CN105522557A - Intelligent security service robot platform - Google Patents
Intelligent security service robot platform Download PDFInfo
- Publication number
- CN105522557A CN105522557A CN201610033170.9A CN201610033170A CN105522557A CN 105522557 A CN105522557 A CN 105522557A CN 201610033170 A CN201610033170 A CN 201610033170A CN 105522557 A CN105522557 A CN 105522557A
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- robot
- security service
- installing plate
- intelligent security
- service robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent security service robot platform. The intelligent security service robot platform comprises a robot body and an anti-riot execution assembly mounted on the robot body, wherein the robot body comprises a base plate, a support column assembly and a casing, and the support column assembly is mounted on the base plate; the anti-riot execution assembly comprises a capture fork and a driving piece for driving the capture fork. The intelligent security service robot platform has the advantages of high intelligent degree, wide application range, high function integration level, good safety and reliability and the like.
Description
Technical field
The present invention is mainly concerned with field in intelligent robotics, refers in particular to a kind of intelligent security service robot platform.
Background technology
Intelligent robot be one integrate that independent navigation, environment sensing and local build, dynamic decision and planning, from the multi-functional integrated system such as main control and execution.It has concentrated the multi-disciplinary achievements in research such as sensor technology, mechanical engineering, automation control engineering, computer engineering, electronic engineering and artificial intelligence, representing the most overachievement of electromechanical integration, is also one of focus of current scientific research and engineering design.Intelligence machine man-based development is mainly reflected in the development in intellectuality, modularization, hommization direction.
Robot more and more appears at various engineering field; bring great convenience to industrial production and engineer applied; but engineering-environment varies; multiple professional domain is also divided into the requirement of intelligent robot; safety protection robot is that a class is emerging; being used to the intelligent robot integrating the functions such as autonomous operation, patrol, multi-faceted perception, violence protection, safety inspection in the higher place of the crowded security requirement again such as station, airport, is also one of focus of research at present.
At present; the safety device that public place, city uses mostly is watch-dog and manpower Security Personnel; robot for security patrol is also little; function is also confined to the aspects such as monitoring and prompting; along with the expansion of the scale in city, complicated society and engineering-environment require that safety protection robot possesses the method for operation and reliable anti-riot mechanism manner of execution flexibly.
Summary of the invention
The technical problem to be solved in the present invention is just: the technical problem existed for prior art, the invention provides the intelligent security service robot platform that a kind of intelligence degree is high, applied widely, functional integration is high, security reliability is good.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
A kind of intelligent security service robot platform, comprise robot body and be installed on the anti-riot executive module on robot body, described robot body comprises chassis, strut assemblies and shell, and strut assemblies is installed on chassis; Described anti-riot executive module comprises the actuator catching fork and be used for driving seizure to pitch.
As a further improvement on the present invention: described seizure fork is connected with drive motors by worm and gear, described seizures fork is in drawing shape in normal state, under the driving that seizure described in anti-riot duty is pitched at worm and gear and drive motors, be in open mode.
As a further improvement on the present invention: along short transverse from the bottom to top, described strut assemblies is connected with the first installing plate, the second installing plate and the 3rd installing plate, shell is separated into dismountable three parts by three pieces of installing plates, is respectively layer segment and shell top section in robot shells underclad portion, shell.
As a further improvement on the present invention: described first installing plate is provided with the lithium battery of powering to parts all on robot body, and be provided with to robot automatic charging and manual powered charging inlet and wiring board, and the transformer of described power supply of arranging in pairs or groups also is installed.
As a further improvement on the present invention: described first installing plate to be also provided with for exchanging, the Arduino control panel of analysis and treament data and by the integrated control chip plate of temperature sensor, sonac, touch sensor, chemical sensor.
As a further improvement on the present invention: described second installing plate is provided with the industrial computer for managing and coordinate stable operation and information exchange between each module of described robot body, is installed on the ROS robot operating system for robot controlling on described industrial computer; Described second installing plate is also provided with for store data, file memory cell, connect each equipment to build the switch of network for robot communication module.
As a further improvement on the present invention: described 3rd installing plate is provided with for the voice guard of safety protection function and the router for connecting switch, the communication of wifi network is used for realizing.Described shell is also provided with for show and man-machine interaction operation input flat panel display unit.
