Dispelling robot

Abstract

The utility model discloses a repelling robot which comprises a robot walking platform, a functional platform is installed on the robot walking platform, a human body recognition system and a strong sound repelling device are installed on the functional platform, and the robot walking platform is a six-wheel non-independent suspension robot walking platform. The human body recognition system comprises an image acquisition unit and an image processing unit, the image acquisition unit comprises a holder, a visible light camera and an infrared camera which act synchronously are arranged on the holder in parallel, and the focal length and the view field of the visible light camera are the same as those of the infrared camera; and the image processing unit comprises an artificial intelligence processor with graphic processing capability and deep learning capability. The repelling robot can overcome camouflage and interference, quickly judge whether people needing to be repelled exist in the current environment or not and give out strong sound to the people needing to be repelled, and has the advantages of being high in patrol speed, high in recognition rate and the like.

Description

Technical Field

[0001] The utility model relates to a patrol inspection robot, in particular to a robot which can automatically identify a human body and emit a strong sound to drive the person away. Background Art

[0002] In some confidential places, military facilities or military airports, it is necessary to prohibit irrelevant personnel from staying outside for confidentiality and security reasons. However, these personnel have not yet entered the core area, and it is impossible to determine whether the aforementioned personnel have bad intentions. Therefore, it is best to use non-compulsory means to persuade these personnel to leave the scene. Strong sound expulsion is a non-compulsory expulsion technology that emits high-frequency noise to the human body to make people unbearable and leave the scene. While achieving the expulsion of irrelevant personnel from the scene, it will not cause damage to the human body and the surrounding environment, and it is not easy to cause social contradictions or confrontational conflicts. It is a preferred non-compulsory expulsion method. The patrol robot in the prior art does not have the human body recognition function itself. It needs to use a visible light camera to transmit the image back to the remote server. The remote server or the monitoring personnel determines whether there are people who need to be expelled in the image. This recognition method is difficult to identify some people lurking in the grass, covering the head and face, or wearing camouflage. In order to overcome this drawback, some inspection robots use infrared cameras instead of visible light cameras to identify hidden human bodies. Although this method of infrared feature recognition can detect hidden human bodies, when animals with a certain body temperature pass in front of the camera, it will also cause the system to misjudge. Therefore, the recognition accuracy is low, and the monitoring personnel are required to make further judgments and confirmations to decide whether to activate the strong sound device. Utility Model Content

[0003] The technical problem to be solved by the utility model is to provide a driving-away robot which can overcome camouflage and interference, quickly determine whether there are people who need to be driven away in the current environment, and send a strong sound to the people who need to be driven away, and has the advantages of fast patrol speed and high recognition rate.

[0004] The technical solution adopted to solve the technical problem: a driving away robot comprises a robot walking platform, a functional platform is installed on the robot walking platform, a human body recognition system and a strong sound driving away device are installed on the functional platform, the robot walking platform is a six-wheel non-independent suspension robot walking platform, a battery for providing electric energy for the robot, a walking drive system, a walking control system and a navigation system are arranged in the robot walking platform, and a communication system for transmitting data between the robot and a remote server is arranged, the human body recognition system comprises an image acquisition unit and an image processing unit, the image acquisition unit comprises a pan-tilt platform, a visible light camera and an infrared camera for synchronous action are installed in parallel on the pan-tilt platform, the focal length and field of view of the visible light camera and the infrared camera are the same, the image processing unit comprises an artificial intelligence processor with graphics processing capability and deep learning capability, the artificial intelligence processor superimposes the image collected by the optical camera with the image collected by the infrared camera, judges whether there is a person who needs to be driven away in the current field of view, and starts the strong sound driving away device when a person who needs to be driven away is found, and the strong sound driving away device is a high-definition loudspeaker with a power of not less than 100W.

