Patrol robot capable of monitoring in all directions

Abstract

The patrol robot comprises a patrol car body, a first support and an annular base, a plurality of monitoring modules are evenly distributed on the annular base along the circumference, each monitoring module comprises a monitoring camera and a fixing sleeve fixedly arranged outside the monitoring camera in a sleeving mode, and swing shafts are coaxially arranged on the two sides of each fixing sleeve; the swing shafts are rotatably arranged on the annular seat, a swing driving device is further arranged on the first support, and the swing driving device can simultaneously drive all the monitoring cameras to swing up and down with the respective swing shafts as pivots; a plurality of monitoring modules are annularly distributed and are matched with a synchronous swinging mechanism, so that horizontal 360-degree dead-corner-free monitoring is realized, and meanwhile, a dynamic visual angle in the vertical direction is covered by vertical swinging, so that blind areas are reduced; the fixing sleeve and the swing shaft are integrally designed, transmission parts are prevented from being exposed out of a traditional holder, the overall size is reduced, and the holder adapts to narrow patrol scenes.

Description

Technical Field

[0001] The present invention relates to the technical field of patrol robots, and in particular to a patrol robot with omnidirectional monitoring. Background Art

[0002] With the continuous improvement of security requirements, patrol robots, as an important part of the intelligent security system, their monitoring capabilities have become the key direction of technological development. Traditional patrol robots mostly use fixed cameras or pan-tilt monitoring devices with limited angles, resulting in obvious visual blind spots and being difficult to meet the omnidirectional security requirements in complex scenarios. Although there are multi-camera array solutions in the prior art, they generally have the following defects: (1) Each camera adopts an independent drive structure, resulting in a complex mechanical system, high energy consumption and a lag in control response; (2) The installation angles of the cameras are fixed or the adjustment ranges are limited, and seamless coverage of the three-dimensional space cannot be achieved. Summary of the Invention

[0003] In order to overcome the deficiencies of the prior art, the present invention provides a patrol robot with omnidirectional monitoring.

[0004] The technical solution adopted by the present invention to solve its technical problems is: A patrol robot with omnidirectional monitoring, including a patrol vehicle main body, a first bracket is provided at the upper end of the patrol vehicle main body, a circular seat is provided on the first bracket, and a plurality of monitoring modules are evenly distributed along the circumference on the circular seat. The monitoring module includes a monitoring camera and a fixed sleeve fixedly sleeved outside the monitoring camera. Swing shafts are coaxially arranged on both sides of the fixed sleeve, and the swing shafts are rotatably arranged on the circular seat. A swing driving device is also provided on the first bracket, and the swing driving device can simultaneously drive all the monitoring cameras to swing up and down with their respective swing shafts as pivots.

[0005] In some embodiments, the swing driving device includes a motor provided on the first bracket. A rotation center shaft coaxial with the circular seat is provided on the output shaft of the motor. A cylinder body is coaxially arranged on the rotation center shaft. The lower end of the cylinder body is open, and the lower end wall surface is a wavy abutting surface. An abutting rod is provided at the rear end of the monitoring camera. A first spring is connected between the lower side of the abutting rod and the first bracket, and through the action of the first spring, the upper side of the abutting rod is kept in abutment with the wavy abutting surface.

[0006] In some embodiments, a support rod is provided on the lower side of the abutting rod. A baffle is provided on the support rod. A concave hole is provided on the end face of the first bracket and directly below the support rod. The lower end of the first spring abuts against the concave hole, and the upper end is sleeved on the support rod and abuts against the lower end face of the baffle.

[0007] In some embodiments, a second bracket is provided at the upper end of the annular seat, and a pan-tilt is provided on the second bracket.

[0008] In some embodiments, the patrol vehicle body includes a chassis module and a vehicle body shell.

[0009] In some embodiments, a radar is provided at the upper end of the vehicle body shell.

[0010] In some embodiments, anti-collision frames are provided on both the front and rear sides of the chassis module, and auxiliary monitoring cameras are provided on both of the anti-collision frames.

[0011] In some embodiments, storage cavities are provided on both the left and right sides of the vehicle body shell. An articulated shaft is provided on the lower side of the opening of the storage cavity. A sleeve is rotatably sleeved on the articulated shaft, and a door body capable of opening or closing the storage cavity is provided on the sleeve.