As a further improvement on the present invention: described chassis comprises two driving wheels and two universal wheels, described two driving wheels are used for realizing action all around, and described two universal wheels comprise fixing universal wheel and elastic universal wheel, for supplemental support.
As a further improvement on the present invention: be also provided with in described chassis and build figure for robot and navigation keeps away the laser sensor arrangements of barrier, and keep away barrier by the induction of Kinect inductor auxiliary laser sensing device; Described housing is also provided with collision prevention switch, stops or diversion treatments for the urgency after encountering barrier.
As a further improvement on the present invention: the outside of described robot body is fixed in addition fills an electric charging pile, carries out automatic butt between described charging pile and robot body by infrared mode.
Compared with prior art, the invention has the advantages that: intelligent security service robot platform of the present invention, intelligence degree is high, applied widely, functional integration is high, security reliability is good, the security protection demand of municipal public safety can be met, can be used for the security situations such as city security protection, station or airport security, campus patrol, government's defendance.The features such as it is large that this kind of place has flow of the people, and the high and surrounding environment of security requirement is complicated and changeable, safety protection robot can give full play to the strong adaptability of machine and the feature of meticulous controllability in such a case, therefore has very important realistic meaning.
Accompanying drawing explanation
Fig. 1 is the complete assembling front-view schematic diagram of the present invention in embody rule example.
Fig. 2 is the complete assembling schematic side view of the present invention in embody rule example.
Fig. 3 is the shell complete assembling front-view schematic diagram of the present invention in embody rule example.
Fig. 4 is the shell complete assembling schematic side view of the present invention in embody rule example.
Fig. 5 is the chassis structure front-view schematic diagram of the present invention in embody rule example.
Fig. 6 is the chassis structure schematic top plan view of the present invention in embody rule example.
Fig. 7 is the first installing plate schematic top plan view of the present invention in embody rule example.
Fig. 8 is the second installing plate schematic top plan view of the present invention in embody rule example.
Fig. 9 is the three installing plate schematic top plan view of the present invention in embody rule example.
Figure 10 is the seizure fork coupling part schematic diagram of the present invention in embody rule example.
Figure 11 is the present invention's system module frame schematic diagram in embody rule example.
Figure 12 is the present invention's anti-riot Executive Module frame schematic diagram in embody rule example.
Figure 13 is the present invention's automatic charging steps flow chart schematic diagram in embody rule example.
Marginal data:
1, chassis; 2, pillar; 3, screw; 4, the first installing plate; 5, the second installing plate; 6, the 3rd installing plate; 7, connector; 8, fork is caught; 9, worm and gear; 10, charging pile; 11, driving wheel; 12, motor; 13, fixing universal wheel; 14, elastic universal wheel; 15, encoder; 16, laser sensor arrangements; 17, inertial sensor; 18, collision prevention switch; 19, battery; 20, charging inlet; 21, wiring board; 22, transformer; 23, Arduino control panel; 24, control chip plate; 25, industrial computer; 26, ROS robot operating system; 27, Kinect inductor; 28, solid state hard disc; 29, switch; 30, alarm; 31, router; 32, shell underclad portion; 33, layer segment in shell; 34, shell top section; 35, sonac; 36, power amplifier sound equipment; 37, charge port; 38, IR signal reception pipe; 39, square groove; 40, blue led light bar; 41, scram button; 42, camera; 43, groove; 44, flat panel display unit; 45, mobile control end; 46, infrared signal transmitting tube; 47, drive motors; 49, temperature sensor; 50, touch sensor; 51, chemical sensor.
Detailed description of the invention
Below with reference to Figure of description and specific embodiment, the present invention is described in further details.
As shown in Fig. 1 ~ Figure 10, a kind of intelligent security service robot platform of the present invention, is mainly applicable to the place that the crowded security requirement again such as station, airport is higher, in order to complete the work such as security patrol.It comprises robot body and is installed on the anti-riot executive module on robot body, and robot body comprises chassis 1, strut assemblies and shell, and strut assemblies is installed on chassis 1.In the present embodiment, along short transverse from the bottom to top, strut assemblies is connected with the first installing plate 4, second installing plate 5 and the 3rd installing plate 6 by screw 3.Shell is separated into dismountable three parts by three pieces of installing plates, is respectively layer segment 33 and shell top section 34 in robot shells underclad portion 32, shell.Anti-riot executive module comprises the worm and gear 9 being arranged on the charged seizure fork 8 outside shell by connector 7 and screw 3 and being driven by drive motors 47.