[0005] As a further improvement scheme of the utility model: the functional platform includes a waterproof cover shell installed on the upper surface of the robot walking platform, the pan / tilt head is fixed on the upper surface of the waterproof cover shell, the artificial intelligence processor is installed in the waterproof cover shell, a loudspeaker installation port is provided on the front shell surface of the waterproof cover shell, the loudspeaker is embedded in the loudspeaker installation port, and a sound collecting groove is provided on the waterproof cover shell in front of the loudspeaker, and the sound collecting groove is a dustpan-shaped sound collecting groove.

[0006] As a further improvement of the utility model: an alarm light, a GPS antenna and a communication antenna are also mounted on the upper surface of the waterproof cover.

[0007] As a further improvement of the utility model: a laser ranging radar for measuring the distance between the person who needs to be driven away and the robot is provided in the sound focusing groove.

[0008] As a further improvement scheme of the utility model: the six-wheel non-independent suspension robot walking platform includes a box-type chassis, and a set of identical walking wheel trains are respectively provided on the left and right sides of the chassis, each set of walking wheel trains includes a longitudinal walking beam arranged on the outside of the chassis side wall, the middle and rear part of the longitudinal walking beam is hinged to the chassis side wall through a transverse beam axis perpendicular to the longitudinal walking beam, a shock absorber connected to the chassis side wall is provided at the front end of the longitudinal walking beam, and the longitudinal walking beam is successively equipped with a front wheel axle, a middle wheel axle and a rear wheel axle from front to back, and each wheel axle is equipped with a driving wheel of the same specification, the transverse beam axis is a hollow shaft, the power output shaft of the walking drive system is inserted in the transverse beam axis and extends out of the beam axis, and a transmission mechanism for making the three driving wheels on this side rotate synchronously is provided between the power output shaft of the walking drive system and the three wheel axles.

[0009] As a further improvement scheme of the utility model: the transmission mechanism is a sprocket transmission mechanism, and a sprocket is installed at the shaft end of each wheel axle and the shaft end of the power output shaft of the travel drive system, and a closed-loop transmission chain is provided between the power output shaft sprocket and the middle wheel shaft sprocket, between the front wheel axle sprocket and the middle wheel shaft sprocket, and between the rear wheel axle sprocket and the middle wheel shaft sprocket.

[0010] As a further improvement of the utility model: the longitudinal walking beam is a box beam composed of two parallel longitudinal beam plates and a plurality of transverse connecting plates arranged along the edges of the longitudinal beam plates, and the transmission mechanism is located inside the box beam.

[0011] As a further improvement of the utility model: the driving wheel comprises a hub, a rim and a tire, the tire is a pneumatic tire, and the width of the tire is 185-225 mm.

