluster composed of a plurality of servers.
In one embodiment, as shown in fig. 2, a robot control circuit is provided, which is illustrated by way of example as applied to the robot of fig. 1, and includes a function control board provided in a body of the robot;
the function control board is provided with an image processing module 100 and a computing chip 200 matched with the image processing module 100; the image processing module 100 is used for connecting security equipment arranged on the robot body;
the image processing module 100 may include an audio processing chip 102 and an image processing chip 104; the image processing chip 104 is connected with the force calculating chip 200;
the data input end of the audio processing chip 102 is used for connecting security equipment, and the data output end is connected with the data input end of the image processing chip 104; the data input end of the image processing chip 104 is used for connecting the security device, and the data output end is used for outputting a data processing result, so that the robot controls the action of the corresponding action mechanism.
Particularly, the application provides a can independently set up the function control board in the robot, and then can improve the multi-functional suitability of robot. The function control board can be arranged in the robot body, for example, the function control board is arranged in a box body of the robot body; in one example, the function control board can be located in a containing cavity provided in the body 20 so as to be connected and interacted with security equipment on the robot body, and can also be connected and interacted with a corresponding control module and/or action mechanism in the robot.
Further, the function control board may be powered by DC-DC, for example, by a corresponding power supply mechanism of the robot chassis.
In other examples, the function control board may transmit the data processing result to the control module of the robot in real time through routing, or may transmit the data processing result after backing up. The data processing result can be used for navigation, action mechanism control, warning and the like. For example, the data packet sent by the function control board may be marked with a data type and a receiving object (such as a cloud server, a navigation processing unit, or an external device identifier), and then sent to a corresponding component or an external device by the router according to the marked receiving object.
Further, as shown in fig. 2, the function control board may be provided with an image processing module 100 and a computing chip 200 cooperating with the image processing module; the image processing module 100 can be used to connect security equipment disposed on the robot body. The computational power chip 200 is used in cooperation with the image processing module 100 to perform image recognition and other processing on image data transmitted by the security device and received by the image processing module 100, so as to improve image processing efficiency and improve the response speed of the robot.
The image processing module 100 of the present application may include an audio processing chip 102 and an image processing chip 104; the image processing chip 104 is respectively connected with the force calculating chip 200 and the audio processing chip 102; the audio processing chip 102 may process audio data transmitted by the security device; the image processing chip 104 may receive the image data transmitted by the security device and transmit the image data to the computation chip 200 for processing, so as to output image information. Further, the image processing chip 104 may output a data processing result based on the image information and the audio information. The specific implementation process of each chip for processing the related data can be implemented by adopting the existing algorithm or software flow.
The audio data transmitted by the security equipment can be processed by the audio processing chip and then output to the image processing chip. In one example, the data processing results may include video data, image recognition results, and/or image recognition control information; specifically, the data processing result can be used for the robot to output a corresponding control command to control the action of the action mechanism. The data processing result can be video data and/or image data output by the image processing chip, and can also be an image recognition result output by the force calculating chip. The application can obviously improve the adaptability of the robot functional unit.
Taking security equipment as a camera as an example, an image processing chip obtains an image of the camera, the image processing chip can send the image to an algorithm chip, the algorithm chip performs image recognition processing on the image to obtain an image recognition result, the image recognition result is returned to the image processing chip, the image processing chip sends image recognition control information (or the image recognition result itself) to a robot control module according to the image recognition result, and the control module executes corresponding control according to the image recognition control information.
The image processing chip can also send image recognition control information (or the image recognition result itself) to the routing unit according to the image recognition result, the routing unit sends the image recognition control information to the robot control module, and the control module executes corresponding control according to the image recognition control information. The robot control module may be a robot chassis controller.
In addition, the image processing unit can receive and process the image signal of the security device (for example, a multi-channel camera), for example, decode the image, and then call the computing unit (for example, a computing chip) resource to perform intelligent detection, and determine whether the picture taken by the camera is a human body, a vehicle, or the like.