Further, the present invention is fixed in addition in the outside of robot body and fills an electric charging pile 10.
See Fig. 4, in this example, strut assemblies comprises four stainless steel pillars 2, and this pillar 2 adopts cylindrical configurations.
See Fig. 7, the first installing plate 4 is the flat aluminium alloy plates be connected to by screw 3 in strut assemblies.First installing plate 4 is provided with the lithium battery 19 of powering to parts all on robot body by screw 3, and is provided with to robot automatic charging and manual powered charging inlet 20 and wiring board 21, and the transformer 22 of described power supply of arranging in pairs or groups also is installed.Wherein, the wiring board 21 of automatic charging picks out from chassis less than 1.Transformer 22 has changing voltage to be two pieces of 36v ~ 12v and 36v ~ 12v.
Further, the first installing plate 4 is also provided with for exchanging, the Arduino control panel 23 of analysis and treament data and the control chip plate 24 by numerous sensor integration such as temperature sensor 49, sonac 35, touch sensor 50, chemical sensors 51.
See Fig. 8, the second installing plate 5 is that the aluminium alloy be connected in strut assemblies by screw 3 is circular dull and stereotyped.The wiring board 21 of described robot is installed above the second installing plate 5, fixes with screw 3.Second installing plate 5 is provided with the industrial computer 25 for managing and coordinate stable operation and information exchange between each module of described robot body, is installed on the ROS robot operating system 26 for robot controlling on described industrial computer 25.Second installing plate 5 is also provided with the solid state hard disc 28 for storing data, file, as memory cell.Second installing plate 5 is also provided with and connects each equipment to build the switch 29 of network for robot communication module.Switch 29 and solid state hard disc 28 are fixed on described second installing plate 5 by screw 3.
See Fig. 9, the 3rd installing plate 6 is that the aluminium alloy be connected in strut assemblies by screw 3 is circular dull and stereotyped.3rd installing plate 6 is provided with the voice guard 30 for safety protection function, the router three 1 for connecting switch 29 is also installed, realizes the communication of wifi network.
As shown in Figure 5, in the present embodiment, chassis 1 adopts two driving wheels 11 to realize action all around, for increasing the stationarity on described chassis 1, can also install two universal wheels further and be used for supplemental support, one of them is fixing universal wheel 13, and another is elastic universal wheel 14.Motor 12(is containing reducer shaft) export after be directly connected with driving wheel 11, the encoder 15 of the coaxial rotation that the axle of motor 12 is installed.Also be provided with in chassis 1 and build figure and the laser sensor arrangements 16 keeping away barrier that navigates for robot.After start up system, be used for detecting peripheral obstacle information by laser sensor arrangements 16, Real-time Obtaining surrounding environment, by map structuring, is real-time map by environmental transformation, in the process of building figure, carries out self poisoning in conjunction with inertial sensor 17 simultaneously.Skin on chassis 1 is also provided with mechanical collision prevention switch 18, stops or diversion treatments for the urgency after encountering barrier.In addition, in the present embodiment, robot there is also mounted Kinect inductor 27, be used for auxiliary laser sensing device 16 induction keep away barrier.
See Fig. 1, shell underclad portion 32 is between the first installing plate 4 and described second installing plate 5, it is provided with six sonac 35(ultrasound emission and accepts components and parts) require with the barrier of keeping away realizing position sensor, two power amplifier sound equipments 36 are installed to realize the requirement of interactive voice and to be arranged on robot body dead astern, charge port 37 and three IR signal reception pipes 38 of requirement are docked when being used for meeting automatic charging completely with charging pile 10.Also reserve square groove 39 in shell underclad portion 32 and meet the connection request catching fork 8 and worm and gear 9, and be also provided with can the blue led light bar 40 of light warning, integrated by described Arduino control panel 23.
See Fig. 2, in shell, layer segment 33 is between the second installing plate 5 and the 3rd installing plate 6, it is provided with scram button 41(general supply locking key), it also have two blue led light bar 40, the function that four cameras 42 are used for realizing video interactive is also installed simultaneously, meanwhile, in shell, layer segment 33 is provided with groove 43.
See Fig. 1, shell top section 34 is arranged on the 3rd installing plate 6, is a hemispherical shell, it is provided with for show and man-machine interaction operation input flat panel display unit 44.Flat panel display unit 44 can be connected into wifi, 3G/4G network, for realizing telecommunication with mobile control end 45.
