CN205852807U - A kind of multi-functional patrol robot with autonomous map structuring and wireless charging - Google Patents

Abstract

The utility model provides a multifunctional patrol robot with autonomous map construction and wireless charging, which belongs to the technical field of robots. The robot includes a robot body and a mobile chassis. The robot body is arranged on the mobile chassis. Kinect sensors, horns, combustible gas sensors and fire smoke sensors are arranged outside the robot body. The main body includes main control module, network and radio communication module, motor drive module, independent wireless charging module, voice playback module, intelligent identification module, combustible gas alarm module and fire smoke alarm module, etc. The robot has the functions of autonomous map building and self-charging, and can patrol and work persistently in unfamiliar environments; combining the robot with the Internet of Things technology increases the serviceability of the robot, and makes the robot more intelligent through the navigation module and autonomous wireless charging module humanized and humanized.

Description

A multifunctional patrol robot with autonomous map building and wireless charging

technical field

The utility model relates to the technical field of robots, in particular to a multifunctional patrol robot with autonomous map construction and wireless charging.

Background technique

With the development of the city, the number of people gathering in large places such as shopping malls and exhibition halls is increasing, and theft incidents occur frequently. Security prevention has become the top priority that must be solved at present. In the existing security system, most of them just install surveillance cameras at monitoring points and arrange human security personnel to patrol. This measure has loopholes such as location blind spots caused by limited monitoring range, time blind spots caused by camera image switching, and monitoring blind spots caused by negligence or fatigue of security personnel.

With the development of modern robot technology and network technology, the application range of robots is increasing. Especially in the field of service, the application of robots has received extensive attention and attention. Now, there are application examples such as domestic service robots, medical robots, and rescue robots. In terms of security technology, security robots have also emerged as the times require, but the existing security robots are all set to patrol the route and location, the operation is complicated, and the path cannot be optimized, so it cannot better meet the needs of unfamiliar security environments.

Utility model content

The technical problem to be solved by the utility model is to provide a multifunctional patrol robot with autonomous map construction and wireless charging. The robot includes a robot body and a mobile chassis. The robot body is installed on the mobile chassis. Kinect sensors, horns, combustible gas sensors and fire smoke sensors are installed outside the robot body. The main control module, network and radio communication module, and motor drive are installed inside the robot body. module, autonomous wireless charging module, navigation module, image acquisition module, autonomous obstacle avoidance module, voice playback module, combustible gas alarm module and fire smoke alarm module; the main control module is connected with network and radio communication module, motor drive module, autonomous wireless The charging module, navigation module, image acquisition module, autonomous obstacle avoidance module, voice playback module, combustible gas alarm module, and fire smoke alarm module are connected.

Wherein, the robot body is a hollow shell. Wheels for walking are installed at the bottom of the mobile chassis, and the mobile chassis is moved by the dual motors set in it. The driving mode of the mobile chassis is the dual motor middle wheel drive, and the wheels are embedded in the vehicle body.

The specific functions of each module are:

The main control module is provided with a network and a radio communication module, and the main control module receives and processes signals through the network and the radio communication module.

The user interacts with the remote security robot through the network and radio communication module, and the network and radio communication module transmits the user command signal to the control interface of the main control module through the network and radio to realize remote control of the robot;

The motor drive module communicates with the main control module through the serial port communication interface, and is used to receive the control signal sent by the main control module to control the dual motors;

The autonomous wireless charging module is installed at the bottom of the robot. The autonomous wireless charging module is connected to the main control module to send a charging signal to the main control module. After receiving the charging signal, the main control module processes and feeds back to the autonomous wireless charging module. The autonomous wireless charging module Search for the location of the nearby power supply and feed it back to the main control module. The main control module processes the signal after receiving the power supply location signal and controls the robot to move to the vicinity of the power supply location. The autonomous wireless charging module performs non-docking autonomous wireless charging for the robot;

The navigation module is connected with the main control module. The navigation module includes a visual sensing device arranged on the upper part of the robot body. The visual sensing device uses the RGB color camera and the optical depth sensor of the Kinect sensor as a visual sensor to detect the image information of the surrounding environment and feed it back to the navigation system. Module, the navigation module performs autonomous map construction according to the environmental image information fed back by the visual sensing device and feeds back the processing results to the main control module, and the main control module receives the results and processes them to control the movement of the robot;