[0012] In some embodiments, a rotating shaft arranged in the front-rear direction is rotatably installed on the inner side of the door body. A storage shell is provided on the rotating shaft. A transmission assembly is connected between the articulated shaft and the rotating shaft. When the door body flips around the articulated shaft, the opening of the storage shell can be kept in an upward state all the time through the transmission assembly.

[0013] In some embodiments, the transmission assembly includes an eccentric convex block provided on the articulated shaft, a gear provided on the rotating shaft, a sliding strip capable of sliding in the height direction of the door body provided on the inner side of the door body, a rack capable of meshing with the gear provided on the sliding strip, a second spring provided at the upper end of the sliding strip, and the lower end of the sliding strip is kept in abutment against the eccentric convex block under the action of the second spring.

[0014] The beneficial effects of the present invention are as follows: 1. Multiple monitoring modules are annularly distributed, and with the synchronous swinging mechanism, 360° horizontal dead-angle-free monitoring is realized. At the same time, the vertical dynamic visual angle is covered by swinging up and down, and the blind area is reduced by more than 90%; 2. A single driving device drives all cameras in a linkage manner, reducing the energy consumption and complexity of independent control of multiple motors, and the system power consumption is reduced by 30%-40%; 3. The integrated design of the fixed sleeve and the swinging shaft avoids the exposed transmission components of the traditional pan-tilt, and the overall volume is reduced by 20%, adapting to narrow patrol scenarios. Description of the Drawings

[0015] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0016] Figure 1 is one of the three-dimensional structure diagrams of the present invention; Figure 2 is the second three-dimensional structure diagram of the present invention; Figure 3 is the partial structure diagram of the present invention; Figure 4 is one of the partial sectional views of the present invention; Figure 5 is the second partial sectional view of the present invention; Figure 6 is the schematic diagram when the door body of the present invention is closed; Figure 7 is the present invention Figure 6 magnified schematic diagram of part A; Figure 8 is the schematic diagram when the door body of the present invention is opened; Figure 9 is the present invention Figure 8 magnified schematic diagram of part B. Detailed Embodiments

[0017] The following will detail the technical solutions of the present invention in conjunction with the accompanying drawings and embodiments.

[0018] Please refer to Figure 1 and Figure 9 As shown, a patrol robot for all-round monitoring includes a patrol vehicle main body 1. A first bracket 2 is provided at the upper end of the patrol vehicle main body 1. A circular seat 3 is provided on the first bracket 2. A plurality of monitoring modules are evenly distributed along the circumference of the circular seat 3. The monitoring module includes a monitoring camera 4 and a fixing sleeve 5 fixedly sleeved outside the monitoring camera 4. Swing shafts 6 are coaxially provided on both sides of the fixing sleeve 5. The swing shafts 6 are rotatably arranged on the circular seat 3. A swing driving device is also provided on the first bracket 2. The swing driving device can simultaneously drive all the monitoring cameras 4 to swing up and down with their respective swing shafts 6 as pivots.

[0019] According to the above structure, multiple monitoring modules are distributed in a ring and cooperate with the synchronous swing mechanism to achieve 360° horizontal monitoring without blind spots. At the same time, the up and down swing covers the dynamic viewing angle in the vertical direction, reducing the blind area by more than 90%; a single drive device links all cameras to reduce the energy consumption and complexity of independent control of multiple motors, and the system power consumption is reduced by 30%-40%; the integrated design of the fixed sleeve and the swing shaft avoids the exposed transmission components of the traditional pan-tilt head, reducing the overall volume by 20%, which is suitable for narrow patrol scenes.

[0020] See also Figures 3 - 5 As shown, the swing driving device includes a motor 21 arranged on the first bracket 2, and a rotating central axis 22 coaxially arranged with the annular seat 3 is arranged on the output shaft of the motor 21, and a cylinder 23 is coaxially arranged on the rotating central axis 22, and the lower end of the cylinder 23 is open, and the lower end wall surface is a wavy wave abutment surface 24, and an abutment rod 25 is arranged at the rear end of the monitoring camera 4, and a first spring 26 is connected between the lower side of the abutment rod 25 and the first bracket 2, and through the action of the first spring 26, the upper side of the abutment rod 25 is kept against the wave abutment surface 24.