Above-mentioned charging pile 10 is the equipment being arranged on automatic charging point outside machine-independent human body, it is provided with the infrared signal transmitting tube 46 that three codings are different, and shape can be docked completely with the charge port 37 of robot.
The concrete installation process of above-mentioned intelligent security robot is as follows:
A, encoder 15 is coaxially arranged on motor 12, then driving wheel 11 and motor 12 is installed, chassis 1 is placed on driving wheel 11, and installs universal wheel on base;
B, the first installing plate 4 is fixed on chassis 1, then four pillars 2 are fixed on the first installing plate 4 by screw 3, then the control chip plate 24 of the wiring board 21 of lithium battery 19, automatic charging, transformer 22, Arduino control panel 23 and multiple-sensor integration are fixedly mounted on the first installing plate 4;
C, the second installing plate 5 is arranged on four pillars 2 by screw 3, then four pillars 2 are fixed by screws on the second installing plate 5, then by control circuit board 21, comprise industrial computer 25, solid state hard disc 28 and switch 29 that ROS robot operating system 26 is installed and be fixedly mounted on the second installing plate 5;
D, the 3rd installing plate 6 is arranged on three pillars 2 by screw 3, then voice guard 30 and router three 1 is fixedly mounted on the 3rd installing plate 6;
E, six sonacs, 35, two power amplifier sound equipments, 36, three IR signal reception pipes 38 and blue led light bar 40 are arranged on shell underclad portion 32, scram button 41, two blue led light bar 40 and four cameras 42 are arranged on layer segment 33 in shell, flat panel display unit 44 is arranged on shell top section 34, then will install shell successively, be fixed by the screw 3 on shell;
F, finally by worm and gear 9 with catch fork 8 and be arranged on relevant position, note connection between the two.
Operation principle:
See Figure 12, the implementation of anti-riot function is as follows:
A () under normal circumstances safety protection robot reciprocates in the region of specifying and carries out patrol work, remote monitoring personnel is by checking that the video-unit be installed on robot determines whether emergency occurs;
B (), when having people to come to carry out warning to seek help, monitor staff can be engaged in the dialogue by interactive module and alarm people and offer help;
C (), when monitor staff finds emergency episode or criminal case, can start anti-riot Executive Module immediately and start early warning function simultaneously;
D () controls to start and catches fork 8, control moves and controls scene.
See Figure 11, the basic controlling of robot realizes as follows:
A () embodiment is with the DSPF2812 of TI company for core controller, export pwm control signal to two drive plates, drive plate powers to control chassis 1 action to motor 12;
B () adopts 600 linear light photoelectric coders 15 to gather motor 12 rate signal to carry out the feedback of speed to realize speed closed loop;
C () adopts current sensor that the current signal of drive plate is fed back to control panel to realize current closed-loop;
D () controls the features such as convenient, processing speed is fast in conjunction with controller, use pid algorithm to carry out the adjustment of speed closed loop and current closed-loop.
See Figure 13, the detailed step of automatic charging function is as follows:
A () Real-Time Monitoring electricity, when electricity is lower than predetermined value, robot starts to enter automatic charging pattern.
B () is moved by the master control system analysis of robot and the navigation on chassis 1, found charging pile 10 coordinate points according to the map structuring before robot, and independent navigation.
C (), when robot moves to the region of the accepted infrared signal near charging pile 10, carries out position correction according to the infrared signal that charging pile 10 is sent, and start docking after calibration.
D () is docked successfully and is started charging, when electricity is higher than predetermined value, robot reenters mode of operation.
The basic controlling operating process of robot is as follows:
A () is started shooting, the present embodiment is placed in the holding state of command reception;
B () is checked sensor real time data by touch-screen/remote terminal or is carried out instruction input;
C () utilizes the module of exchange of speech and man-machine interaction to carry out voice or the auxiliary input of gesture;
When () electricity is not enough d, robot can give the alarm, and enters automatic seeking road charge mode;
When () closes e, disconnect the connection of mobile phone and robot, shutdown.
Below be only the preferred embodiment of the present invention, protection scope of the present invention be not only confined to above-described embodiment, all technical schemes belonged under thinking of the present invention all belong to protection scope of the present invention.It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention, should be considered as protection scope of the present invention.
