CN215281955U

CN215281955U - Building security patrol robot

Info

Publication number: CN215281955U
Application number: CN202121354441.3U
Authority: CN
Inventors: 黄静; 张子恒; 李怡然; 吕梁玮; 彭加誉; 石善祺
Original assignee: Beijing University of Technology
Current assignee: Beijing University of Technology
Priority date: 2021-06-18
Filing date: 2021-06-18
Publication date: 2021-12-24
Anticipated expiration: 2031-06-18

Abstract

A building security patrol robot belongs to the field of automation. The building security patrol robot comprises a master control system, a mobile system, an environment monitoring hardware system and a communication system. On the upper layer, the raspberry pi 4B is used as an upper computer, the upper computer and the lower computer communicate through a serial port, and an RPLIDAR a1 laser radar is used for carrying a raspberry pi camera; and a Mecanum wheel chassis is adopted at the bottom layer, and the motor is driven based on the stm32 controller and the driving module. The flame sensor and the smoke sensor are connected to another stm32 development board special for the sensors, and detected information is transmitted to the upper computer through the serial port. And a photoelectric switch and an ultrasonic sensor are adopted at the same time. The robot can automatically complete patrol tasks and can also complete appointed cruising by a user in a manual mode.

Description

Building security patrol robot

Technical Field

The utility model discloses a building security protection patrol robot's software and hardware development belongs to the automation field.

Background

At present, the safety guarantee work of indoor environments such as buildings and the like mostly comprises a monitoring camera, a fire alarm, a security door and window and other fixed equipment. In daily life, the fixed equipment can basically meet daily security and protection requirements, but has some defects. For example, a monitoring camera can provide video signals with high image quality and high frame rate at present, and uploads the video signals to a user terminal, so that the monitoring camera can be suitable for monitoring indoor environment and completing security tasks. However, if each corner in the room is monitored in all directions without dead angles, a large number of installations are required to achieve full coverage. At present, the price of the monitoring cameras in the market is mostly concentrated in the interval of 200 plus 1000 yuan, and if a plurality of monitoring cameras are installed in one indoor environment, the cost is high. Meanwhile, the monitoring pictures need to be checked by the user in real time, and although the camera can run uninterruptedly for a long time, the user is difficult to sit in front of the computer screen for a long time in reality and check the pictures one by one. The device such as the alarm can sensitively monitor the accidents such as fire, illegal intrusion and the like, but the device has the defects that the device cannot directly transmit information to a host under the condition that no person is in a room, and can only play a good role under the condition that someone is on duty.

Based on the above conditions, the utility model discloses a conception just takes place. The building security patrol robot is adopted, based on a mobile platform such as a robot trolley, all-around and dead-angle-free environment monitoring is carried out, environment information is transmitted to a user side in real time, the building security task can be better met, and the use cost is reduced. The robot can rely on laser radar and photoelectric sensor independently to patrol and keep away the barrier in the building environment, uses the camera to carry out environmental monitoring simultaneously, through internet transmission video signal, can also utilize unexpected circumstances such as sensor monitoring conflagration and inform for the user.

In the aspect of later maintenance, only need to maintain this robot can, saved the inconvenience of examining indoor sensor everywhere one by one, each accessory on the robot if damage also only need carry out the modularization change can, need not whole dismouting.

Disclosure of Invention

The robot is mainly designed and realized, is suitable for safety guarantee work of buildings, warehouses, plants and other places, and is required to be capable of dynamically and automatically detecting the building environment under the unmanned condition, assisting building intelligent security equipment and realizing a complete security system.

The design mainly carries out the design and debugging of a hardware system, a software system and the functions of the whole vehicle. The robot can realize the functions of mobile positioning, environment monitoring, video acquisition, active avoidance of human bodies and the like, can autonomously complete patrol tasks, can also complete appointed cruising by a user in a manual mode, and can be conveniently operated by the user through software.

Comparison of techniques

Through the contrast with the prior art, the design has the following advantages:

1. the cost is lower, compares in fixed security protection equipment, and a mobile robot can accomplish the security protection task with high price/performance ratio. The maintenance is relatively convenient, only need the modularization change accessory can, same accessory can purchase in batches, and economic benefits is considerable.

2. The volume is less, can reach each corner of indoor environment in a flexible way, ensures the safety of building more effectively.

3. Have upper operating system, can carry out higher level's extension on current function's basis, compare in the singlechip of bottom and have more powerful function.

Drawings

FIG. 1 is a front view of a security patrol robot

FIG. 2 is a left side view of the security patrol robot

FIG. 3 is a top view of the security patrol robot

FIG. 4 is a left front view of the security patrol robot

FIG. 5 is a diagram illustrating a hardware structure of a security patrol robot

Detailed Description

The hardware system of the robot mainly comprises a main control system, a mobile system, an environment monitoring hardware system and a communication system.

