Indoor security robot

Abstract

The utility model discloses an indoor security robot. The indoor security robot comprises a robot chassis; the robot shell is arranged on the robot chassis; the sensing system comprises a laser radar and a depth camera, the laser radar is arranged on the robot chassis, and the depth camera is arranged on the robot shell; and the monitoring system comprises at least one thermal imaging camera, and the thermal imaging camera is arranged above the depth camera. According to the utility model, the sensing system comprising the laser radar and the depth camera and the monitoring system comprising at least one thermal imaging camera are arranged, and the four-wheel independently-driven robot chassis is combined, so that the autonomous navigation and omnibearing monitoring of the indoor environment are realized; the problem that the monitoring effect is poor at night or in the environment with insufficient light is effectively solved, and the adaptability and the monitoring capacity of the indoor security robot are remarkably improved.

Description

Technical Field

[0001] The utility model relates to the field of robots, and particularly to an indoor security robot. Background Art

[0002] With the development of social economy and the progress of technology, intelligent robots are increasingly widely used in the security field. Indoor security robots can replace humans to conduct 24-hour continuous patrols, improve security efficiency, and reduce labor costs. Currently, there are already various indoor security robot products on the market, but there are still some technical problems to be solved.

[0003] Existing indoor security robots usually use ordinary cameras for monitoring, and the monitoring effect is poor at night or in low-light environments. For example, CN118204949A discloses a multi-functional intelligent patrol robot, which although has a thermal imaging function, lacks the ability of multi-angle thermal imaging monitoring and is difficult to achieve full-range and dead-angle-free monitoring. In addition, this robot cannot conduct voice interaction with people and its functions are relatively single.

[0004] On the other hand, existing indoor security robots often have problems such as being too large in size and too heavy in weight in terms of structural design, and it is difficult to adapt to complex indoor environments. For example, a patrol robot disclosed in CN118444684A, although has certain monitoring functions, lacks thermal imaging capabilities.

[0005] In addition, indoor security robots in the prior art generally have problems such as low positioning accuracy, poor movement flexibility, and weak self-charging ability, and it is difficult to meet the security requirements in complex indoor environments.

[0006] Therefore, it is urgent to develop an indoor security robot with a compact structure, comprehensive functions, and dead-angle-free monitoring to solve the problems existing in the prior art. Summary of the Utility Model

[0007] The technical problem to be solved by the utility model is: to solve the above-mentioned existing technical problems, and provide an indoor security robot with a compact structure, comprehensive functions, dead-angle-free monitoring, and strong adaptability, so as to solve the problems of poor monitoring effect, too large size, low positioning accuracy, poor movement flexibility, etc. existing in the prior art.

[0008] The technical solution adopted by the utility model to solve its technical problems is:

[0009] An indoor security robot, comprising:

[0010] A robot chassis;

[0011] A robot housing, arranged on the robot chassis;

[0012] The sensing system includes a lidar and a depth camera. The lidar is installed on the robot chassis, and the depth camera is installed on the robot housing.

[0013] The monitoring system includes at least one thermal imaging camera, and the thermal imaging camera is installed above the depth camera.

[0014] Preferably, the sensing system further includes an ultrasonic radar and a single-point laser rangefinder. The ultrasonic radar is installed on the front of the robot chassis, and the single-point laser rangefinder is installed at the bottom of the front of the robot housing.

[0015] Preferably, an interactive screen is further installed below the depth camera, and the depth camera is installed between the thermal imaging camera and the interactive screen.

[0016] Preferably, the single-point laser rangefinder is installed on both sides below the interactive screen, and the ultrasonic radar is installed below the single-point laser rangefinder.

[0017] Preferably, the monitoring system further includes a network dome camera and a network camera. The network dome camera is installed on the top of the robot housing, and the network camera is installed on the back of the robot housing.

[0018] Preferably, there are grooves on the robot housing. The thermal imaging camera includes three infrared binocular thermal imaging cameras, which are respectively installed in the front groove and the two side grooves of the robot housing.

[0019] Preferably, a battery is installed at the bottom of the robot chassis, and charging electrodes are also installed on the robot chassis.

[0020] Preferably, an antenna is installed inside the robot housing.

[0021] The beneficial effects of the present utility model:

[0022] 1. By arranging the depth camera, single-point laser, and ultrasonic radar from top to bottom in sequence, the present utility model realizes all-round scanning within the front range of the robot. At the same time, a lidar is installed on the back of the robot to scan the back range, achieving high-precision environmental perception and positioning capabilities. The collaborative work of multiple sensors not only enhances the accuracy of environmental perception but also greatly improves the accuracy of positioning and obstacle avoidance. It effectively solves the problems of inaccurate positioning and untimely obstacle avoidance of a single sensor in a complex indoor environment. At the same time, the multi-sensor fusion technology significantly improves the adaptability and navigation accuracy of the robot in different environments, enabling it to move flexibly in narrow passages and indoor spaces with complex layouts, greatly enhancing the working efficiency and reliability of the indoor security robot.

