Intelligent inspection robot for wharf security and protection and control system thereof

Abstract

The invention discloses a wharf security and protection intelligent inspection robot and a control system thereof, and relates to the technical field of inspection robots, the wharf security and protection intelligent inspection robot comprises an inspection trolley and a control system, the inspection trolley is composed of a bottom plate and a plurality of side plates, the inspection trolley is set to be in a self-driven mode, and a GPS position indicator is carried in the inspection trolley; an ultrasonic sensor is arranged at the front end of the inspection trolley, the bottom plate is of a U-shaped structure, an electric push rod is fixed to the concave surface of the bottom plate, the driving end of the electric push rod is connected with a lifting plate, an air pump is fixed to the side, opposite to the electric push rod, of the lifting plate, and a connecting frame is fixed to the side, opposite to the electric push rod, of the lifting plate; an air suction hood is arranged on the connecting frame, a flow dividing frame is fixed to the side, opposite to the air suction hood, of the lifting plate, and the flow dividing frame is connected with the air pump and the air suction hood. According to the invention, the abnormal condition of the inspection trolley in the inspection process can be handled, and the inspection safety and the recording integrity are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to an intelligent inspection robot for dock security and a control system thereof. Background Art

[0002] A wharf is a facility located at the edge of a body of water, mainly used for ship berthing, cargo loading and unloading, and passengers embarking and disembarking. The wharf plays an important role in sea, river, and inland lake transportation, and is a key node connecting water and land transportation. The wharf is a transshipment point for goods from ship to land or from land to ship, including containers, bulk cargo, liquid cargo, etc. In order to ensure the safety of goods and personnel, strict safety regulations and supervision are required.

[0003] Inspection robots are highly complex automated devices that are widely used in the industrial field. They can realize intelligent inspection and operation in various industrial scenarios, and promote the intelligent transformation and digital transformation of traditional industries. When used for port security, conventional inspection robots will first set the inspection route, and use their own cameras to identify and broadcast the environment on the inspection route. The built-in intelligent system can identify basic content such as environmental status detection (temperature and humidity), object status detection (appearance, movement and stillness), and combined with the staff's own judgment, the inspection robot can meet the security needs of most ports.

[0004] In actual applications, inspection robots will inevitably encounter abnormal situations. During night patrols, inspection robots will encounter interference from small animals, such as being bitten by rats or being knocked down by cats when moving. These are difficult for the inspection robots themselves to avoid and require human intervention, thus affecting the inspection process. Summary of the invention

[0005] The purpose of the present invention is to provide a dock security intelligent inspection robot and a control system thereof to solve the problems raised in the above-mentioned background technology.

[0006] In order to solve the above-mentioned technical problems, the present invention provides the following technical solutions: a dock security intelligent inspection robot and its control system, including an inspection cart, the inspection cart having a body composed of a bottom plate and a plurality of side plates, the inspection cart being set to a self-driving mode and equipped with a GPS locator inside for controlling the travel route, an ultrasonic sensor being arranged at the front end of the inspection cart for detecting the distance of surrounding objects, the bottom plate being a U-shaped structure and an electric push rod being fixed on the concave surface, the driving end of the electric push rod being connected to a lifting plate, an air pump being fixed on the side of the lifting plate opposite to the electric push rod, a connecting frame being fixed on the side of the lifting plate opposite to the electric push rod, an air suction hood being arranged on the connecting frame, a diversion frame being fixed on the side of the lifting plate opposite to the air suction hood, the diversion frame being respectively connected to the air pump and the air suction hood.

[0007] According to the above technical solution, the suction hood is provided with several independent air chambers, soft pads are laid at the openings of the air chambers, several adsorption holes are provided on the surface of the soft pads, and the suction hood is provided with air holes in coordination with each air chamber.

[0008] According to the above technical solution, the flow splitter frame is a hollow structure and is connected to the output end of the air pump. The flow splitter frame is provided with valve ports whose number is the same as the number of air chambers, and each valve port is connected to a corresponding air hole.

[0009] According to the above technical solution, a pressure sensor is provided in each air chamber to detect the internal pressure state.

[0010] According to the above technical solution, the connecting frame is configured as a hollow structure and an annular block is arranged inside, one side of the annular block is configured as a transmission chamber, and the other side of the annular block is configured as a counterweight chamber.

