Security check service robot

Abstract

The utility model discloses a security check service robot, which comprises a movable chassis, a height adjusting module arranged at the top of the movable chassis, a mechanical arm arranged on the height adjusting module, a connecting module connected between the height adjusting module and the mechanical arm, and a metal detector arranged at the execution tail end of the mechanical arm, the visual inspection module is used for capturing a security inspection process image; the height adjusting module is used for driving the mechanical arm through the connecting module to drive the metal detector to ascend and descend so as to adjust the height. And the visual inspection module is used for collecting an image in a security inspection process, so that the mobile chassis, the height adjustment module and the mechanical arm act in a coordinated manner. According to the utility model, the action of a security inspector during manual security inspection can be simulated, so that the operation that the security inspection is carried out by manually holding a metal detector is replaced, a person to be inspected can be flexibly, safely and rapidly scanned, the labor cost and the working intensity of the security inspector are reduced, and the privacy protection of the person to be inspected is enhanced.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a security inspection service robot. Background Technology

[0002] Security screening equipment is widely used in densely populated areas such as airports, subway stations, stadiums, and concert venues to effectively detect hidden dangerous items. These locations often involve large gatherings of people, and the presence of potentially dangerous individuals carrying out illegal activities could pose a significant security threat. Therefore, the effective use of security screening equipment can greatly improve public safety.

[0003] Currently, commonly used security inspection equipment includes metal detectors, X-ray scanners, and full-body scanners. Among these, metal detectors are more widely used due to their ease of operation, low cost, and minimal harm to the human body. However, metal detectors require manual hand-held scanning, and this repetitive mechanical operation is very time-consuming for security personnel. Utility Model Content

[0004] The purpose of this invention is to provide a security inspection service robot that can simulate the actions of security personnel during manual security checks, thereby replacing manual operation of holding a metal detector. It can flexibly and quickly scan people being inspected, reduce labor costs and the workload of security personnel, and enhance the privacy protection of people being inspected.

[0005] To achieve the above objectives, the following technical solution is adopted:

[0006] A security inspection service robot includes a mobile chassis, a height adjustment module mounted on top of the mobile chassis, a robotic arm mounted on the height adjustment module, a connecting module connecting the height adjustment module and the robotic arm, a metal detector mounted at the end effector of the robotic arm, and a vision detection module for capturing images of the security inspection process. The height adjustment module drives the robotic arm via the connecting module to raise and lower the metal detector to adjust its height. The vision detection module collects images of the security inspection process for coordinated movement of the mobile chassis, the height adjustment module, and the robotic arm.

[0007] Preferably, it also includes a charging pile designed separately from the mobile chassis; the charging pile is provided with a charging port, and the mobile chassis is provided with charging contacts that match the charging port; the mobile chassis is provided with a battery connected to the charging contacts; the charging pile is provided with several infrared transmitters, and the front and back of the mobile chassis are provided with several infrared receivers that correspond one-to-one with the several infrared transmitters.

[0008] Preferably, the connection module includes a connection block connected to the height adjustment module, a connection seat connected to the robotic arm, and a locking and fixing assembly; the rear end face of the connection seat has a slot for inserting one end of the connection block; when the connection block is inserted into the slot of the connection seat, the locking and fixing assembly is used to lock and fix the connection seat and the connection block.

[0009] Preferably, each face of the metal detector is provided with a pressure sensor array; the metal detector is equipped with a wireless transmission module for transmitting the pressure data detected by the pressure sensor array to the processor of the security inspection service robot.

[0010] Preferably, the robotic arm has a gripper at its end for holding and fixing the metal detector.

[0011] Preferably, the robotic arm is a six-axis robotic arm.

[0012] Preferably, the vision inspection module includes a monocular camera located in the middle of the robotic arm, a binocular camera located on the connecting module, a rotating shaft connecting the binocular camera and the connecting module, and a pitch drive motor for driving the rotating shaft to drive the binocular camera to pitch.

[0013] Preferably, the mobile chassis includes a base and four all-wheel drive wheels located at the bottom of the base; the height adjustment module is located at the top of the base; and the base is also equipped with an audio module.

[0014] Preferably, the height adjustment module includes a lifting slide rail and a lead screw assembly mounted on the top of the mobile chassis, a lifting drive component driven by the lead screw assembly, and a lifting slider connected to the lead screw assembly; the connecting block is detachably connected to the lifting slider; the lifting drive component is used to drive the lead screw assembly to move the lifting slider up and down along the lifting slide rail.