[0023] 2. The utility model realizes 360-degree panoramic rotation vision monitoring by setting a network spherical camera on the top of the robot housing, realizes vision monitoring covering the front and both sides by installing infrared binocular thermal imaging cameras on the front and two sides of the robot housing, and realizes vision monitoring covering the back of the robot by setting a network camera on the back of the robot housing. These are combined to form an all-round monitoring system, achieving round-the-clock and dead-angle-free environmental monitoring; the network spherical camera provides a 360-degree rotation vision, and the infrared binocular thermal imaging camera ensures the monitoring effect in dark and low-light environments, effectively solving the problems of poor imaging quality and limited monitoring range of traditional monitoring systems under complex light conditions.

[0024] Brief Description of the Drawings

[0025] Figure 1 It is a front structural schematic diagram of the indoor security robot in Embodiment 1;

[0026] Figure 2 It is a side structural schematic diagram of the indoor security robot in Embodiment 1;

[0027] Figure 3 It is a back structural schematic diagram of the indoor security robot in Embodiment 1.

[0028] The above-mentioned reference numerals: 1, robot chassis; 11, wheels; 12, charging electrode plates; 2, robot housing; 3, ultrasonic radar; 4, single-point laser range finder; 5, lidar; 6, depth camera; 7, network spherical camera; 8, infrared binocular thermal imaging camera; 9, network camera; 10, interactive screen. Detailed Embodiment

[0029] The following further illustrates the present utility model in conjunction with the drawings and embodiments, but these specific implementation manners do not limit the protection scope of the present utility model in any way.

[0030] Embodiment 1

[0031] See the attached Figures 1-3 , an indoor security robot, including a robot chassis 1, a robot housing 2 provided on the robot chassis 1, a sensing system provided on the robot housing 2 and the robot chassis 1, and a monitoring system provided on the robot housing 2.

[0032] The robot chassis 1 adopts a four-wheel independent suspension structure, four-wheel drive, and each wheel 11 can turn independently. The drive motor is a brushless motor, making the robot move flexibly and capable of adapting to various complex road conditions.

[0033] The robot housing 2 is fixedly installed on the robot chassis 1, and the overall weight of the robot is about 70 kg. A battery is installed at the bottom of the front end of the robot chassis 1, and a charging electrode plate 12 electrically connected to the battery is provided at the rear end of the robot chassis 1. There are no mounting screws on the front of the robot housing 2, and a communication antenna is provided inside the robot housing 2.

[0034] The sensing system includes an ultrasonic radar 3, a single-point laser range finder 4, a lidar 5, and a depth camera 6. The ultrasonic radar 3 is arranged on the front of the robot chassis 1, and two single-point laser range finders 4 are respectively arranged at the left and right ends of the bottom of the front of the robot housing 2; the lidar 5 is arranged on the top of the robot chassis 1 near the back, and the depth camera 6 is installed on the front of the robot housing 2, below the infrared binocular thermal imaging camera 8. The scanning range of the ultrasonic radar 3 is fan-shaped, covering a certain angle range in the front for detecting obstacles at close range to prevent collisions; the single-point laser range finder 4 measures the precise distance in the straight line direction for detecting obstacles at close range or precise positioning; the lidar 5 performs a 360-degree horizontal scan to form a circular or approximately circular scanning range for real-time construction of an environmental map and positioning the robot's position in the map; the depth camera 6 covers a certain field of view angle in the front for providing depth information of the environment, which helps to identify objects and obstacles. Through the integrated control of the ultrasonic radar 3, the single-point laser range finder 4, the lidar 5, and the depth camera 6, precise positioning and patrol of the robot are achieved.

[0035] The monitoring system includes a network dome camera 7, three infrared binocular thermal imaging cameras 8, and a network camera 9. The network dome camera 7 is installed on the top of the robot housing 2 and can rotate 360 degrees. It can adjust the angle and focal length according to needs to focus on specific areas or targets, providing full-round visual coverage, being able to monitor the entire environment around the robot, reducing monitoring blind spots, and can also transmit the real-time video stream to the remote control center through the antenna, enabling the operator to view the real-time situation of the environment where the robot is located at any time.

[0036] The robot housing is provided with grooves on the front and two sides at the same horizontal position. Three infrared binocular thermal imaging cameras 8 are respectively installed in the front groove and the two side grooves of the robot housing 2. Their functions are as follows: 1. Installing the cameras in the grooves can provide certain physical protection for the cameras, reducing the possible collisions or damages that the cameras may suffer during movement; 2. Reducing the interference of ambient light on the cameras, improving the imaging quality, and enhancing their detection effects under various light conditions, especially in the night or low-light environments. The three infrared binocular thermal imaging cameras 8 in the monitoring system can collect personnel images during night patrols and analyze through operation whether they are company personnel. When they are not company personnel, the robot will give an audible and visual alarm. The robot can also sense whether there is a fire around through the thermal imaging of the infrared binocular thermal imaging cameras 8 and then give an audible and visual alarm.