Claims (10)
1. an intelligent security service robot platform, it is characterized in that, comprise robot body and be installed on the anti-riot executive module on robot body, described robot body comprises chassis (1), strut assemblies and shell, and strut assemblies is installed on chassis (1); Described anti-riot executive module comprises the actuator catching fork (8) and be used for driving seizure fork (8).
2. intelligent security service robot platform according to claim 1, it is characterized in that, described seizure fork (8) is connected with drive motors (47) by worm and gear (9), described seizure fork (8) is in drawing shape in normal state, is in open mode in seizure fork (8) described in anti-riot duty under the driving of worm and gear (9) with drive motors (47).
3. intelligent security service robot platform according to claim 1 and 2, it is characterized in that, along short transverse from the bottom to top, described strut assemblies is connected with the first installing plate (4), the second installing plate (5) and the 3rd installing plate (6), shell is separated into dismountable three parts by three pieces of installing plates, is respectively layer segment (33) and shell top section (34) in robot shells underclad portion (32), shell.
4. intelligent security service robot platform according to claim 3, it is characterized in that, described first installing plate (4) is provided with the lithium battery (19) of powering to parts all on robot body, and be provided with to robot automatic charging and manual powered charging inlet (20) and wiring board (21), and the transformer (22) of described power supply of arranging in pairs or groups also is installed.
5. intelligent security service robot platform according to claim 4, it is characterized in that, described first installing plate (4) is also provided with for exchanging, the Arduino control panel (23) of analysis and treament data and by the integrated control chip plate (24) of temperature sensor (49), sonac (35), touch sensor (50), chemical sensor (51).
6. intelligent security service robot platform according to claim 3, it is characterized in that, described second installing plate (5) is provided with the industrial computer (25) for managing and coordinate stable operation and information exchange between each module of described robot body, be installed on the ROS robot operating system (26) for robot controlling on described industrial computer (25); Described second installing plate (5) is also provided with for store data, file memory cell, connect each equipment to build the switch (29) of network for robot communication module.
7. intelligent security service robot platform according to claim 6, it is characterized in that, described 3rd installing plate (6) being provided with for the voice guard (30) of safety protection function and the router (31) for connecting switch (29), being used for realizing the communication of wifi network; Described shell is also provided with for show and man-machine interaction operation input flat panel display unit (44).
8. intelligent security service robot platform according to claim 1 and 2, it is characterized in that, described chassis (1) comprises two driving wheels (11) and two universal wheels, described two driving wheels (11) are used for realizing action all around, described two universal wheels comprise fixing universal wheel (13) and elastic universal wheel (14), for supplemental support.
9. intelligent security service robot platform according to claim 1 and 2, it is characterized in that, also be provided with in described chassis (1) and build figure and the laser sensor arrangements (16) keeping away barrier that navigates for robot, and keep away barrier by Kinect inductor (27) auxiliary laser sensing device (16) induction; Described shell is also provided with collision prevention switch (18), stops or diversion treatments for the urgency after encountering barrier.
10. intelligent security service robot platform according to claim 1 and 2, it is characterized in that, the outside of described robot body is fixed in addition fills an electric charging pile (10), carries out automatic butt between described charging pile (10) and robot body by infrared mode.
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| CN201610033170.9A CN105522557A (en) | 2016-01-19 | 2016-01-19 | Intelligent security service robot platform |
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| CN105945943A (en) * | 2016-05-12 | 2016-09-21 | 东北大学 | Cloud robot distributed control system and method based on dynamic Agent |
| CN106239533A (en) * | 2016-07-30 | 2016-12-21 | 杨超坤 | A kind of robot by Emotional control |
| CN106335039A (en) * | 2016-09-29 | 2017-01-18 | 成都聚立汇信科技有限公司 | Multifunctional security patrol robot in residential district |
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| WO2017198206A1 (en) * | 2016-05-19 | 2017-11-23 | 科沃斯机器人股份有限公司 | Combined robot and assembly method therefor |
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| CN110103197A (en) * | 2019-06-24 | 2019-08-09 | 深圳市财富云端信息技术有限公司 | A kind of home security robot based on information technology control |
| CN110142779A (en) * | 2019-06-05 | 2019-08-20 | 深圳汇创联合自动化控制有限公司 | A kind of key unit, government anti-terrorism security intelligent robot |
| CN110696042A (en) * | 2019-10-18 | 2020-01-17 | 徐州木牛流马机器人科技有限公司 | Robot arm with protection device |
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Application publication date: 20160427 |