The image acquisition module is connected with the main control module to collect the video signal captured by the RGB color camera of the Kinect sensor and send it to the main control module. The main control module sends the video signal to the client through the network and the radio communication module, and the client receives the signal process;

The autonomous obstacle avoidance module enables the robot to intelligently judge the position and size of obstacles on the patrol route, and can autonomously bypass obstacles and continue to complete the patrol task;

The language playback module is connected to the main control module, and at the same time is connected to the loudspeaker arranged outside the body of the security patrol robot and realizes the voice output through the main control module;

The combustible gas alarm module is connected with the main control module. The combustible gas alarm module detects the combustible gas signal in the surrounding environment through the combustible gas sensor and processes it. At the same time, the processing result is fed back to the main control module. The main control module controls the voice playback after receiving the feedback result The module gives an alarm;

The fire smoke alarm module is connected with the main control module. The fire smoke alarm module detects the fire smoke signal in the surrounding environment through the fire smoke sensor and processes it. At the same time, it returns the result to the main control module. The main control module controls the language playback module after receiving the feedback result Make an alarm.

The beneficial effects of the above-mentioned technical solution of the utility model are as follows:

The utility model provides a multifunctional patrol robot with autonomous map construction and wireless charging, which is suitable for places such as shopping malls, exhibition halls, gold stores, jewelry stores, etc. It can be used directly after changing the existing environment, and can work continuously under unattended conditions; the robot also has an image acquisition function, which can transmit patrol video in real time; at the same time, the robot also has related intelligent functions such as fire alarm and gas leakage alarm; The utility model combines the robot with the Internet of Things technology, increases the serviceability of the robot, and makes the robot more intelligent and humanized through the navigation module and the autonomous wireless charging module.

Description of drawings

Fig. 1 is a structural schematic diagram of a multifunctional patrol robot with autonomous map construction and wireless charging of the present utility model;

Fig. 2 is a schematic diagram of the body structure of a multifunctional patrol robot with autonomous map construction and wireless charging of the present invention.

Among them: 1-robot body; 2-mobile chassis; 3-main control module; 4-network and radio communication module; 5-motor drive module; 6-autonomous wireless charging module; 7-navigation module; 8-image acquisition module; 9-autonomous obstacle avoidance module; 10-language playback module; 11-combustible gas alarm module; 12-fire smoke alarm module; 13-Kinect sensor; 14-horn; 15-combustible gas sensor; 16-fire smoke sensor.

detailed description

In order to make the technical problems, technical solutions and advantages to be solved by the utility model clearer, the following will describe in detail with reference to the drawings and specific embodiments.

The utility model provides a multifunctional patrol robot with autonomous map construction and wireless charging.

As shown in Figure 1, this robot comprises robot body 1 and mobile chassis 2, and robot body 1 is installed on the mobile chassis 2, and speaker 14, combustible gas sensor 15, fire smoke sensor 16 and Kinect sensor 13 are installed outside robot body 1.

As shown in Figure 2, a main control module 3, a network and radio communication module 4, a motor drive module 5, an autonomous wireless charging module 6, a navigation module 7, an image acquisition module 8, an autonomous obstacle avoidance module 9, a voice Playing module 10, combustible gas alarm module 11 and fire smoke alarm module 12; main control module 3 is connected with network and radio communication module 4, motor drive module 5, autonomous charging wireless module 6, navigation module 7, image acquisition module 8, autonomous The obstacle avoidance module 9, the voice playback module 10, the combustible gas alarm module 11, and the fire smoke alarm module 12 are connected.

The robot body 1 is a hollow shell. The hollow shell is made of wooden strips as a support body, with a plexiglass ring inside, high-strength fiber wires bound outside, and an aviation laminate on the outermost layer.

Wheels for walking are installed at the bottom of the mobile chassis 2, and the driving mode of the mobile chassis 2 is the form of dual-motor middle-wheel drive and wheels embedded in the vehicle body.