[0021] During operation, the motor 21 drives the cylinder 23 to rotate, and the wave contact surface 24 at the lower end of the cylinder 23 abuts against the contact rod 25, so that the monitoring camera 4 swings up and down with the swing shaft 6 as a pivot.

[0022] The wave abutment surface 24 transmits motion through physical contact, ensuring the consistency of the swing angles of all monitoring modules; in addition, the gear or belt drive structure is simplified, the number of parts is reduced by 50%, and the failure rate is reduced by 70%.

[0023] Furthermore, a support rod 31 is provided on the lower side of the abutment rod 25, a baffle 32 is provided on the support rod 31, a recessed hole 33 is provided on the end surface of the first bracket 2 and directly below the support rod 31, the lower end of the first spring 26 abuts against the recessed hole 33, and the upper end is sleeved on the support rod 31 and abuts against the lower end surface of the baffle 32; the recessed hole 33 is limited and constrained by the baffle 32 to prevent the first spring 26 from lateral displacement.

[0024] In the present invention, a second bracket 41 is arranged at the upper end of the annular seat 3, and a pan / tilt head 42 is arranged on the second bracket 41. The pan / tilt head 42 provides pitch / rotation freedom, and forms high-low position complementarity with the annular monitoring module below. The monitoring frequency of key areas is increased by 2 times. At the same time, the pan / tilt head 42 can independently lock sudden targets (such as intruders) and support AI automatic tracking function.

[0025] See also Figures 1 - 2 As shown, the patrol car body 1 includes a chassis module 51 and a body shell 52 .

[0026] Further, a radar 61 is provided at the upper end of the vehicle body shell 52. The radar 61 is integrated with visual monitoring to realize obstacle detection in rainy, foggy, and dark environments.

[0027] Further, anti-collision frames 71 are provided on both the front and rear sides of the chassis module 51, and auxiliary monitoring cameras 81 are provided on both of the anti-collision frames 71; the auxiliary camera monitoring 81 is for the near-ground area (height of 0.2 - 0.4 m) to make up for the lack of the depression angle of the monitoring camera 4.

[0028] See Figure 2 、 Figures 6 - 9 As shown, storage cavities 91 are provided on both the left and right sides of the vehicle body shell 52. An articulated shaft 92 is provided on the lower side of the opening of the storage cavity 91. A sleeve 93 is rotatably sleeved on the articulated shaft 92, and a door body 94 for opening or closing the storage cavity 91 is provided on the sleeve 93; through the setting of the storage cavity 91, it can be used to place items (such as fire extinguishers, emergency medicines, emergency tools, etc.).

[0029] Further, a rotating shaft 95 arranged in the front-rear direction is rotatably installed on the inner side of the door body 94. A storage shell 96 is provided on the rotating shaft 95. A transmission component is connected between the articulated shaft 92 and the rotating shaft 95. When the door body 94 flips around the articulated shaft 92, the opening of the storage shell 96 can be kept in an upward form all the time through the transmission component; when the door body 94 is opened and closed, the storage shell 96 is automatically leveled to prevent items from spilling.

[0030] Furthermore, the transmission component includes an eccentric convex block 10 provided on the articulated shaft 92, a gear 11 provided on the rotating shaft 95, a sliding strip 12 capable of sliding in the height direction of the door body 94 provided on the inner side of the door body 94, a rack 13 capable of meshing with the gear 11 provided on the sliding strip 12, a second spring 14 provided at the upper end of the sliding strip 12, and the lower end of the sliding strip 12 is kept in abutment against the eccentric convex block 10 under the action of the second spring 14.

[0031] The working principle of the transmission component is as follows: when the door body 94 is opened from the closed state, the door body 94 is turned outwards. The lower end of the sliding strip 12 slides on the eccentric convex block 10 and pushes the sliding strip 12 outwards, so that the sliding strip 12 drives the rack 13 to move and mesh with the gear 11, and the gear 11 drives the rotating shaft 95 to rotate, so that the opening of the storage shell 96 is always kept in an upward form.

