Security patrol robot based on Mecanum wheel

Abstract

The present invention relates to the field of security robot technology, and more specifically, to a Mecanum wheel-based security patrol robot, comprising: a frame; four Mecanum wheels mounted to the frame, the four Mecanum wheels being configured to be independently driven; a rotating platform connected to the frame; a firing system connected to the rotating platform and capable of rotating relative to the rotating platform; and a feed system connected to the frame. The robot of the present invention can be used to assist frontline security personnel in completing inspection and prevention tasks in dangerous, high-intensity work environments. In particular, the robot has good flexibility and, in conjunction with its feed and firing system, can maintain a continuous lock on a target person in complex environments, improving control over the target person. This solves the problems of high workload and difficulty in rapid deployment for frontline security personnel, effectively saving human resources and greatly improving productivity and work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of security robots, and in particular to a security patrol robot based on a Mecanum wheel. Background Art

[0002] Security patrols are mainly carried out by manpower, which requires high human resources and has certain safety risks. Especially in crowded places such as train stations, hospitals, squares, and shopping malls, a large amount of manpower is needed for supervision. Security robots have advantages that manpower does not have, such as being able to be deployed in large numbers.

[0003] Current security robots generally have two-way voice dialogue and sound and light alarm functions, but lack the ability to further respond to emergencies, especially high flexibility and high control capabilities, which are one of the important conditions for replacing human security patrols, so that when danger occurs, problems can be promptly investigated or resolved. Summary of the Invention

[0004] The present invention provides a security patrol robot based on a Mecanum wheel, comprising:

[0005] Frame;

[0006] Four Mecanum wheels are mounted on the vehicle frame, wherein the four Mecanum wheels are configured to be independently driven;

[0007] a rotating platform connected to the frame;

[0008] a launching system connected to the rotating platform and capable of rotating relative to the rotating platform;

[0009] an ammunition feeding system connected to the vehicle frame and configured to feed ammunition to the firing system;

[0010] a machine vision system connected to the launch system and configured to obtain a real-time image in front of the launch system;

[0011] a power supply system for supplying power to the four Mecanum wheels, the rotating platform, the launching system, the ammunition feeding system, and the machine vision system;

[0012] In which, the rotating table is used to drive the launching system to rotate around the axis of the rotating table, with a rotation angle of 360°, the ammunition feeding system includes a first ammunition feeding channel, the rotating table includes a second ammunition feeding channel, the launching system includes a launching channel, the inlet end of the first ammunition feeding channel is provided with an intermittent feeding component for intermittently delivering ammunition into the first ammunition feeding channel, the inlet end of the second ammunition feeding channel is connected to the outlet end of the first ammunition feeding channel, the launching channel includes an S-shaped channel section, a speed control section and a straight channel section, a pair of acceleration wheels are provided in the speed control section, the acceleration wheels can rotate relative to the launching channel, and the acceleration wheels include a portion located in the launching channel, when the spherical ammunition in the launching channel contacts the surface of the acceleration wheel, a predetermined initial velocity is applied along the direction of the straight channel section.

[0013] Preferably, the pair of acceleration wheels are symmetrically distributed along the axis of the straight channel section, and the axis of the acceleration wheel is perpendicular to the axis of the straight channel section.

[0014] Preferably, the intermittent feeding component includes a grooved wheel drive motor, a grooved wheel and a base plate, and the ammunition feeding system also includes a magazine, the top of the driving shaft of the grooved wheel drive motor extends to the bottom end of the magazine, the driving shaft of the grooved wheel drive motor is constructed in an umbrella shape, and a channel for only one ammunition to pass through is formed between the driving shaft of the grooved wheel drive motor and the bottom of the magazine, the grooved wheel is connected to the driving shaft of the grooved wheel drive motor, and a plurality of transfer spaces for storing ammunition are formed between the grooved wheel and the base plate, and each transfer space can only accommodate one ammunition.

[0015] Preferably, a baffle is provided at the bottom of the turntable, and the baffle covers at least one transfer space. A transition cage is provided below the baffle, and the groove wheel and the transition cage constitute a first ammunition feeding channel. The first end of the transition cage is connected to the transfer space below the turntable.