[0011] According to the above technical solution, an annular groove is opened on the annular block, and several counterweight blocks are slidably arranged in the counterweight chamber to cooperate with the annular groove. A rotating shaft is rotatably arranged in the transmission chamber, and a paddle is fixed on the rotating shaft for adjusting the position of the counterweight block. The rotating shaft sleeve is provided with a driven gear.

[0012] According to the above technical solution, a notch is provided on one side of the connecting frame, the driven gear is connected to the intermediate gear through the notch, the intermediate gear is connected to the driving gear, and the driving gear is connected to the motor 1.

[0013] According to the above technical solution, a second pressure sensor is provided in the annular groove to detect the position of the counterweight.

[0014] According to the above technical solution, a plurality of telescopic rods are arranged around the air pump and the motor, the fixed ends of the telescopic rods are connected to the bottom plate, the movable ends of the telescopic rods are connected to the lifting plate, and shock-absorbing springs are arranged on the outside of the telescopic rods.

[0015] According to the above technical solution, a visual detector is provided on the inspection vehicle to monitor the environmental conditions on the inspection route; an anti-blocking component is provided on the outside of the visual detector to remove the blockage when the visual detector is covered by an obstacle.

[0016] According to the above technical solution, the anti-obstruction component includes a group of support blocks, a rotating rod, a second motor and a group of guide rods, wherein the support blocks are respectively fixed on both sides of the visual inspection instrument, the rotating rod is rotatably set on the support block and one end is connected to the second motor, and one end of the guide rod is fixed on the rotating rod at an interval.

[0017] According to the above technical solution, the guide rod is a hollow structure with an open end, an extension rod is slidably arranged inside the guide rod, a top block is arranged at one end of the extension rod facing the opening side of the guide rod, a connecting groove is arranged at the other end of the extension rod, a pull plate is connected to the bottom of the connecting groove, a tension spring is connected to the extension rod and the inner wall of the guide rod, and a pull rope is connected between the pull plate and the rotating rod.

[0018] According to the above technical solution, a pressure sensing module is provided at the connecting end of the tension spring for detecting the stress state.

[0019] According to the above technical solution, the inspection vehicle is provided with a control system, which includes a normal inspection module and an abnormal response module. The normal inspection module includes a traveling unit, a distance testing unit and a visual detection unit, wherein the traveling unit is used to control the movement of the inspection vehicle according to an internally set inspection route, the distance testing unit is used to detect the distance between the inspection vehicle and surrounding objects through an ultrasonic sensor, and the visual detection unit is used to record the environmental status on the inspection route through a visual detector; the abnormal response module includes a self-abnormal response unit and an external abnormal response unit, wherein the self-abnormal response unit is used to deal with the situation that the inspection vehicle encounters abnormalities during the inspection process, and the external abnormal response unit is used to deal with the situation that abnormalities occur in the inspection environment during the inspection process.

[0020] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the present invention, by providing an exhaust hood and its cooperating structure, can cope with unavoidable collisions from small animals, avoid the situation where the inspection is unable to continue due to being knocked down during the inspection process, reduce the need for manual intervention, and improve convenience and safety; by providing an anti-obstruction component, the covering can be removed autonomously when the visual detector is obstructed, ensuring that the inspection environment is recorded normally while avoiding the need for manual intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0022] Figure 1 It is a schematic diagram of the overall structure of the inspection vehicle of the present invention;

[0023] Figure 2 This is a schematic diagram of the inspection vehicle of the present invention when viewed from above;

[0024] Figure 3 It is a schematic diagram of the partial structure of the lifting plate of the present invention;

[0025] Figure 4 is a cross-sectional view of the suction hood of the present invention;

[0026] Figure 5 is a schematic diagram of a connecting frame of the present invention;

[0027] Figure 6 is a cross-sectional view of the connecting frame of the present invention;

[0028] Figure 7 It is a schematic diagram of the telescopic rod and the shock absorbing spring of the present invention;

[0029] Figure 8 The present invention Figure 1 A magnified schematic diagram of area A;

[0030] Fig. 9 is a partial cross-sectional view of the anti-shielding assembly of the present invention;