[0037] The network camera 9 is installed on the back of the robot housing 2 and is used to monitor the area behind the robot, supplementing the fields of view of the front and side cameras to achieve more comprehensive environmental monitoring. When the robot moves, it can monitor whether there are following or approaching personnel or objects behind, improving the safety of the robot moving in a complex environment. And it can also transmit the real-time video stream to the remote control center, enabling the operator to comprehensively understand the situation around the robot. If it encounters passing through a narrow space, it can be used to assist the robot in backing operations in narrow or complex spaces.

[0038] There is also an interactive screen 10 provided below the depth camera 6. The operator can input patrol task parameters through the interactive screen, including patrol routes, key areas, and patrol frequencies, etc. It can also be used to display the current status of the robot, such as battery power, current location, executed tasks, etc., enabling the operator to understand the working conditions of the robot at any time.

[0039] The indoor security robot in this embodiment is mainly used for security patrols and monitoring of indoor environments, capable of autonomously moving in complex indoor environments to achieve full-range and non-blind-spot monitoring. The overall structure of the robot is compact, with reasonable arrangement of each component, occupying a small area, and can easily pass through indoor turnstiles and enter and exit elevators; and arranging the battery at the bottom of the front end of the robot improves the stability of the robot.

[0040] The ultrasonic radar 3, single-point laser range finder 4, lidar 5, and depth camera 6 are all connected to the sensor board and are electrically connected to the processor of the sensor board through interfaces. The network spherical camera 7, three infrared binocular thermal imaging cameras 8, and a network camera 9 are all connected to the monitoring board and are electrically connected to the processor of the monitoring board through interfaces; both the monitoring board and the sensor board are connected to the main control board through interfaces. The main control board is also connected to the interactive screen through an interface, and conducts two-way communication with the remote terminal through a communication antenna.

[0041] The working principle of the indoor security robot in the above embodiments is as follows: The ultrasonic radar 3, single-point laser ranging sensor 4, lidar 5, and depth camera 6 send the data information they detect to the main control board through the sensor board. The main control board performs multi-sensor fusion control calculations, and controls the robot to perform precise positioning and patrol according to the fusion information. The monitoring board sends the monitoring information to the main control board, and the main control board processes and analyzes the monitoring information to judge dangerous situations such as fires and controls the sound and light alarms, as well as judges whether the captured person's head image is that of a company employee, etc. The main control board also sends the corresponding sensing data information and monitoring information to the remote terminal and the interactive screen, and receives instructions from the remote terminal or the interactive screen.

[0042] The above are only the preferred embodiments of the present invention, and do not limit the protection scope of the present invention. Any innovative improvement or replacement based on the present invention should fall within the scope of the claims of the present invention. At the same time, the various parameters, materials, and processes mentioned in the above embodiments are not unique. Without departing from the technical essence of the present invention, those of ordinary skill in the art can make various alternative selections, and these alternative solutions should also be regarded as falling within the protection scope of the present invention.

Claims

1. An indoor security robot, characterized in that, Comprising: A robot chassis; A robot housing, disposed on the robot chassis; A sensing system, including a lidar and a depth camera, the lidar is disposed on the robot chassis, and the depth camera is disposed on the robot housing; A monitoring system, including at least one thermal imaging camera, the thermal imaging camera is disposed above the depth camera.

2. The indoor security robot according to claim 1, characterized in that, The sensing system further includes an ultrasonic radar and a single-point laser rangefinder. The ultrasonic radar is disposed on the front of the robot chassis, and the single-point laser rangefinder is disposed at the bottom of the front of the robot housing.

3. The indoor security robot according to claim 2, characterized in that, An interactive screen is further disposed below the depth camera, and the depth camera is disposed between the thermal imaging camera and the interactive screen.

4. The indoor security robot according to claim 3, wherein, The single-point laser rangefinder is disposed on both sides below the interactive screen, and the ultrasonic radar is disposed below the single-point laser rangefinder.

5. The indoor security robot according to claim 1, wherein The monitoring system further includes a network dome camera and a network camera. The network dome camera is disposed on the top of the robot housing, and the network camera is disposed on the back of the robot housing.

6. The indoor security robot according to claim 1, characterized in that, A groove is provided on the robot housing. The thermal imaging camera includes three infrared binocular thermal imaging cameras, which are respectively disposed in the front groove and two side grooves of the robot housing.

7. The indoor security robot according to claim 1, characterized in that, A battery is disposed at the bottom of the robot chassis, and charging electrodes are further provided on the robot chassis.

8. The indoor security robot according to any one of claims 1-7, characterized in that, An antenna is disposed inside the robot housing.

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