[0016] Preferably, a bullet feeding tube is provided in the rotating table, the S-shaped channel section includes an S-shaped conveying cage, the first end of the S-shaped conveying cage is connected to the bullet feeding tube, the speed control section and the straight channel section include a firing gun head, the second end of the S-shaped conveying cage is connected to the firing gun head, the S-shaped conveying cage can rotate relative to the bullet feeding tube, and a driving component for driving the S-shaped conveying cage to rotate relative to the bullet feeding tube is provided in the rotating table.

[0017] Preferably, the driving component includes a rotating motor, a transmission belt, and a pulley. The pulley is connected to the outer wall of the bottom of the S-shaped conveying cage. The axis of the pulley coincides with the axis of the feeding tube. The transmission belt is sleeved on the output end of the pulley and the rotating motor. The rotating motor and the pulley are connected through a transmission belt.

[0018] Preferably, a bearing is provided at the bottom of the S-shaped conveying cage, a circular notch is provided at the rotating table, and the bearing is arranged between the outer wall of the S-shaped conveying cage and the notch of the rotating table.

[0019] Preferably, the launching gun head and the S-shaped conveying cage are hinged by a horizontal rotating shaft, so that the launching gun head can change its pitch angle. An arc-shaped connecting plate is provided at the position of the launching gun head close to the S-shaped conveying cage, and the arc-shaped connecting plate is provided with an arc-shaped groove. A limiting column is provided on the S-shaped conveying cage, and the limiting column is located in the arc-shaped groove to limit the pitch angle of the launching gun head.

[0020] Preferably, a pitch motor is provided on the outside of the S-shaped conveying cage, the output end of the pitch motor is connected to the first end of the swing arm, and the second end of the swing arm is connected to the launch gun head for controlling the pitch posture of the launch gun head.

[0021] Preferably, the vehicle frame includes a vehicle body and an anti-collision frame, the anti-collision frame is arranged on the periphery of the vehicle body, a support arm is provided on the vehicle body, the Mecanum wheel is connected to the vehicle body through a cantilever, and a shock absorber is provided between the cantilever and the support arm, the cantilever, support arm and shock absorber are distributed in a triangular shape, and the anti-collision frame surrounds the outside of the Mecanum wheel.

[0022] Compared with the prior art, the advantages of the present invention are:

[0023] The robot of the present invention can be used to assist front-line security personnel in completing inspection and prevention tasks in dangerous and high-intensity working environments. In particular, the robot has good flexibility. Combined with its ammunition supply and launch system, it can maintain continuous lock on the target personnel in complex environments, improve the control ability of the target personnel, solve the problems of high work intensity and difficulty in rapid deployment of front-line security personnel, effectively save human resources, and greatly improve productivity and work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component shown in various figures may be represented by the same reference numeral. For the sake of clarity, not every component is labeled in every figure. Embodiments of various aspects of the present invention will now be described by way of example and with reference to the accompanying drawings, in which:

[0025] Figure 1 1 is a side view of the Mecanum wheel-based security patrol robot shown in the present invention;

[0026] Figure 2 is a three-dimensional diagram of the security patrol robot based on the Mecanum wheel shown in the present invention;

[0027] Figure 3 It is a structural schematic diagram of the ammunition storage bin shown in the present invention;

[0028] Figure 4 1 is a top view of the Mecanum wheel-based security patrol robot shown in the present invention;

[0029] Figure 5 is a cross-sectional view of the Mecanum wheel-based security patrol robot shown in the present invention;

[0030] Figure 6 It is a structural schematic diagram of the ammunition feeding system shown in the present invention;

[0031] Figure 7 It is a cross-sectional view of the ammunition feeding system shown in the present invention. DETAILED DESCRIPTION

[0032] In order to better understand the technical content of the present invention, specific embodiments are given and described below with reference to the accompanying drawings.