[0012] Beneficial effect: The expelling robot of the utility model adopts a modular design that divides the expelling robot into two parts, a robot walking platform and a functional platform, so that the expelling robot of the utility model can install the functional platform on other robot walking platforms, such as a crawler robot walking platform, according to the road conditions, and quickly assemble into an expelling robot with other walking characteristics. The robot walking platform in the utility model and other functional platforms can also be used to assemble a robot with new functions, so that the expelling robot of the utility model has better versatility. Due to the adoption of the human body recognition system including an image acquisition unit and an image processing unit, the image acquisition unit includes a pan-tilt, and a visible light camera and an infrared camera that act synchronously are installed in parallel on the pan-tilt, and the focal length and field of view of the visible light camera and the infrared camera are the same, and the image processing unit includes the technical features of an artificial intelligence processor with graphics processing capability and deep learning capability, superimposing the image collected by the optical camera and the image collected by the infrared camera, and using the artificial intelligence processor trained by deep learning to identify the superimposed image, so as to overcome interference, quickly judge whether there are people who need to be expelled in the current environment, and control the loudspeaker to emit a strong sound to the people who need to be expelled. Due to the advantages of fast patrol speed and high recognition rate, the utility model has the advantages of fast patrol speed and high recognition rate. Due to the use of a six-wheel non-independent suspension robot walking platform, the expelling robot of the utility model has a faster walking speed than the robot of the crawler walking platform, more flexible turning, and better ditch crossing ability than the four-wheel robot platform. Due to the adoption of the functional platform including a waterproof cover shell installed on the upper surface of the robot walking platform, the pan head is fixed on the upper surface of the cover shell, the artificial intelligence processor is installed in the waterproof cover shell, the front shell surface of the waterproof cover shell is provided with a loudspeaker installation port, the loudspeaker is embedded in the loudspeaker installation port, and the waterproof cover shell in front of the loudspeaker is provided with a sound collecting groove, and the sound collecting groove is a dustpan-shaped sound collecting groove. The technical feature enables the expelling robot of the utility model to meet the requirements of rainy and snowy weather operations, and the sound collecting groove can make the strong sound more concentrated and more directional, and at the same time can minimize the interference of the strong sound on the surrounding environment. Due to the use of the features such as the alarm light, GPS antenna and communication antenna installed on the upper surface of the waterproof cover shell, the functional platform in the utility model can be easily docked with other robot walking platforms. Due to the technical feature of installing a laser ranging radar in the sound focusing groove to measure the distance between the person who needs to be driven away and the robot, the distance between the strong sound robot and the human body that needs to be driven away can be easily obtained. A strong sound will only be emitted when the distance is less than the effective action range of the strong sound, thus avoiding ineffective power consumption of strong sound and noise pollution to the environment.The six-wheeled non-independent suspension robot walking platform includes a box-type chassis, and a set of identical walking wheel trains are respectively provided on the left and right sides of the chassis, and each set of walking wheel trains includes a longitudinal walking beam arranged on the outside of the chassis side wall, and the middle and rear part of the longitudinal walking beam is hinged to the chassis side wall through a transverse beam axis perpendicular to the longitudinal walking beam, and a shock absorber connected to the chassis side wall is provided at the front end of the longitudinal walking beam, and the longitudinal walking beam is sequentially provided with a front wheel axle, a middle wheel axle and a rear wheel axle from front to back, and each wheel axle is provided with a driving wheel of the same specification, and the transverse beam axis is a hollow shaft, and the power output shaft of the walking drive system is inserted in the transverse beam axis and extends out of the beam axis, and a transmission mechanism for making the three driving wheels on this side rotate synchronously is provided between the power output shaft of the walking drive system and the three wheel axles. The technical feature makes the anti-sinking ability of the robot of the utility model stronger. Due to the technical characteristics that the transmission mechanism is a sprocket transmission mechanism, a sprocket is installed at the shaft end of each wheel axle and the shaft end of the power output shaft of the walking drive system, and a closed-loop transmission chain is provided between the power output shaft sprocket of the walking drive system and the middle wheel axle sprocket, between the front wheel axle sprocket and the middle wheel axle sprocket, and between the rear wheel axle sprocket and the middle wheel axle sprocket, the robot is lighter, more efficient in transmission, and more convenient to maintain. Due to the technical characteristics that the longitudinal walking beam is a box beam composed of two parallel longitudinal beam plates and a plurality of transverse connecting plates arranged along the edges of the longitudinal beam plates, and the transmission mechanism is located inside the box beam, on the one hand, the longitudinal walking beam has better strength and stronger impact resistance, and on the other hand, it is convenient to protect the transmission mechanism and make the transmission mechanism work more stably. Due to the technical characteristics that the driving wheel includes a hub, a rim and a tire, the tire is a pneumatic tire, and the width of the tire is 185-225mm, the driving robot of the utility model can conveniently select ordinary car tires as the tires of the robot, thereby reducing the manufacturing and maintenance costs of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The driving-away robot of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0014] Figure 1 It is a schematic diagram of the explosion structure of the expelling robot of the utility model. DETAILED DESCRIPTION