[0015] By adopting the above solution, the beneficial effects of this utility model are:

[0016] This utility model provides a security inspection service robot. Through the coordinated movements of a mobile chassis, a height adjustment module, a robotic arm, and a vision detection module, it can simulate the actions of security personnel during manual security checks, thereby replacing the operation of manually holding a metal detector. It can flexibly and quickly scan the person being inspected, reduce labor costs and the workload of security personnel, and enhance the privacy protection of the person being inspected. Attached Figure Description

[0017] Figure 1 This is a front-view perspective view of the present invention;

[0018] Figure 2 This is a rear-view perspective view of the present invention;

[0019] Figure 3 This is a perspective view of the charging pile of this utility model;

[0020] Figure 4 This is an exploded view of the connection module of this utility model;

[0021] Figure 5 This is a perspective view of the robotic arm and metal detector of this utility model;

[0022] Figure 6 This is a schematic diagram of the height adjustment module of this utility model;

[0023] The following are explanations of the labels in the attached diagram:

[0024] 1—Mobile chassis, 2—Height adjustment module

[0025] 3—Robotic arm, 4—Connecting module,

[0026] 5—Metal detector, 6—Visual inspection module

[0027] 7—Charging station, 11—Charging contacts

[0028] 12—Infrared receiver, 13—Base,

[0029] 14—All-wheel drive omnidirectional wheels; 15—Audio module;

[0030] 21—Lifting slide rail, 22—Screw assembly,

[0031] 23—Lifting drive component, 24—Lifting slider,

[0032] 31—clamping claw, 32—waist,

[0033] 33—Shoulder, 34—Elbow

[0034] 35—Wrist joint; 41—Connecting block;

[0035] 42—Connecting seat, 43—Locking and fixing component,

[0036] 51—Pressure sensor array; 61—Monocular camera;

[0037] 62—Binocular camera, 71—Charging port,

[0038] 72—Infrared transmitter. Detailed Implementation

[0039] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0040] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0041] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0042] Reference Figures 1 to 6 As shown, this utility model provides a security inspection service robot, including a mobile chassis 1, a height adjustment module 2 disposed on the top of the mobile chassis 1, a robotic arm 3 disposed on the height adjustment module 2, a connecting module 4 connecting the height adjustment module 2 and the robotic arm 3, a metal detector 5 disposed at the end of the robotic arm 3, and a visual inspection module 6 for capturing images of the security inspection process; the height adjustment module 2 is used to drive the robotic arm 3 to raise and lower the metal detector 5 via the connecting module 4 to adjust the height; the visual inspection module 6 is used to collect images of the security inspection process for coordinated operation of the mobile chassis 1, the height adjustment module 2, and the robotic arm 3.

[0043] Charging station 7:

[0044] The security inspection service robot also includes a charging pile 7 designed separately from the mobile chassis 1; the charging pile 7 is provided with a charging port 71, and the mobile chassis 1 is provided with a charging contact 11 that matches the charging port 71; the mobile chassis 1 is provided with a battery connected to the charging contact 11; the charging pile 7 is provided with a number of infrared transmitters 72, and the front and back of the mobile chassis 1 are provided with a number of infrared receivers 12 that correspond one-to-one with the number of infrared transmitters 72.

[0045] By setting up a charging pile 7, infrared transmitters 72, and infrared receivers 12, the automatic recharging function of the security inspection service robot can be realized. Specifically, the charging pile 7 is equipped with three infrared transmitters 72, which are used to emit coded infrared guidance signals to guide the mobile chassis 1 in positioning and navigation. The charging pile 7 is also equipped with a charging port 71. Correspondingly, the front and back of the mobile chassis 1 are equipped with three infrared receivers 12, which are used to receive the infrared guidance signals emitted by the charging pile 7. The mobile chassis 1 completes automatic positioning based on the infrared guidance signals and connects with the charging port 71 of the charging pile 7 through the charging contacts 11 designed on the mobile chassis 1 to complete the charging docking.

[0046] Connecting module 4:

[0047] The connection module 4 includes a connection block 41 connected to the height adjustment module 2, a connection seat 42 connected to the robotic arm 3, and a locking and fixing component 43; the rear end face of the connection seat 42 is provided with a slot into which one end of the connection block 41 can be inserted; when the connection block 41 is inserted into the slot of the connection seat 42, the locking and fixing component 43 is used to lock and fix the connection seat 42 and the connection block 41.

[0048] The connecting module 4 ensures a secure connection between the height adjustment module 2 and the robotic arm 3. The plug-in structure of the connecting module 4 allows the robotic arm 3 to be quickly fixed or disassembled.

[0049] Specifically, the locking and fixing component 43 includes screws and nuts. One end of the connecting block 41 is fixed to the lifting slider 24, and the other end is inserted into the slot of the connecting seat 42. The connecting block 41 and the connecting seat 42 are completely fixed by screws and nuts.