[0033] Combine Figure 1-4 As shown, the present invention proposes a security patrol robot based on Mecanum wheels, including a frame 10, Mecanum wheels 20, a rotating platform 40, a launching system 50, an ammunition feeding system 30, a machine vision system 60 and a power supply system 70. Four Mecanum wheels 20 are mounted on the frame 10 and are configured to be driven independently. The rotating platform 40 is connected to the frame 10; the launching system 50 is connected to the rotating platform 40 and can rotate relative to the rotating platform 40; and the ammunition feeding system 30 is connected to the frame 10 for feeding ammunition to the launching system 50.

[0034] Furthermore, the machine vision system 60 is connected to the launch system 50 for obtaining real-time images in front of the launch system 50 ; the power supply system 70 is used to supply power to the four Mecanum wheels 20 , the rotating table 40 , the launch system 50 , the ammunition feeding system 30 and the machine vision system 60 .

[0035] In this way, the configuration of the frame 10 + four Mecanum wheels 20 can improve the sensitivity of the robot, especially the robot's lateral movement capability and large-range rotation capability, which is beneficial for the machine vision system 60 to lock the target person in a small area. The setting of the launch system 50 and the rotating table 40 can keep the launch system 50 continuously locked on the target person on the basis of the lateral movement capability and large-range rotation capability, and maintain the output capability to the target person, so as to achieve the denial and restraint capabilities.

[0036] Furthermore, how to ensure the continuous output of ammunition, especially the output performance under various rotation conditions and postures, is the basis for ensuring continuous output to the target. Therefore, the rotating table 40 is used to drive the launching system 50 to rotate around the axis of the rotating table 40, with a rotation angle of 360°. The ammunition feeding system 30 includes a first ammunition feeding channel, the rotating table 40 includes a second ammunition feeding channel, and the launching system 50 includes a launching channel.

[0037] Among them, the first ammunition feed channel, the second ammunition feed channel and the launching channel will connect the magazine and the launching area, especially the first ammunition feed channel and the second ammunition feed channel can maintain smooth transportation properties when the launching system 50 rotates and pitches.

[0038] Specifically, an intermittent feeding component is provided at the inlet end of the first ammunition feeding channel for intermittently delivering ammunition into the first ammunition feeding channel. This ammunition feeding method can ensure the reliability of on-demand supply, that is, one round is supplied at a time.

[0039] In an optional embodiment, the ammunition shown in the present application is spherical ammunition, wherein the spherical ammunition includes an outer skin and a core material wrapped by the outer skin. It can be understood that depending on different mission types, the outer skin and the core material can be of different materials and thicknesses, and the present invention is not limited thereto.

[0040] For example, when performing firefighting tasks, the core material can be flame retardants, such as aluminum hydroxide and magnesium hydroxide flame retardants, which are non-toxic, smoke-suppressing and flame-retardant, and can be used to extinguish fires. When performing security tasks, the core material can be adhesives, such as liquid silicone adhesives. When the ammunition hits the target, the adhesive's sticky effect can delay or inhibit the target's movement until the target is subdued.

[0041] Furthermore, the inlet end of the second ammunition supply channel is connected to the outlet end of the first ammunition supply channel, and the launch channel includes an S-shaped channel section, a speed control section and a straight channel section. Through the setting of the S-shaped channel section, it can be connected to the second ammunition supply channel, so that the launch channel has the condition of changing the inclination angle without being blocked by ammunition.

[0042] Furthermore, a pair of acceleration wheels 52 are provided in the speed control section. The acceleration wheels 52 can rotate relative to the launch channel, and the acceleration wheels 52 include a portion located in the launch channel. When the spherical ammunition in the launch channel contacts the surface of the acceleration wheel 52, a predetermined initial velocity is applied to it along the direction of the straight channel section. The interaction of the contact friction between the surface of the acceleration wheel 52 and the surface of the ammunition is used to give the ammunition an initial velocity, so that the ammunition is fired and hits the target. By controlling the rotation speed of the acceleration wheel 52, the initial velocity of the ammunition can be controlled, that is, the range and impact force of the ammunition can be controlled, which is conducive to giving the ammunition different capabilities according to different environments.