The force calculating chip in the application can be realized by adopting a force calculating chip of a corresponding model, such as RK 1808. The image processing Chip can be implemented by using a corresponding image processing SoC (System on Chip), such as RK 3399. Further, the image processing chip may be connected to a computing chip, such as a USB3.0, via a USB (Universal Serial Bus). And the image processing chip can be connected with an audio processing chip through a USB, such as USB 2.0. In some embodiments, the audio Processing chip may be implemented using an Amplifier and a Digital audio processor, such as an AMP (Amplifier) and a DSP (Digital Signal Processing).
In one embodiment, the audio processing chip may include an amplifier and a digital audio processor;
one end of the digital audio processor is connected with the image processing chip, and the other end of the digital audio processor is connected with the amplifier; the amplifier is used for connecting a microphone arranged on the side surface of the machine body.
Specifically, as shown in fig. 3, one end of the amplifier AMP is connected to a microphone to acquire audio data. The other end of the amplifier AMP is connected with the DSP, and the DSP transmits the audio data to the image processing chip for processing. The audio processing process of the application can comprise the following steps: microphone → audio processing chip → image processing chip → LAN output connection seat → external chassis of robot.
The utility model provides an acoustic defect can be handled to the audio frequency processing chip, and this audio frequency processing chip can turn into digital signal with the analog signal of multichannel input, and then carries out a series of tunable algorithm to digital signal and handles, satisfies application demands such as improving tone quality, matrix audio mixing, noise elimination, echo, feedback that disappears, can export multichannel analog signal through digital-to-analog conversion at last.
In one embodiment, as shown in fig. 3, the function control board is provided with a LAN (Local Area Network) input interface socket;
the LAN input interface seat is used for connecting a plurality of cameras which are positioned in the middle of the robot body, arranged on the side surface of the robot body and arranged around the robot body;
the image processing chip is connected with the LAN input interface seat through a LAN data line.
Specifically, the security device may be a plurality of cameras located in the middle of the robot body, located on the side of the robot body, and arranged around the robot body, wherein each camera may be located in the middle of the robot body; in one example, the camera may be implemented using a starlight camera. Further, be provided with 3 cameras on the fuselage, evenly set up in the fuselage side, the shooting angle more than or equal to 120 of camera.
As shown in fig. 3, the image processing chip of the present application can be connected to each camera through the LAN input interface socket, so as to improve data transmission efficiency and optimize data.
In one embodiment, as shown in fig. 3, a gigabit switch and PHY (Physical Layer) chip may be further included;
one end of the kilomega switch is connected with the LAN input interface seat, and the other end of the kilomega switch is connected with one end of the PHY chip through the LAN data line; the other end of the PHY chip is connected with the image processing chip.
Specifically, as shown in fig. 3, one end of the gigabit SW is connected to the LAN input interface pad, the other end is connected to one end of the PHY chip via the LAN data line, and the other end of the PHY chip is connected to the image processing chip. The data link between the PHY chip and the image processing chip may be GMAC (Gigabit Media Access Control).
The kilomega SW can be realized by adopting a conventional switch and can be used for expanding a network port; through the gigabit SW, the image processing SOC with only one network port can be matched with 3-4 cameras (for example, starlight cameras).
In one embodiment, the function control board is also provided with a LAN output interface seat;
the image processing chip outputs a data processing result through the LAN output interface seat.
Specifically, the data processing result may include video data, an image recognition result, and/or image recognition control information; the function control board can output information such as data processing results through the LAN output interface seat. The robot can perform data backup on the data processing result or output the data processing result through the LAN output interface seat and transmit the data processing result to other external equipment by a route.
Wherein, the image processing chip is connected with the LAN output connecting seat → the external chassis; and the image (video) processing procedure may include: image (video) → image processing chip → arithmetic power chip → image processing chip → LAN output connection seat → external chassis.
In one embodiment, the system further comprises a PHY chip connected between the image processing chip and the LAN output interface group.
Specifically, as shown in fig. 3, a PHY chip is also connected between the image processing chip and the LAN output interface group. The PHY chip and the image processing chip may communicate with each other by using a PCIE (peripheral component interconnect express, high-speed serial computer expansion bus standard), so as to implement high-speed serial point-to-point dual-channel high-bandwidth transmission, and further support functions such as active power management, error reporting, end-to-end reliability transmission, hot plug, Quality of Service (QOS), and the like.