On the upper layer, raspberry pi 4B is used as an upper computer for controlling the top layer. The upper computer and the lower computer communicate through a serial port and transmit speed control information. We use RPLIDAR a1 lidar to acquire environmental information for mapping and positioning. And meanwhile, a raspberry group camera is carried for monitoring environmental information in real time and transmitting the environmental information to workers.

At the bottom, we use a mecanum wheel chassis, based on stm32 controller and drive module to drive the motor. Compared with a differential wheel chassis, the Mecanum wheel chassis can enable the trolley to move very flexibly. In order to monitor fire, a flame sensor and a smoke sensor are connected to another stm32 development board special for the sensors, and detected information is transmitted to an upper computer through a serial port. In order to realize obstacle avoidance, a photoelectric switch and an ultrasonic sensor are used. The photoelectric switch is used for quick response, can detect suddenly approaching obstacles or human bodies in time, and makes up the defect that the response speed of the laser radar is slow, so that collision is avoided.

In addition, the power supply system of the robot mainly comprises two 11.1V and 3500mAh lithium batteries and a power supply module which respectively supply power to the bottom system and the raspberry group and also supply power to the laser radar at the top and the USB port depending on the raspberry group.

The robot is provided with an Ubuntu Mate system in an upper computer raspberry group 4B, and based on an ROS platform, the operation and communication among functional programs are realized in an ROS node mode. The system mainly comprises a bottom layer control node, a sensor node, a keyboard control node, a laser radar node, a camera node, an amcl positioning node, a move _ base node, an RVIZ node, a navigation point release node and the like.

Firstly, an indoor environment is mapped by utilizing a SLAM algorithm and a Gmapping function package based on an RPLIDAR a1 laser radar, and a trolley is manually controlled to run in the indoor environment by utilizing a keyboard control node, so that the laser radar can detect each corner.

And after the map is obtained, positioning according to data obtained by the laser radar in real time by utilizing an amcl algorithm. And then sequentially releasing the set navigation points by the navigation point releasing node in a coordinate and quaternion mode, wherein the move _ base node is responsible for path planning, releasing motion control information to a cmd _ vel topic in a speed mode of three axes of xyz, and after receiving the information of the topic, the bottom layer control node converts the speed information into a mode which can be received by the bottom layer controller and then transmits the information to a lower computer byte by byte through a serial port. And after receiving the serial port information, the lower computer calls a motion analysis function, inputs the speeds of the three xyz axes, and calculates the rotation directions and the rotation speeds of the corresponding 4 motors, thereby realizing motion control.

When a navigation point is reached and the error requirement is met, the move _ base node feeds back to the navigation point release node, then the navigation point release node continues to release the next navigation point, and the operation is circulated all the time, so that indoor patrol is realized.

In the aspect of images, the camera node calls a raspberry type OV5647 camera to display a video signal on a screen for monitoring environmental information. The OV5647 highest resolution of shooting can reach 2592x 1944, can be better satisfies the security protection demand. Meanwhile, the OpenCV software library is used for realizing face detection and detecting people in the current environment.

The second stm32 development board for sensors was equipped with a photoelectric switch, a flame sensor, and a smoke sensor. The photoelectric switch rapidly detects the approaching barrier, and once the distance exceeds a threshold value, the photoelectric switch enters a trigger state, the development board sends an upper computer after detecting the approaching barrier through a serial port, and the upper computer sends a speed instruction of reverse movement to the trolley through a bottom control node after receiving the upper computer, so that rapid obstacle avoidance is realized. The flame sensor and the smoke sensor operate in a digital mode, when flame or smoke is detected, low level is output to the development board, and the development board sends the current environment state to the upper computer through the serial port.

Performance parameter

Claims

1. Building security protection patrol robot, its characterized in that: the system comprises a master control system, a mobile system, an environment monitoring hardware system and a communication system;

on the upper layer, the raspberry pi 4B is used as an upper computer, the upper computer and the lower computer are communicated through a serial port, and an RPLIDARa1 laser radar is used for carrying a raspberry pi camera;

a Mecanum wheel chassis is adopted at the bottom layer, and the motor is driven based on an stm32 controller and a driving module; the flame sensor and the smoke sensor are connected to another stm32 development board special for the sensors, and detected information is transmitted to an upper computer through a serial port; and a photoelectric switch and an ultrasonic sensor are adopted at the same time.

2. The building security patrol robot of claim 1, wherein: the power supply system of the robot comprises two 11.1V and 3500mAh lithium batteries and a voltage conversion module; the power supply system supplies power to the bottom system and the upper computer raspberry group respectively, and the laser radar supplies power through the USB port of the raspberry group.