[0043] In a preferred embodiment, a pair of acceleration wheels 52 are symmetrically distributed along the axis of the linear channel section, and the axes of the acceleration wheels are perpendicular to the axis of the linear channel section. Through this layout, the interaction between the two acceleration wheels 52 on the spherical ammunition is balanced, and the spherical ammunition is not subjected to local forces and causes rotation during flight, thereby preventing the spherical ammunition from presenting an arc to the left, right, or excessively upward or downward on the shooting trajectory. Therefore, the shooting trajectory is naturally falling, which is conducive to calculating the impact range of the ammunition and improving the hit rate.

[0044] In an alternative embodiment, in combination with Figure 5-7 As shown, the intermittent feeding components include a grooved wheel drive motor 342, a grooved wheel 34 and a base plate 33, and the ammunition feeding system 30 also includes an ammunition storage magazine 31.

[0045] Among them, the ammunition storage bin 31 is a frame-type structure, which is designed to accommodate ammunition and improve the robot's ammunition loading capacity. When more spherical ammunition is placed in the frame-type ammunition storage bin 31, if they are squeezed by each other, it is easy to cause the ammunition to fail to fall reliably and be sent into the ammunition supply channel.

[0046] Therefore, the top of the driving shaft of the grooved wheel driving motor 342 extends to the bottom end of the magazine 31, and the driving shaft of the grooved wheel driving motor 342 is constructed in an umbrella shape, forming a channel for only one ammunition to pass through between the driving shaft of the grooved wheel driving motor 342 and the bottom of the magazine 31.

[0047] In this way, the umbrella-shaped drive shaft at the top of the grooved wheel drive motor 342 constructs the bottom of the magazine 31 into a gradually narrowing annular groove structure. In this way, even if the ammunition is squeezed against each other, the bottom is a downward slope, and the spherical ammunition will inevitably slide along the slope into the annular groove, and the width of the annular groove can only accommodate one ammunition, so that the ammunition can be arranged in an orderly manner.

[0048] Furthermore, the sheave 34 is connected to a drive shaft of a sheave drive motor 342 , and a plurality of transfer spaces 341 for storing ammunition are formed between the sheave 34 and the bottom plate 33 , each of which can accommodate only one piece of ammunition.

[0049] Since the groove wheel 34 has good separation ability and can ensure that one ammunition is transported to the transport channel each time, the bottom plate 33 supports the bottom of the ammunition, and the groove wheel 34 separates the ammunition on the bottom plate 33 to form a stable interval transport mechanism.

[0050] Furthermore, in order to ensure that the ammunition in the transfer space 341 can be fed into the ammunition feeding channel every time the groove wheel 34 rotates to a specific position, a baffle is provided at the bottom of the rotating table 40, and the baffle covers at least one transfer space 341, that is, the transfer space 341 here will not fall into it from above, and a transition cage 35 is provided below the baffle, and the transition cage 35 has a baffle extending into the transfer space 341. It can be understood that this baffle will not interfere with the rotation of the groove wheel 34. Therefore, every time the transfer space 341 around the groove wheel 34 rotates to this position, the baffle pushes the ammunition in the transfer space 341 into the transition cage 35, and continuously feeds the transition cage 35. When the next ammunition is fed into the transition cage 35, the previous ammunition is squeezed by the next ammunition, that is, it is lifted up to a height until it reaches the position of the acceleration wheel 52.

[0051] In combination with the above, the first ammunition feeding channel is formed by the groove wheel 34 and the transition cage 35, and the first end of the transition cage 35 is connected to the transfer space 341 below the rotating table 40, which is used to transfer the ammunition in the transfer space 341 to the transition cage 35.

[0052] Combine Figure 6 As shown, a feed tube 36 is provided in the rotating table 40, the S-shaped channel section includes an S-shaped conveying cage 53, the first end of the S-shaped conveying cage 53 is connected to the feed tube 36, the speed control section and the straight channel section include a firing gun head 51, the second end of the S-shaped conveying cage 53 is connected to the firing gun head 51, the S-shaped conveying cage 53 can rotate relative to the feed tube 36, and a driving component for driving the S-shaped conveying cage 53 to rotate relative to the feed tube 36 is provided in the rotating table 40.