[0050] Furthermore, the slot of the connector 42 is a U-shaped slot, and correspondingly, the connector 41 is also set as a U-shaped structure. Setting the connector 41 as a hollow structure can reduce the weight of the connector module 4, thereby improving the height adjustment accuracy of the robotic arm 3 and reducing the production cost of the security inspection service robot.

[0051] Metal Detector 5:

[0052] Each face of the metal detector 5 is equipped with a pressure sensor array 51; the metal detector 5 is equipped with a wireless transmission module for transmitting the pressure data detected by the pressure sensor array 51 to the processor of the security inspection service robot.

[0053] Specifically, the wireless transmission module is a Bluetooth module, used to read and transmit pressure data detected by the pressure sensor array 51 and transmit it to the processor of the security inspection service robot.

[0054] Robotic arm 3:

[0055] The robotic arm 3 is equipped with a gripper 31 at its end for holding and fixing the metal detector 5.

[0056] Furthermore, the robotic arm 3 is a six-axis robotic arm, comprising a waist section 32, a shoulder section 33, an elbow section 34, and three wrist joints 35 arranged sequentially. The robotic arm 3 is a crucial actuator in the security inspection robot. Besides scanning the subject's body, it must also prevent excessive collisions between the metal detector 5 held by the gripper 31 at the end of the robotic arm 3 and the subject. The pressure sensor array 51 on the metal detector 5 can sense the contact force (pressure) exerted by the metal detector 5 on the subject's body. This pressure data is transmitted to the security inspection robot's processor via a wireless transmission module installed inside the metal detector 5, allowing the robot 3 to perform corresponding "move away," "sudden stop," or other actions.

[0057] The robotic arm 3 is connected to the lifting slider 24 of the height adjustment module 2 via the connecting module 4, and can be raised and lowered by the lead screw assembly 22. The lifting and lowering movement of the robotic arm 3 simulates the standing and squatting movements of a security inspector, facilitating a comprehensive body scan of the person being inspected.

[0058] Visual inspection module 6:

[0059] The visual inspection module 6 includes a monocular camera 61 located in the middle of the robotic arm 3, a binocular camera 62 located on the connecting module 4, a rotating shaft connecting the binocular camera 62 and the connecting module 4, and a pitch drive motor for driving the rotating shaft to drive the binocular camera to pitch.

[0060] Specifically, the monocular camera 61 is mounted on the wrist of the robotic arm 3.

[0061] The binocular camera 62 can rotate via a rotation axis, i.e., tilting up and down. This rotation can simulate the visual perception of a security inspector through head movements. Simultaneously, the binocular camera 62 can also be used for visual perception in the automatic recharging function.

[0062] The binocular camera 62 is used for large-area global image acquisition, while the monocular camera 61 can capture the scanning process of the metal detector 5 on the person being inspected at close range. When used together, the two can provide a more comprehensive understanding of the security check site.

[0063] Mobile chassis 1:

[0064] The mobile chassis 1 includes a base 11 and four omnidirectional wheels 12 located at the bottom of the base 11; the height adjustment module 2 is located at the top of the base 11; four omnidirectional wheels 12 are installed at the bottom of the base 11 for omnidirectional movement, each wheel having one drive wheel and one steering wheel, thus ensuring the omnidirectional movement of the security inspection service robot. An audio module 15 is installed at the front of the base 11 for voice prompts.

[0065] Height adjustment module 2:

[0066] The height adjustment module 2 includes a lifting slide rail 21 and a lead screw assembly 22 mounted on the top of the mobile chassis 1, a lifting drive component 23 driven by the lead screw assembly 22, and a lifting slider 24 connected to the lead screw assembly 22; the connecting block 41 is detachably connected to the lifting slider 24; the lifting drive component 23 is used to drive the lead screw assembly 22 to move the lifting slider 24 up and down along the lifting slide rail 21.

[0067] Furthermore, the height adjustment module 2 also includes a mounting bracket with an inner cavity. The lifting slide rail 21, the lead screw assembly 22, the lifting drive component 23, and the lifting slider 24 are all mounted within the inner cavity of the mounting bracket. The mounting bracket has a vertical groove for one end of the connecting block 41 to pass through and connect with the lifting slider 24.

[0068] The lifting slide rail 21 is fixed to the mobile chassis 1 with screws, and the lifting slider 24 is fixed to the nut of the lead screw assembly 22. Specifically, the lifting drive component 23 is a lifting drive motor, which is installed on the top of the lead screw assembly 22. It can control the lifting slider 24 to move up and down along the lifting slide rail 21, thereby mimicking the squatting and standing postures of a human body. This allows the security inspection service robot to automatically adjust its working height when performing tasks, adapt to different operating spaces, and improve the accuracy and flexibility of operation.