[0031] In the figure: 1. Inspection trolley; 11. Bottom plate; 12. Ultrasonic sensor; 21. Electric push rod; 22. Lifting plate; 23. Air pump; 24. Connecting frame; 241. Ring block; 2411. Ring groove; 242. Transmission chamber; 243. Counterweight chamber; 244. Counterweight block; 245. Rotating shaft; 2451. Paddle; 246. Driven gear; 247. Intermediate gear; 248. Driving gear; 249. Motor 1; 25. Suction Air hood; 251, air chamber; 252, cushion; 253, adsorption hole; 254, air hole; 26, diverter rack; 261, valve port; 31, telescopic rod; 32, shock-absorbing spring; 4, visual detector; 5, anti-blocking component; 51, support block; 52, rotating rod; 53, motor 2; 54, guide rod; 55, extension rod; 551, top block; 552, connecting groove; 553, tension spring; 554, pull plate; 555, pull rope. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] See also Figure 1-9 The present invention provides a technical solution: a dock security intelligent inspection robot and its control system, including an inspection trolley 1, the inspection trolley 1 is composed of a bottom plate 11 and a plurality of side plates to form a vehicle body, the inspection trolley 1 is set to a self-driving mode and is internally equipped with a GPS locator for controlling the travel route, an ultrasonic sensor 12 is arranged at the front end of the inspection trolley 1 for detecting the distance of surrounding objects, the bottom plate 11 is a U-shaped structure and an electric push rod 21 is fixed on the concave surface, a lifting plate 22 is connected to the driving end of the electric push rod 21, an air pump 23 is fixed on the lifting plate 22 on the side opposite to the electric push rod 21, a connecting frame 24 is fixed on the side of the lifting plate 22 opposite to the electric push rod 21, an air suction hood 25 is arranged on the connecting frame 24, a diversion frame 26 is fixed on the side of the lifting plate 22 opposite to the air suction hood 25, and the diversion frame 26 is respectively connected to the air pump 23 and the air suction hood 25;

[0034] The air hood 25 is provided with a plurality of independent air chambers 251, and a soft pad 252 is laid at the opening of the air chamber 251, and a plurality of adsorption holes 253 are provided on the surface of the soft pad 252. The air hood 25 is provided with an air hole 254 in coordination with each air chamber 251;

[0035] The flow splitter frame 26 is a hollow structure and is connected to the output end of the air pump 23 . The flow splitter frame 26 is provided with valve ports 261 having the same number as the air chambers 251 , and each valve port 261 is connected to a corresponding air hole 254 .

[0036] Preferably, each air chamber 251 is provided with a pressure sensor 1 for detecting the internal pressure state.

[0037] In actual operation, the valve port 261 is used to connect or block the airflow route between the diverter rack 26 and each air chamber 251, the electric push rod 21 is used to control the lifting and lowering of the lifting plate 22 to adjust the distance between the air hood 25 and the ground, and the air pump 23 is used to extract or deliver airflow to the diverter rack 26. When in the airflow delivery state, the air hood 25 sprays airflow outward through each air hole 254; when in the airflow extraction state, the air hood 25 draws airflow outward through each air hole 254.

[0038] In one embodiment, Figures 5-6 As shown, the connecting frame 24 is configured as a hollow structure and an annular block 241 is disposed inside, one side of the annular block 241 is configured as a transmission chamber 242, and the other side of the annular block 241 is configured as a counterweight chamber 243;

[0039] An annular groove 2411 is formed on the annular block 241, and a plurality of counterweight blocks 244 are slidably arranged in the counterweight chamber 243 in cooperation with the annular groove 2411. A rotating shaft 245 is rotatably arranged in the transmission chamber 242, and a paddle 2451 is fixed on the rotating shaft 245 for adjusting the position of the counterweight block 244. A driven gear 246 is sleeved on the rotating shaft 245.

[0040] A notch is provided on one side of the connecting frame 24 , and the driven gear 246 is connected to the intermediate gear 247 through the notch, the intermediate gear 247 is connected to the driving gear 248 , and the driving gear 248 is connected to the motor 1 249 .

[0041] In actual operation, the motor 1 249 drives the intermediate gear 247 to rotate by controlling the driving gear 248, and indirectly drives the driven gear 246 to rotate the rotating shaft 245, so that the paddle 2451 pushes the counterweight block 244 to rotate to a desired position.