[0053] To ensure reliability, the S-shaped conveying cage 53, the firing gun head 51 and the ammunition feeding tube 36 are constructed as rigid components. In order to adapt to the pitching posture of the firing gun head 51, that is, when the firing gun head 51 pitches, it will not cause squeezing of the ammunition in the conveying channel. The channel in the S-shaped conveying cage 53 is constructed into an S shape to avoid right angles and make the channel smooth. In particular, the connection part between the S-shaped conveying cage 53 and the firing gun head 51 has a fixed distance between the hinge point and the acceleration wheel 52. In this way, when the firing gun head 51 rotates relative to the S-shaped conveying cage 53, the distance between the acceleration wheel 52 and the ammunition to be launched is fixed.

[0054] In an optional embodiment, the launching gun head and the S-shaped conveying cage are hinged by a horizontal rotating shaft, so that the launching gun head can change its pitch angle. An arc-shaped connecting plate 56 is provided at the position of the launching gun head close to the S-shaped conveying cage 53. The arc-shaped connecting plate 56 is provided with an arc-shaped groove. A limiting column is provided on the S-shaped conveying cage 53, and the limiting column is located in the arc-shaped groove to limit the pitch angle of the launching gun head 51.

[0055] When the launch gun head 51 and the S-shaped conveying cage 53 move along the hinge axis, the arc groove in the arc connecting plate 56 slides on the surface of the limit column. In this way, although the pitch angle of the launch gun head 51 changes, the distance between the hinge and the acceleration wheel 52 remains unchanged. Therefore, when the pitch changes, the launching capability will not be affected.

[0056] Furthermore, a pitch motor 54 is provided on the outside of the S-shaped conveying cage 53 , the output end of the pitch motor 54 is connected to the first end of the swing arm 55 , and the second end of the swing arm 55 is connected to the launch gun head 51 for controlling the pitch attitude of the launch gun head 51 .

[0057] In a specific embodiment, when the pitch motor 54 rotates, the swing arm 55 rotates around the axis of the pitch motor 54, and the connecting rod connected to the swing arm 55 drives the firing gun head 51 to perform pitch movement, which can better lock the target person.

[0058] Furthermore, in order to give the robot greater flexibility, such as the ability to continuously circle around the target person, the driving components include a rotating motor 42, a transmission belt 43, and a pulley 44. The pulley 44 is connected to the outer wall of the bottom of the S-shaped conveying cage 53. The axis of the pulley 44 coincides with the axis of the feed tube 36. The transmission belt 43 is sleeved on the output end of the pulley 44 and the rotating motor 42. The rotating motor 42 and the pulley 44 are connected through the transmission belt 43.

[0059] In this way, when the small pulley at the output end of the rotating motor 42 drives the transmission belt 43 to rotate, the pulley 44 can be rotated, causing the firing gun head 51 to rotate around the axis of the rotating table 40, and during the continuous rotation process, the space at the connection between the S-shaped conveying cage 53 and the feeding tube 36 does not change, so it does not affect the feeding of bullets.

[0060] In a preferred embodiment, a bearing is provided at the bottom of the S-shaped conveying cage 53 , a circular notch is provided on the rotating platform 40 , and the bearing is disposed between the outer wall of the S-shaped conveying cage 53 and the notch of the rotating platform 40 .

[0061] In this way, the bearing capacity between the S-shaped conveying cage 53 and the rotating platform 40, especially the radial pressure resistance, can be increased, and the reliability of rotation can be maintained even if attacked by a target person.

[0062] In the above embodiment, the vehicle frame 10 includes a vehicle body 11 and a crash box 12. The crash box 12 is arranged on the periphery of the vehicle body 11. A support arm 13 is provided on the vehicle body 11. The Mecanum wheel 20 is connected to the vehicle body 11 through a cantilever 15. A shock absorber 14 is provided between the cantilever 15 and the support arm 13. The cantilever 15, the support arm 13 and the shock absorber 14 are distributed in a triangular shape. The crash box 12 surrounds the outer side of the Mecanum wheel 20.

[0063] In this way, the anti-collision frame 12 is outside the Mecanum wheel 20 to protect it. Due to its inherent flexibility, the Mecanum wheel 20 is equipped with four-wheel independent drive and shock absorption, ensuring that the firing gun head 51 can cope with complex terrain and maintain lock on the target person.