[0015] like Figure 1As shown, the driving-away robot of the utility model comprises a robot walking platform 2, which is a six-wheel non-independent suspension robot walking platform, in which a battery for providing electric energy for the robot, a walking drive system, a walking control system and a navigation system are arranged, as well as a communication system for transmitting data between the robot and a remote server. The six-wheeled non-independent suspension robot walking platform includes a box-type chassis 21, and a set of identical walking wheel trains are respectively arranged on the left and right sides of the chassis, each set of walking wheel trains includes a longitudinal walking beam 23 arranged on the outer side of the chassis side wall, the middle and rear part of the longitudinal walking beam is hinged to the chassis side wall through a transverse beam shaft 22 perpendicular to the longitudinal walking beam, and a shock absorber 25 connected to the chassis side wall is arranged at the front end of the longitudinal walking beam. The longitudinal walking beam is sequentially equipped with a front wheel axle 26, a middle wheel axle 27 and a rear wheel axle 24 from front to back, and each wheel axle is equipped with a driving wheel of the same specification, the transverse beam shaft is a hollow shaft, the power output shaft of the walking drive system is inserted in the transverse beam shaft and extends out of the beam shaft, and a transmission mechanism for making the three driving wheels on this side rotate synchronously is arranged between the power output shaft of the walking drive system and the three wheel axles.

[0016] The transmission mechanism is a sprocket transmission mechanism, and sprockets are installed at the shaft ends of each wheel axle and the shaft ends of the power output shaft of the travel drive system, namely: front wheel axle sprocket, middle wheel axle sprocket, rear wheel axle sprocket, and power output shaft sprocket.

[0017] A closed-loop transmission chain is respectively arranged between the power output shaft sprocket and the middle wheel shaft sprocket of the travel drive system, between the front wheel shaft sprocket and the middle wheel shaft sprocket, and between the rear wheel shaft sprocket and the middle wheel shaft sprocket.

[0018] The longitudinal walking beam is a box beam formed by connecting two parallel longitudinal beam plates and a plurality of transverse connecting plates arranged along the edges of the longitudinal beam plates, and the transmission mechanism is located inside the box beam.

[0019] The driving wheel comprises a wheel hub, a rim 29 and a tire 28. The tire is a pneumatic tire with a width of 185-225 mm.

[0020] A functional platform 1 is installed on the robot walking platform, and a human body recognition system and a strong sound expulsion device are installed on the functional platform. The human body recognition system includes an image acquisition unit and an image processing unit. The image acquisition unit includes a pan-tilt head 16. A visible light camera 15 and an infrared camera 14 are installed in parallel on the pan-tilt head for synchronous action. The focal length and field of view of the visible light camera and the infrared camera are the same. The image processing unit includes an artificial intelligence processor with graphics processing capability and deep learning capability. The artificial intelligence processor superimposes the image captured by the optical camera with the image captured by the infrared camera to determine whether there is a person who needs to be expelled in the current field of view. When a person who needs to be expelled is found, the strong sound expulsion device is activated. The strong sound expulsion device is a high-definition loudspeaker 13 with a power of not less than 100W.

[0021] The functional platform includes a waterproof cover 19 installed on the upper surface of the robot walking platform, the pan / tilt head is fixed on the upper surface of the waterproof cover, the artificial intelligence processor is installed in the waterproof cover, a loudspeaker installation port is provided on the front shell surface of the waterproof cover, the loudspeaker is embedded in the loudspeaker installation port, and a sound collecting groove 12 is provided on the waterproof cover in front of the loudspeaker, and the sound collecting groove is a dustpan-shaped sound collecting groove.

[0022] The upper surface of the waterproof cover is also equipped with an alarm light 17, a GPS antenna 18 and a communication antenna 10, and a laser ranging radar 11 for measuring the distance between the person who needs to be driven away and the robot is provided in the sound collecting groove.