In one embodiment, the function control board is also provided with a storage device which is connected with the image processing chip and used for data backup.
In particular, the storage device may be implemented by a hard disk, which is connected to the image processing chip, as shown in fig. 3. The audio, video and image backup process in the application can comprise the following steps: image (video), audio → image processing chip → hard disk and/or routing on the external chassis via LAN output connection socket.
The function control board is provided with an image processing chip, an audio processing chip (AMP and DSP in the figure), an ultrasonic processing chip, a force calculating chip, a hard disk, a LAN input interface seat, a LAN output interface seat, a data output connecting seat, an ultrasonic data input connecting seat and an ultrasonic data output connecting seat.
As described above, the image processing chip in the present application is connected to the audio processing chip (AMP and DSP in fig. 3), the computing power chip, and the hard disk, respectively, and the image processing chip is connected to the LAN input interface socket via the LAN data line, and the LAN input interface socket is connected to the security device. The application perfects the processing capacity of image information and audio information in the robot, and can efficiently output accurate data processing results, so that the robot controls the action of the corresponding action mechanism, and quick response is realized. The function of security robot can be perfected to this application, improves the processing output efficiency of data processing result greatly, improves the performance.
In one embodiment, as shown in fig. 4, a robot control circuit is provided, which is illustrated by way of example as applied to the robot of fig. 1, and includes a function control board provided in a robot body;
the function control board is provided with an image processing module and a computing chip matched with the image processing module; the image processing module is used for connecting security equipment arranged on the robot body; the image processing module comprises an audio processing chip and an image processing chip; the image processing chip is connected with the force calculating chip; the function control panel is also provided with a detector processing module;
the data input end of the audio processing chip is used for connecting security equipment, and the data output end of the audio processing chip is connected with the data input end of the image processing chip; the data input end of the image processing chip is used for being connected with the security equipment, the data output end of the image processing chip is used for outputting a data processing result, and the detector processing module is used for being connected with a detector arranged on the robot body and outputting detection data so that the robot can control the action of the corresponding action mechanism.
Specifically, the robot body is provided with at least one camera, a detector and the like; the body is internally provided with a function control panel, and the function control panel is provided with an image processing chip, an audio processing chip, a detector processing module and a force calculating chip. The function control panel of the application can integrate the functions of detector processing, image processing and the like, improves the function adaptability and the processing capacity of the robot, and realizes function modularization. Furthermore, the function control panel can independently process data of security and protection equipment such as each detector and/or camera on the fuselage, and improve the handling efficiency of robot when expanding the robot monitoring range.
In one embodiment, the probe processing module can be an ultrasonic processing chip; the function control panel is also provided with an ultrasonic data input connecting seat and an ultrasonic data output connecting seat;
the ultrasonic processing chip is connected with a plurality of ultrasonic detectors which are positioned at a position close to the top of the robot body, arranged on the side surface of the robot body and arranged around the robot body through an ultrasonic data input connecting seat;
the ultrasonic processing chip is connected with the ultrasonic data output connecting seat and can output ultrasonic data processing data through the ultrasonic data output connecting seat.
Specifically, the side of the fuselage is provided with a plurality of detectors arranged around the fuselage, and further, the detectors can be positioned close to the top of the fuselage; in some embodiments, the probe may be an ultrasound probe. Of course, other suitable detectors, such as microwave detectors, etc., may be selected as desired.
Furthermore, the ultrasonic processing chip is connected with each ultrasonic detector through an ultrasonic data input connecting seat, and can output ultrasonic data processing information through an ultrasonic data output connecting seat. The ultrasonic data processing process based on the application can comprise the following steps: the ultrasonic detection unit → the ultrasonic data input connection seat → the ultrasonic processing chip → the ultrasonic data output connection seat → the external chassis.
Wherein, the ultrasonic detection unit can be connected with the ultrasonic data output connecting seat through RS 485.
In addition, in one embodiment, a micro control unit connected with the image processing chip is also arranged on the function control panel.