[0064] In a specific embodiment, during the inspection preparation stage, the security personnel need to place the robot on a stable ground. After the power switch is turned on, the machine vision system 60 transmits the real-time first-person perspective image to the computer. The security personnel can operate through the computer, remote control and other operating terminals. When the operating terminal issues an operation instruction, the instruction is transmitted to the microcontroller, and the microcontroller runs the multi-threaded task of FreeRTOS, and smoothly controls the corresponding motor movement through reasonable cascade pid to achieve the corresponding function.

[0065] The Mecanum wheeled chassis can achieve translation in different directions by controlling each Mecanum wheel differently, which can provide more convenient movement for the robot and is more conducive to the robot tracking the target. The robot's pan-tilt and chassis can be independently controlled by the rotating platform 40 and the pitch of the firing gun head 51, that is, the robot can aim at the target more stably while maintaining independent control of the pan-tilt.

[0066] After the images collected by the machine vision system 60 are sent to the operating terminal, they can be recorded and uploaded to the official system to perform facial recognition on pedestrians and compare them with the system's facial information. When a dangerous person is found, an alarm can be sent.

[0067] When a dangerous situation occurs at the inspection site, security personnel can use remote control to warn the dangerous elements or fire warning bullets to effectively control the dangerous elements. Among them, the warning bullet is fired through the acceleration wheel 52, and the speed measurement module in the machine vision system 60 will measure the speed of the fired warning bullet and transmit the speed information to the operation terminal for the operator's reference. The operator can change the firing speed of the friction wheel to change the power of the warning bullet.

[0068] In combination with the above embodiments, the robot of the present invention can be used to assist front-line security personnel and staff in completing inspection and prevention tasks in dangerous and high-intensity working environments. In particular, the robot has good flexibility, and with its ammunition supply and launch system, it can maintain continuous lock on the target personnel in complex environments, improve the control ability of the target personnel, solve the problems of high work intensity and difficulty in rapid deployment of front-line security personnel, effectively save human resources, and greatly improve productivity and work efficiency.

[0069] While the present invention has been disclosed above with reference to preferred embodiments, this is not intended to limit the present invention. Persons skilled in the art will readily appreciate that various modifications and variations can be made without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the claims.

Claims

1. A security patrol robot based on Mecanum wheels, characterized in that: include: Frame (10); Four Mecanum wheels (20) are mounted on the vehicle frame (10), and the four Mecanum wheels (20) are configured to be independently driven; A rotating platform (40) connected to the vehicle frame (10); a launch system (50), connected to the rotating platform (40) and capable of rotating relative to the rotating platform (40); an ammunition supply system (30), connected to the vehicle frame (10), for supplying ammunition to the firing system (50); a machine vision system (60), connected to the transmitting system (50), for acquiring a real-time image in front of the transmitting system (50); A power supply system (70) for supplying power to the four Mecanum wheels (20), the rotating platform (40), the launching system (50), the ammunition supply system (30), and the machine vision system (60); The rotating platform (40) is used to drive the launching system (50) to rotate around the axis of the rotating platform (40), with a rotation angle of 360 degrees. The ammunition feeding system (30) includes a first ammunition feeding channel, the rotating platform (40) includes a second ammunition feeding channel, and the launching system (50) includes a launching channel. The inlet end of the first ammunition feeding channel is provided with an intermittent feeding component for intermittently feeding ammunition into the first ammunition feeding channel. The inlet end of the second ammunition feeding channel is connected to the outlet end of the first ammunition feeding channel. The launching channel includes an S-shaped channel section, a speed control section and a straight channel section. A pair of acceleration wheels (52) are provided in the speed control section. The acceleration wheels (52) can rotate relative to the launching channel, and the acceleration wheels (52) include a portion located in the launching channel. When the spherical ammunition in the launching channel contacts the surface of the acceleration wheel (52), a predetermined initial velocity is applied to it along the direction of the straight channel section. The spherical ammunition comprises an outer skin and a core material wrapped by the outer skin, wherein the core material is a flame retardant or a liquid adhesive; A bullet feeding tube (36) is provided in the rotating platform (40), the S-shaped channel section includes an S-shaped conveying cage (53), a first end of the S-shaped conveying cage (53) is connected to the bullet feeding tube (36), the speed control section and the straight channel section include a firing gun head (51), a second end of the S-shaped conveying cage (53) is connected to the firing gun head (51), the S-shaped conveying cage (53) is rotatable relative to the bullet feeding tube (36), and a driving component for driving the S-shaped conveying cage (53) to rotate relative to the bullet feeding tube (36) is provided in the rotating platform (40); The bottom of the S-shaped conveying cage (53) is provided with a bearing, the rotating platform (40) is provided with a circular notch, and the bearing is arranged between the outer wall of the S-shaped conveying cage (53) and the notch of the rotating platform (40); The firing gun head (51) and the S-shaped conveying cage (53) are hinged via a horizontal rotating shaft, so that the firing gun head (51) can change its pitch angle. The firing gun head (51) is provided with an arc-shaped connecting plate (56) at a position close to the S-shaped conveying cage (53), and the arc-shaped connecting plate (56) is provided with an arc-shaped groove. A limiting column is provided on the S-shaped conveying cage (53), and the limiting column is located in the arc-shaped groove to limit the pitch angle of the firing gun head (51).