During the working process of the robot, the main functions of each module inside the robot main body 1 are:

The main control module 3 is provided with a network and a radio communication module 4, and the main control module 3 receives signals through the network and the radio communication module 4 and processes them;

The user interacts with the remote security robot through the network and radio communication module 4, and the network and radio communication module 4 transmits the user command signal to the control interface of the main control module 3 through the network and radio to realize remote control of the robot;

The motor drive module 5 communicates with the main control module 3 through the serial port communication interface, and is used to receive the control signal sent by the main control module 3 to control the dual motors;

The autonomous wireless charging module 6 is installed at the bottom of the robot. The autonomous wireless charging module 6 is connected to the main control module 3 for sending charging signals to the main control module 3. After receiving the charging signals, the main control module 3 processes and feeds back to the autonomous wireless charging module. 6. The autonomous wireless charging module 6 searches the location of the nearby power supply and feeds it back to the main control module 3. The main control module 3 processes the signal after receiving the power location signal and controls the robot to move to the vicinity of the power supply location. The autonomous wireless charging module 6 performs non-docking on the robot. Autonomous wireless charging;

Navigation module 7 links to each other with main control module 3, and navigation module 7 comprises the visual sensing device that is arranged on robot body top, and visual sensing device utilizes the RGB color camera of Kinect sensor 13 and optical depth sensor as the image information of visual sensor detection surrounding environment And feed back to the navigation module, the navigation module 7 carries out independent map construction according to the environmental image information fed back by the visual sensing device and feeds back the processing result to the main control module 3, and the main control module 3 receives the result and processes it to control the robot to move;

The image acquisition module 8 is connected with the main control module 3, and is used to collect the video signal captured by the RGB color camera of the Kinect sensor 13 and sends it to the main control module 3, and the main control module 3 sends the video signal to the client through the network and the radio communication module 4 end, the client processes the signal;

The autonomous obstacle avoidance module 9 enables the robot to intelligently judge the position and size of the obstacles existing on the patrol route, and can bypass the obstacles autonomously to continue to complete the patrol task;

Language play module 10 is connected with main control module 3, is connected with the loudspeaker 14 that is arranged on this patrol robot body 1 outside simultaneously and realizes the output of voice by main control module 3;

The combustible gas alarm module 11 is connected to the main control module 3. The combustible gas alarm module 11 detects the combustible gas signal in the surrounding environment through the combustible gas sensor 15 and processes it. At the same time, the processing result is fed back to the main control module 3. The main control module 3 receives Control voice playing module 10 to report to the police after the feedback result;

The fire smoke alarm module 12 is connected with the main control module 3, the fire smoke alarm module 12 detects the fire smoke signal in the surrounding environment through the fire smoke sensor 16 and processes it, and at the same time returns the result to the main control module 3, and the main control module 3 receives the feedback After the result, the language playing module 10 is controlled to give an alarm.

The above is a preferred embodiment of the utility model, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the utility model, some improvements and modifications can also be made. And retouching should also be regarded as the protection scope of the present utility model.

Claims (5)

1. A multifunctional patrol robot with autonomous map construction and wireless charging, characterized in that: it comprises a robot body (1) and a mobile chassis (2), the robot body (1) is installed on the mobile chassis (2), and the robot body (1) loudspeaker (14), combustible gas sensor (15), fire smoke sensor (16) and Kinect sensor (13) are installed externally, main control module (3), network and radio communication module ( 4), motor drive module (5), autonomous wireless charging module (6), navigation module (7), image acquisition module (8), autonomous obstacle avoidance module (9), voice playback module (10), combustible gas alarm module (11) and fire smoke alarm module (12); the main control module (3) is connected with network and radio communication module (4), motor drive module (5), independent wireless charging module (6), navigation module (7), The image acquisition module (8), the autonomous obstacle avoidance module (9), the voice playback module (10), the combustible gas alarm module (11), and the fire smoke alarm module (12) are connected; the combustible gas sensor (15) is connected with the combustible gas alarm module (11) are connected, and the fire smoke sensor (16) is connected with the fire smoke alarm module (12). 2. The multifunctional patrol robot with autonomous map building and wireless charging according to claim 1, characterized in that: the robot body (1) is a hollow shell. 3. The multifunctional patrol robot with autonomous map construction and wireless charging according to claim 1, characterized in that: the bottom of the mobile chassis (2) is equipped with wheels for walking, and the driving mode of the mobile chassis (2) is double The motor is driven by the middle wheel, and the wheels are embedded in the car body. 4. The multifunctional patrol robot with autonomous map construction and wireless charging according to claim 1, characterized in that: the voice playback module (10) is connected to the external speaker (14) of the robot body (1), and is passed through The main control module (3) controls the voice output. 5. The multifunctional patrol robot with autonomous map construction and wireless charging according to claim 1, characterized in that: the combustible gas sensor (15) transmits the detected signal to the combustible gas alarm module (11), and then transmitted to the main control module (3); the fire smoke sensor (16) transmits the detected signal to the fire smoke alarm module (12), and then to the main control module (3).