Specifically, as shown in fig. 5, the image processing chip may be further connected to an MCU (micro controller Unit), which may be implemented by using an STM32 embedded single chip microcomputer. Further, the image processing chip and the MCU may communicate with each other based on a UART (Universal Asynchronous Receiver/Transmitter). Simultaneously, this application function control panel can adopt DC 48V to supply power to the function control panel can be through RS485 connection route.
The MCU in the application can realize the power management function, for example, only the MCU is kept to work when in standby, so that the power consumption can be reduced; when the computer is started, the MCU turns on other modules to supply power; furthermore, the MCU in the application has single function, has high stability compared with an image processing SOC (e.g. RK3399), and can be reset and restarted by the MCU when the RK3399 is abnormal. In addition, the application proposes that STM32 is adopted to realize the related functions of the MCU, namely the temperature range which can be supported by the MCU in the application is high and is generally-40-85 ℃; the common specification of the ARM chip is 0-60 ℃ or-20-60 ℃, and the temperature can reach-40 ℃ in outdoor winter in northern China, and at the moment, the MCU in the application can be used for driving the heating module, so that the ARM chip is started after the whole body is heated.
It should be noted that in this embodiment, specific flows of image processing, audio processing, and the like, related devices, and specific implementation processes may refer to the foregoing embodiments, and are not described herein again.
To further explain the solution of the present application, a specific example is described below, and as shown in fig. 5, a robot control circuit is provided, which is described by applying the circuit to the robot in fig. 1 as an example, and the robot body is provided with at least one camera and an ultrasonic detection unit;
the body is internally provided with a function control board which is provided with an image processing chip, an audio processing chip (AMP and DSP in the figure), an ultrasonic processing chip, a force calculating chip, a hard disk, a LAN input interface seat, a LAN output interface seat, an ultrasonic data input connecting seat and an ultrasonic data output connecting seat.
The image processing chip can be connected with the audio processing chip, the computing power chip and the hard disk, the image processing chip is connected with the LAN input interface seat through the LAN data line, and the LAN input interface seat is connected with the camera. The image processing chip may be connected to an external chassis through a LAN output connection socket.
Further, the ultrasonic data processing flow may include: the ultrasonic detection unit → the ultrasonic data input connection seat → the ultrasonic processing chip → the ultrasonic data output connection seat → the external chassis.
The image (video) processing procedure may include: image (video) → image processing chip → arithmetic power chip → image processing chip → LAN output connection seat → external chassis; the audio processing procedure may include: microphone → audio processing chip → image processing chip → LAN output connection socket → external chassis; the audio-video and image backup process can comprise the following steps: image (video), audio → image processing chip → hard disk and/or routing on the external chassis via LAN output connection socket.
The image data packet sent by the image processing chip is marked with a data type and a receiving object (such as a cloud server, a navigation processing unit or an external device identifier), and the routing unit sends the marked receiving object to a corresponding element or an external device.
Furthermore, the image data packet sent by the image processing chip enables the routing unit to send image (video) data and/or image recognition results (such as the direction, distance, shape and size of an obstacle) to the navigation processing unit, further enables the navigation processing unit to generate motion control information according to a pre-stored laser point cloud map, laser radar data, image (video) data and/or image recognition results, and sends the motion control information to a corresponding main control unit of the robot, and the main control unit can control the motion of the motor module according to the motion control information.
The application perfects the processing capacity of image information and audio information in the robot, and efficiently outputs an accurate data processing result, so that the robot controls the action of the corresponding action mechanism, and quick response is realized. The function of security robot can be perfected to this application, improves the processing output efficiency of data processing result greatly, improves the performance.
In one embodiment, a security robot is provided, which may include a body, a chassis, and a connecting seat for connecting the body and the chassis;
the connecting seat comprises a base and a plurality of supporting legs arranged at the bottom of the base; the base is connected with the machine body, and the supporting legs are connected with the chassis; the connection part of the chassis and the supporting leg is provided with a threading hole, and the inside of the supporting leg is provided with a wiring channel respectively communicated with the threading hole and the inside of the machine body;
the security robot also comprises the robot control circuit.