[0042] Preferably, a second pressure sensor is provided in the annular groove 2411 for detecting the position of the counterweight 244 .

[0043] Further, such as Figure 7As shown, a plurality of telescopic rods 31 are arranged around the air pump 23 and the motor 249, the fixed ends of the telescopic rods 31 are connected to the bottom plate 11, the movable ends of the telescopic rods 31 are connected to the lifting plate 22, and the outer parts of the telescopic rods 31 are provided with shock-absorbing springs 32.

[0044] Supplementary explanations based on the above structure are as follows: the telescopic rod 31 is used to guide the moving direction of the lifting plate 22 and provide additional support for the lifting plate 22. The shock-absorbing spring 32 is used to reduce the vibration generated when the inspection vehicle 1 moves, avoiding collision between the lifting plate 22 and the base plate 11, thereby improving the safety of the components on the lifting plate 22.

[0045] The inspection vehicle 1 is provided with a visual detector 4 for monitoring the environmental status on the inspection route; an anti-shielding component 5 is provided outside the visual detector 4 for removing the shielding when the visual detector 4 is covered by an obstacle.

[0046] Further, such as Figures 8-9 As shown, the anti-obstruction component 5 includes a group of support blocks 51, a rotating rod 52, a motor 53 and a group of guide rods 54, wherein the support blocks 51 are respectively fixed on both sides of the visual inspection instrument 4, the rotating rod 52 is rotatably set on the support block 51 and one end is connected to the motor 53, and one end of the guide rod 54 is fixed on the rotating rod 52 at an interval.

[0047] The guide rod 54 is a hollow structure with an opening at one end, and an extension rod 55 is slidably arranged inside it. A top block 551 is arranged at one end of the extension rod 55 facing the opening side of the guide rod 54, and a connecting groove 552 is arranged at the other end of the extension rod 55. A pull plate 554 is connected to the bottom of the connecting groove 552. A tension spring 553 is connected to the extension rod 55 and the inner wall of the guide rod 54, and a pull rope 555 is connected between the pull plate 554 and the rotating rod 52.

[0048] Preferably, a pressure sensing module is provided at the connecting end of the tension spring 553 for detecting the stress state.

[0049] The supplementary explanation based on the above structure is as follows: in the initial state, the guide rod 54 is set parallel to the ground. At this time, the extension rod 55 is pulled by the pull rope 555 and retracted inside the guide rod 54. The tension spring 553 is in a compressed state. The pull rope 555 is wound on the rotating rod 52. When the motor 2 53 drives the rotating rod 52 to rotate, the guide rod 54 is lifted upward, and the pull rope 555 is unwound and stretched. The tension spring 553 stretches to push the extension rod 55 out of the guide rod 54.

[0050] The above-mentioned inspection vehicle 1 is equipped with a control system, which includes a normal inspection module and an abnormal response module. The normal inspection module includes a traveling unit, a distance testing unit and a visual detection unit, wherein the traveling unit is used to control the movement of the inspection vehicle 1 according to an internally set inspection route, the distance testing unit is used to detect the distance between the inspection vehicle 1 and surrounding objects through an ultrasonic sensor 12, and the visual detection unit is used to record the environmental status on the inspection route through a visual detector 4; the abnormal response module includes a self-abnormal response unit and an external abnormal response unit, wherein the self-abnormal response unit is used to deal with the situation that the inspection vehicle 1 encounters abnormalities during the inspection process, and the external abnormal response unit is used to deal with the situation that the inspection environment appears abnormal during the inspection process.

[0051] Specifically, the self-abnormal response unit is mainly used to deal with the following two situations: one is that the inspection vehicle 1 inevitably collides with small animals during the inspection process, causing it to topple over and making it impossible to conduct the inspection normally; the other is that in windy weather, the visual detection device 4 of the inspection vehicle 1 is blocked by obstacles such as plastic bags blown by the wind, making it impossible to record the inspection environment normally.