2. The security patrol robot based on Mecanum wheels according to claim 1, characterized in that: A pair of acceleration wheels (52) are symmetrically distributed along the axis of the straight channel section, and the axis of the acceleration wheels is perpendicular to the axis of the straight channel section.

3. The security patrol robot based on Mecanum wheels according to claim 1, characterized in that: The intermittent feeding component includes a groove wheel drive motor (342), a groove wheel (34) and a bottom plate (33). The ammunition feeding system (30) further includes an ammunition storage bin (31). The top of the driving shaft of the groove wheel drive motor (342) extends to the bottom end of the ammunition storage bin (31). The driving shaft of the groove wheel drive motor (342) is configured in an umbrella shape. A channel for only one ammunition to pass through is formed between the driving shaft of the groove wheel drive motor (342) and the bottom of the ammunition storage bin (31). The groove wheel (34) is connected to the driving shaft of the groove wheel drive motor (342). A plurality of transfer spaces (341) for storing ammunition are formed between the groove wheel (34) and the bottom plate (33), and each transfer space only accommodates one ammunition.

4. The security patrol robot based on Mecanum wheels according to claim 3, characterized in that: A baffle is provided at the bottom of the rotating platform (40), and the baffle covers at least one transfer space (341). A transition cage (35) is provided below the baffle. The groove wheel (34) and the transition cage (35) form a first ammunition feeding channel. The first end of the transition cage (35) is connected to the transfer space (341) below the rotating platform (40).

5. The security patrol robot based on Mecanum wheels according to claim 1, characterized in that: The driving component includes a rotating motor (42), a transmission belt (43), and a pulley (44); the pulley (44) is connected to the outer wall of the bottom of the S-shaped conveying cage (53); the axis of the pulley (44) coincides with the axis of the bullet feeding tube (36); the transmission belt (43) is sleeved on the output end of the pulley (44) and the rotating motor (42); the rotating motor (42) and the pulley (44) are connected to each other through the transmission belt (43).

6. The security patrol robot based on Mecanum wheels according to claim 1, characterized in that: A pitch motor (54) is provided on the outside of the S-shaped conveying cage (53), an output end of the pitch motor (54) is connected to a first end of a swing arm (55), and a second end of the swing arm (55) is connected to a launch gun head (51) for controlling the pitch attitude of the launch gun head (51).

7. The security patrol robot based on Mecanum wheels according to claim 1, characterized in that: The vehicle frame (10) includes a vehicle body (11) and an anti-collision frame (12), wherein the anti-collision frame (12) is arranged on the periphery of the vehicle body (11), a support arm (13) is provided on the vehicle body (11), the Mecanum wheel (20) is connected to the vehicle body (11) via a cantilever (15), and a shock absorber (14) is provided between the cantilever (15) and the support arm (13), wherein the cantilever (15), the support arm (13) and the shock absorber (14) are distributed in a triangular shape, and the anti-collision frame (12) surrounds the outer side of the Mecanum wheel (20).

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