Those skilled in the art will appreciate that the configurations shown in fig. 1-5 are merely block diagrams of some configurations relevant to the present disclosure, and do not constitute limitations on the devices and components to which the present disclosure may be applied, and that a particular device may include more or fewer components than shown, or some components may be combined, or have a different arrangement of components.
In the description herein, references to the description of "some embodiments," "other embodiments," "desired embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A robot control circuit is characterized by comprising a function control panel arranged in a robot body;
the function control panel is provided with an image processing module and a force calculating chip used for matching with the image processing module; the image processing module is used for connecting security equipment arranged on the robot body;
the image processing module comprises an audio processing chip and an image processing chip; the image processing chip is connected with the force calculating chip;
the data input end of the audio processing chip is used for being connected with the security equipment, and the data output end of the audio processing chip is connected with the data input end of the image processing chip; the data input end of the image processing chip is used for being connected with the security equipment, and the data output end of the image processing chip is used for outputting a data processing result so that the robot controls the action of the corresponding action mechanism.
2. The robot control circuit of claim 1, wherein the function control board is further provided with a detector processing module;
the detector processing module is used for connecting a detector arranged on the robot body.
3. The robot control circuit of claim 2, wherein the probe processing module is an ultrasonic processing chip; the function control panel is also provided with an ultrasonic data input connecting seat and an ultrasonic data output connecting seat;
the ultrasonic processing chip is connected with a plurality of ultrasonic detectors which are positioned at a position close to the top of the robot body, arranged on the side surface of the robot body and arranged around the robot body through the ultrasonic data input connecting seat;
the ultrasonic processing chip is connected with the ultrasonic data output connecting seat.
4. The robot control circuit according to claim 1, wherein a LAN input interface seat is provided on the function control board;
the LAN input interface seat is used for connecting a plurality of cameras which are positioned in the middle of the robot body, arranged on the side surface of the robot body and arranged around the robot body;
the image processing chip is connected with the LAN input interface seat through a LAN data line.
5. The robot control circuit of claim 4, further comprising a gigabit switch and a PHY chip;
one end of the kilomega switch is connected with the LAN input interface seat, and the other end of the kilomega switch is connected with one end of the PHY chip through the LAN data line; and the other end of the PHY chip is connected with the image processing chip.
6. The robot control circuit of claim 1, wherein the audio processing chip comprises an amplifier and a digital audio processor;
one end of the digital audio processor is connected with the image processing chip, and the other end of the digital audio processor is connected with the amplifier; the amplifier is used for being connected with a microphone arranged on the side face of the machine body.
7. A robot control circuit according to any of claims 1 to 6, characterized in that a LAN output interface socket is further provided on the function control board; and the image processing chip outputs a data processing result through the LAN output interface seat.
8. The robot control circuit according to claim 7, further comprising a PHY chip connected between the image processing chip and the LAN output interface group.
9. The robot control circuit according to any one of claims 1 to 6, wherein a storage device connected to the image processing chip is further provided on the function control board;
and the function control panel is also provided with a micro control unit connected with the image processing chip.
10. A security robot is characterized by comprising a robot body, a chassis and a connecting seat for connecting the robot body and the chassis;
the connecting seat comprises a base and a plurality of supporting legs arranged at the bottom of the base; the base is connected with the machine body, and the supporting legs are connected with the chassis; a threading hole is formed at the joint of the chassis and the supporting leg, and a routing channel which is respectively communicated with the threading hole and the interior of the machine body is arranged in the supporting leg;
the security robot further comprising the robot control circuit of any of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120564702.8U CN215006379U (en) | 2021-03-18 | 2021-03-18 | Robot control circuit and security robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120564702.8U CN215006379U (en) | 2021-03-18 | 2021-03-18 | Robot control circuit and security robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215006379U true CN215006379U (en) | 2021-12-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120564702.8U Active CN215006379U (en) | 2021-03-18 | 2021-03-18 | Robot control circuit and security robot |
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| Country | Link |
|---|---|
| CN (1) | CN215006379U (en) |
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2021
- 2021-03-18 CN CN202120564702.8U patent/CN215006379U/en active Active
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