[0069] Once the security inspection robot is in working mode, when a person enters the security inspection area, the visual detection module 6 detects their entry and initiates the security inspection process. Based on the real-time image input captured by the monocular camera 61 and the binocular camera 62, the moving chassis 1, height adjustment module 2, visual detection module 6, and robotic arm 3 coordinate their movements to simulate the body posture of a security inspector during a manual security check, facilitating scanning by the robotic arm 3.

[0070] The security inspection service robot provided by this utility model has the following beneficial effects:

[0071] 1. Improve security check efficiency: Continuously conduct security checks efficiently and without fatigue, significantly increasing the speed of security checks, especially in high-traffic areas such as airports, train stations and large event venues, reducing queuing time and improving overall efficiency.

[0072] 2. Enhanced security: It can autonomously perform security checks, ensuring that every person being checked undergoes a rigorous inspection, reducing the security risks of missed checks due to human negligence.

[0073] 3. Reduce the workload of security personnel: It can replace manual labor in performing repetitive, tedious and fatigue-inducing scanning tasks, thereby reducing the workload of security personnel and allowing them to focus more on handling other more complex situations or emergencies.

[0074] 4. Enhanced privacy protection: Automated security checks avoid the privacy leaks that may occur during manual security checks, are more standardized, avoid unnecessary physical contact, and enhance the privacy and security of those being checked.

[0075] 5. Reduce labor costs: It can reduce reliance on a large number of manual laborers, which can effectively reduce labor costs in the long run. In high-traffic areas, it can replace more manual labor positions, thereby optimizing the allocation of human resources.

[0076] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model. Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the utility model and are not intended to limit the implementation of this utility model. For those skilled in the art, various obvious changes, readjustments, and substitutions can be made without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A security inspection service robot, characterized in that, It includes a mobile chassis, a height adjustment module on top of the mobile chassis, a robotic arm on the height adjustment module, a connection module connecting the height adjustment module and the robotic arm, a metal detector at the end of the robotic arm, and a visual inspection module for capturing images of the security inspection process. The height adjustment module is used to drive the robotic arm via the connecting module to raise and lower the metal detector in order to adjust its height. The visual inspection module is used to collect images of the security inspection process for coordinated movement of the mobile chassis, height adjustment module, and robotic arm.

2. The security inspection service robot according to claim 1, characterized in that, It also includes a charging pile designed separately from the mobile chassis; the charging pile is provided with a charging port, and the mobile chassis is provided with charging contacts that match the charging port; the mobile chassis contains a battery that is connected to the charging contacts; the charging pile is provided with several infrared transmitters, and the front and back of the mobile chassis are provided with several infrared receivers that correspond one-to-one with the several infrared transmitters.

3. The security inspection service robot according to claim 1, characterized in that, The connection module includes a connection block connected to the height adjustment module, a connection seat connected to the robotic arm, and a locking and fixing assembly; the rear end face of the connection seat has a slot for inserting one end of the connection block; when the connection block is inserted into the slot of the connection seat, the locking and fixing assembly is used to lock and fix the connection seat and the connection block.

4. The security inspection service robot according to claim 1, characterized in that, Each face of the metal detector is equipped with a pressure sensor array; the metal detector is equipped with a wireless transmission module for transmitting the pressure data detected by the pressure sensor array to the processor of the security inspection service robot.

5. The security inspection service robot according to claim 1, characterized in that, The robotic arm has a gripper at its end for holding and fixing the metal detector.

6. The security inspection service robot according to claim 5, characterized in that, The robotic arm is a six-axis robotic arm.

7. The security inspection service robot according to claim 1, characterized in that, The vision inspection module includes a monocular camera located in the middle of the robotic arm, a binocular camera located on the connecting module, a rotating shaft connecting the binocular camera and the connecting module, and a pitch drive motor for driving the rotating shaft to drive the binocular camera to pitch.

8. The security inspection service robot according to claim 1, characterized in that, The mobile chassis includes a base and four all-wheel drive wheels located at the bottom of the base; the height adjustment module is located at the top of the base; and the base is also equipped with an audio module.

9. The security inspection service robot according to claim 3, characterized in that, The height adjustment module includes a lifting slide rail and a lead screw assembly installed on the top of the mobile chassis, a lifting drive component driven by the lead screw assembly, and a lifting slider connected to the lead screw assembly; the connecting block is detachably connected to the lifting slider; the lifting drive component is used to drive the lead screw assembly to move the lifting slider up and down along the lifting slide rail.

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