[0052] Furthermore, the ultrasonic sensor 12 is used to determine whether an unavoidable collision will occur based on the detection distance between the ultrasonic sensor 12 and the surrounding objects. First, the control system sets the size range of the terminal container and the volume range of the staff, and distinguishes the small animals based on this. When the ultrasonic sensor 12 detects the distance signal belonging to the small animal, it simulates its movement path to determine whether it needs to be avoided. If it needs to be avoided, it will stagger with it by accelerating or decelerating without changing the inspection route; if it cannot be avoided, the suction hood 25 is used for collision protection.

[0053] The specific steps are as follows: the electric push rod 21 pushes the air hood 25 down to the ground. During this process, the air pump 23 is in a state of conveying airflow to clean impurities on the lower side of the air hood 25, such as stones, to avoid affecting subsequent steps; after the air hood 25 is close to the ground, the air pump 23 is converted into a state of extracting airflow, so that the air hood 25 is adsorbed on the ground to meet the collision.

[0054] Furthermore, taking the distance signal of the small animal as an endpoint and the center position of the suction hood 25 as the other endpoint, the two end points are connected to form an axis, and taking the axis as a reference, the n air chambers 251 corresponding to the two sides of the axis are used to adsorb the ground, n is set manually, and the valve ports 261 corresponding to the remaining air chambers 251 are closed, and the pressure sensor 1 is used to detect whether the corresponding air chamber 251 is adsorbed in place. This is intended to quickly concentrate the adsorption surface on the collision surface to avoid the situation where the airflow is dispersed and cannot quickly adsorb the ground, thereby failing to effectively protect against collision.

[0055] Furthermore, with the above-mentioned axis as a reference, motor 1 249 controls paddle 2451 to push the counterweight 244 to both sides of the axis, and uses pressure sensor 2 to detect whether the counterweight 244 is in place, that is, with the position of the axis as the center and a certain angle on both sides as the placement range, pressure sensor 2 determines whether paddle 2451 pushes the counterweight 244 into the placement range based on the detected force signal. This is intended to increase the counterweight of the collision surface, thereby further avoiding possible tipping due to collision.

[0056] On the other hand, if the visual detector 4 is blocked, the motor 2 53 controls the guide rod 54 to lift up. When the extension rod 55 is extended, its top block 551 lifts up the covering object and pulls it outward during the rotation of the guide rod 54. When the guide rod 54 rotates to the other side, the extension rod 55 is quickly retracted to detect whether the visual detector 4 has returned to normal. If there is still an obstruction, repeat the above steps. If it cannot be solved after repeating m rounds, m is set manually, then the guide rod 54 is kept in a state of supporting the obstacle upward and moving forward, and the covering object is blown away by external wind. The pressure sensing module is used to detect the force of the stretch spring 553 during the extension process to determine whether the top block 551 contacts the obstruction, that is, the stretch spring 553 in the contracted state will apply a certain pressure to the pressure sensing module. During the extension of the stretch spring 553, the pressure from the stretch spring 553 will slowly decrease. If the top block 551 contacts the obstruction, the pressure detected by the pressure sensing module will increase slightly.

[0057] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0058] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A dock security intelligent inspection robot, comprising an inspection vehicle (1), characterized in that: The inspection vehicle (1) is composed of a bottom plate (11) and a plurality of side plates to form a vehicle body. The inspection vehicle (1) is set to a self-driving mode and is internally equipped with a GPS locator for controlling the travel route. An ultrasonic sensor (12) is arranged at the front end of the inspection vehicle (1) for detecting the distance of surrounding objects. The bottom plate (11) is a U-shaped structure and an electric push rod (21) is fixed on the concave surface. The driving end of the electric push rod (21) is connected to a lifting plate (22). An air pump (23) is fixed on the lifting plate (22) on a side opposite to the electric push rod (21). A connecting frame (24) is fixed on the side of the lifting plate (22) opposite to the electric push rod (21). An air suction hood (25) is arranged on the connecting frame (24). A diverter frame (26) is fixed on the side of the lifting plate (22) opposite to the air suction hood (25). The diverter frame (26) is respectively connected to the air pump (23) and the air suction hood (25). The suction hood (25) is provided with a plurality of independent air chambers (251), a soft pad (252) is laid at the opening of the air chamber (251), a plurality of adsorption holes (253) are provided on the surface of the soft pad (252), and the suction hood (25) is provided with an air hole (254) in coordination with each of the air chambers (251); The flow dividing frame (26) is a hollow structure and is connected to the output end of the air pump (23). The flow dividing frame (26) is provided with valve ports (261) whose number is the same as the number of the air chambers (251), and each of the valve ports (261) is connected to a corresponding air hole (254).