[0023] The utility model's driving-away robot can reach a maximum speed of 22 kilometers per hour when patrolling on unpaved roads. When working, it can find and identify human bodies hiding in the grass, with heads and faces covered or camouflaged. It will not cause misjudgment when animals enter the camera's field of view, and can meet the needs of patrolling in rainy and snowy weather and on slippery roads.

Claims

1. A driving-away robot, comprising a robot walking platform, a functional platform installed on the robot walking platform, a human body recognition system and a strong sound driving-away device installed on the functional platform, characterized in that: The robot walking platform is a six-wheel non-independent suspension robot walking platform, and is equipped with a battery for providing power to the robot, a walking drive system, a walking control system and a navigation system, as well as a communication system for transmitting data between the robot and a remote server. The human body recognition system includes an image acquisition unit and an image processing unit. The image acquisition unit includes a pan-tilt head, and a visible light camera and an infrared camera that act synchronously are installed in parallel on the pan-tilt head. The focal length and field of view of the visible light camera and the infrared camera are the same. The image processing unit includes an artificial intelligence processor with graphics processing capability and deep learning capability. The strong sound expulsion device is a high-definition strong sounder with a power of not less than 100W.

2. The driving-away robot according to claim 1, characterized in that: The functional platform includes a waterproof cover installed on the upper surface of the robot walking platform, the pan / tilt head is fixed on the upper surface of the waterproof cover, the artificial intelligence processor is installed in the waterproof cover, a loudspeaker installation port is provided on the front shell surface of the waterproof cover, the loudspeaker is embedded in the loudspeaker installation port, and a sound collecting groove is provided on the waterproof cover in front of the loudspeaker, and the sound collecting groove is a dustpan-shaped sound collecting groove.

3. The driving-away robot according to claim 2, characterized in that: The top surface of the waterproof cover is also equipped with an alarm light, a GPS antenna and a communication antenna.

4. The driving-away robot according to claim 3, characterized in that: A laser ranging radar is installed in the sound collecting tank to measure the distance between the person who needs to be driven away and the robot.

5. The driving-away robot according to any one of claims 1 to 4, characterized in that: The six-wheel non-independent suspension robot walking platform includes a box-type chassis, and a set of identical walking wheel trains are respectively arranged on the left and right sides of the chassis, each set of walking wheel trains includes a longitudinal walking beam arranged on the outside of the chassis side wall, the middle and rear part of the longitudinal walking beam is hinged to the chassis side wall through a transverse beam axis perpendicular to the longitudinal walking beam, a shock absorber connected to the chassis side wall is arranged at the front end of the longitudinal walking beam, the longitudinal walking beam is sequentially equipped with a front wheel axle, a middle wheel axle and a rear wheel axle from front to back, and a driving wheel of the same specification is respectively arranged on each wheel axle, the transverse beam axis is a hollow shaft, the power output shaft of the walking drive system is inserted in the transverse beam axis and extends out of the beam axis, and a transmission mechanism for making the three driving wheels on this side rotate synchronously is arranged between the power output shaft of the walking drive system and the three wheel axles.

6. The driving-away robot according to claim 5, characterized in that: The transmission mechanism is a sprocket transmission mechanism, and a sprocket is installed at the shaft end of each wheel axle and the shaft end of the power output shaft of the travel drive system. A closed-loop transmission chain is provided between the power output shaft sprocket and the middle wheel shaft sprocket, between the front wheel axle sprocket and the middle wheel shaft sprocket, and between the rear wheel axle sprocket and the middle wheel shaft sprocket.

7. The driving-away robot according to claim 6, characterized in that: The longitudinal walking beam is a box beam formed by connecting two parallel longitudinal beam plates and a plurality of transverse connecting plates arranged along the edges of the longitudinal beam plates, and the transmission mechanism is located inside the box beam.

8. The driving-away robot according to claim 7, characterized in that: The driving wheel comprises a wheel hub, a wheel rim and a tire. The tire is a pneumatic tire with a width of 185-225 mm.

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