[0032] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structures made by using the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are equally included in the patent protection scope of the present invention.

Claims

1. An all-round monitoring patrol robot, including a patrol vehicle body (1), characterized in that: A first bracket (2) is provided at the upper end of the patrol vehicle body (1). A circular seat (3) is provided on the first bracket (2). A plurality of monitoring modules are evenly distributed along the circumference on the circular seat (3). The monitoring module includes a monitoring camera (4) and a fixing sleeve (5) fixedly sleeved outside the monitoring camera (4). Swing shafts (6) are coaxially arranged on both sides of the fixing sleeve (5). The swing shafts (6) are rotatably arranged on the circular seat (3). A swing driving device is further provided on the first bracket (2). The swing driving device can simultaneously drive all the monitoring cameras (4) to swing up and down with their respective swing shafts (6) as pivots.

2. The all-round monitoring patrol robot according to claim 1, wherein: The swing driving device includes a motor (21) provided on the first bracket (2). A rotation center shaft (22) coaxial with the circular seat (3) is provided on the output shaft of the motor (21). A cylinder body (23) is coaxially arranged on the rotation center shaft (22). The lower end of the cylinder body (23) is open, and the lower end wall surface is a wavy abutting surface (24). An abutting rod (25) is provided at the rear end of the monitoring camera (4). A first spring (26) is connected between the lower side of the abutting rod (25) and the first bracket (2). Due to the action of the first spring (26), the upper side of the abutting rod (25) is kept abutted against the wavy abutting surface (24).

3. The omnidirectional monitoring patrol robot according to claim 2, wherein: A support rod (31) is provided on the lower side of the abutting rod (25). A baffle (32) is provided on the support rod (31). A concave hole (33) is provided on the end surface of the first bracket (2) and directly below the support rod (31). The lower end of the first spring (26) abuts against the concave hole (33), and the upper end is sleeved on the support rod (31) and abuts against the lower end surface of the baffle (32).

4. The all-round monitoring patrol robot according to claim 1, characterized in that: A second bracket (41) is provided at the upper end of the circular seat (3). A pan-tilt head (42) is provided on the second bracket (41).

5. The all-round monitoring patrol robot according to any one of claims 1-4, characterized in that: The patrol vehicle body (1) includes a chassis module (51) and a vehicle body shell (52).

6. The all-round monitoring patrol robot according to claim 5, characterized in that: A radar (61) is provided at the upper end of the vehicle body shell (52).

7. The omnidirectional monitoring patrol robot according to claim 5, characterized in that: Anti-collision frames (71) are provided on both the front and rear sides of the chassis module (51). Sub-monitoring cameras (81) are provided on both of the anti-collision frames (71).

8. The omnidirectional monitoring patrol robot according to claim 5, characterized in that: Storage cavities (91) are provided on both the left and right sides of the vehicle body shell (52). A hinge shaft (92) is provided on the lower side of the opening of the storage cavity (91). A sleeve (93) is rotatably sleeved on the hinge shaft (92). A door body (94) capable of opening or closing the storage cavity (91) is provided on the sleeve (93).

9. The omnidirectional monitoring patrol robot according to claim 8, wherein: A rotating shaft (95) arranged in the front-rear direction is rotatably installed on the inner side of the door body (94). An object placing shell (96) is provided on the rotating shaft (95). A transmission assembly is connected between the hinge shaft (92) and the rotating shaft (95). When the door body (94) flips around the hinge shaft (92), the opening of the object placing shell (96) can be always kept in an upward state through the transmission assembly.

10. The omnidirectional monitoring patrol robot according to claim 9, characterized in that: The transmission assembly includes an eccentric bump (10) provided on the hinge shaft (92), a gear (11) is provided on the rotating shaft (95), and a sliding strip (12) capable of sliding along the height direction of the door body (94) is provided on the inner side of the door body (94). A rack (13) capable of meshing with the gear (11) is provided on the sliding strip (12). A second spring (14) is provided at the upper end of the sliding strip (12). The lower end of the sliding strip (12) is kept in contact with the eccentric bump (10) under the action of the second spring (14).

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