2. The intelligent inspection robot for port security according to claim 1, characterized in that: A pressure sensor is provided in each air chamber (251) for detecting the internal pressure state.

3. The intelligent inspection robot for port security according to claim 2, characterized in that: The connecting frame (24) is configured as a hollow structure and an annular block (241) is disposed inside the structure; one side of the annular block (241) is configured as a transmission chamber (242) and the other side of the annular block (241) is configured as a counterweight chamber (243); The annular block (241) is provided with an annular groove (2411), and a plurality of counterweight blocks (244) are slidably arranged in the counterweight chamber (243) to cooperate with the annular groove (2411). A rotating shaft (245) is rotatably arranged in the transmission chamber (242), and a paddle (2451) is fixed on the rotating shaft (245) for adjusting the position of the counterweight block (244). The rotating shaft (245) is sleeved with a driven gear (246).

4. The intelligent inspection robot for port security according to claim 3, characterized in that: A notch is provided on one side of the connecting frame (24); the driven gear (246) is connected to an intermediate gear (247) through the notch; the intermediate gear (247) is connected to a driving gear (248); and the driving gear (248) is connected to a motor 1 (249).

5. The intelligent inspection robot for port security according to claim 4, characterized in that: A second pressure sensor is provided in the annular groove (2411) for detecting the position of the counterweight (244).

6. The intelligent inspection robot for port security according to claim 5, characterized in that: A plurality of telescopic rods (31) are arranged around the air pump (23) and the motor 1 (249); the fixed ends of the telescopic rods (31) are connected to the bottom plate (11); the movable ends of the telescopic rods (31) are connected to the lifting plate (22); and shock-absorbing springs (32) are sleeved on the outside of the telescopic rods (31).

7. The intelligent inspection robot for port security according to claim 6, characterized in that: The inspection vehicle (1) is provided with a visual detector (4) for monitoring the environmental status on the inspection route; an anti-shielding component (5) is provided outside the visual detector (4) for removing the shielding when the visual detector (4) is covered by an obstacle.

8. The intelligent inspection robot for port security according to claim 7, characterized in that: The anti-shielding assembly (5) comprises a group of support blocks (51), a rotating rod (52), a second motor (53) and a group of guide rods (54), wherein the support blocks (51) are respectively fixed on both sides of the visual inspection instrument (4), the rotating rod (52) is rotatably arranged on the support blocks (51) and one end of the rotating rod (52) is connected to the second motor (53), and one end of the guide rod (54) is fixed on the rotating rod (52) at an interval.

9. The intelligent inspection robot for port security according to claim 8, characterized in that: The guide rod (54) is a hollow structure with an open end, an extension rod (55) is slidably arranged inside the guide rod (54), a top block (551) is arranged at one end of the extension rod (55) facing the open side of the guide rod (54), a connecting groove (552) is arranged at the other end of the extension rod (55), a pull plate (554) is connected to the bottom of the connecting groove (552), a tension spring (553) is connected between the extension rod (55) and the inner wall of the guide rod (54), and a pull rope (555) is connected between the pull plate (554) and the rotating rod (52).

10. A control system for a dock security intelligent patrol robot, applicable to the dock security intelligent patrol robot according to claim 9, characterized in that: The control system comprises a normal patrol module and an abnormal response module, wherein the normal patrol module comprises a travel unit, a distance test unit and a visual detection unit, wherein the travel unit is used to control the movement of the patrol vehicle (1) according to an internally set patrol route, the distance test unit is used to detect the distance between the patrol vehicle (1) and surrounding objects through the ultrasonic sensor (12), and the visual detection unit is used to record the environmental status on the patrol route through the visual detector (4); the abnormal response module comprises a self-abnormal response unit and an external abnormal response unit, wherein the self-abnormal response unit is used to handle the situation that the patrol vehicle (1) encounters abnormalities during the patrol process, and the external abnormal response unit is used to handle the situation that the patrol environment encounters abnormalities during the patrol process.

Images