Anti-riot disposal quadruped robot

Abstract

The application provides a riot control quadruped robot, comprising a general quadruped robot moving platform and a riot control upper structure integrated on the back of the general quadruped robot moving platform; the riot control upper structure comprises one or more of a sound emitting mechanism, a strong light mechanism, a capture and disposal mechanism, a visual perception mechanism, a communication and control mechanism and an auxiliary warning mechanism; the sound emitting mechanism is used for emitting sound to disperse a crowd or playing audio for propaganda; the strong light mechanism is arranged at an unobstructed position on the front side of the upper structure and has multiple light emitting modes; the capture and disposal mechanism comprises a capture net which can be quickly disassembled and installed in an upwardly inclined manner and an automatic firing mechanism. According to the application, the riot control upper structure is designed on the general quadruped robot platform in the scene of riot control and disposal in the patrol field, so that the quadruped robot has the abilities of strong sound dispersion, strong light dispersion and capture while having the patrol ability, and the first application of the riot control quadruped robot is realized.

Description

Technical Field

[0001] This utility model relates to the field of quadruped robot technology, and more specifically, to a riot control quadruped robot. Background Technology

[0002] With the development of quadruped robot technology, quadruped robots have been gradually applied in various fields. In the public security field, patrol is a major scenario. During patrols, various emergencies are inevitable, such as encountering illegal gatherings of people or criminal suspects. These are emergency response scenarios, a sub-category of patrol applications within the public security field. In these situations, riot control quadruped robots are needed for handling, including dispersal, arrest, and psychological education.

[0003] With the development of quadruped robot technology, its application in public security patrol is gradually increasing. Existing patrol robots are mostly based on general quadruped platforms with added functional modules, primarily achieving data collection functions such as facial recognition and license plate recognition, but lacking on-site handling capabilities. Furthermore, during patrols, unexpected situations such as illegal gatherings and criminal suspects are frequently encountered, requiring robots with functions such as dispersal, arrest, and public education to handle on-site situations. Therefore, there is an urgent need for a quadruped robot that integrates multiple riot control functions to improve police efficiency and personnel safety. Summary of the Invention

[0004] The purpose of this utility model is to design a riot control upper structure on a general quadruped robot platform for riot control scenarios in patrol fields. This enables the quadruped robot to have patrol capabilities as well as strong sound dispersal, strong light dispersal, and capture capabilities, realizing the first application of a riot control quadruped robot.

[0005] To achieve the above-mentioned objectives, this utility model provides the following technical solution: A riot control quadruped robot to improve the above-mentioned problems.

[0006] The application is as follows: An anti-riot control quadruped robot includes a general-purpose quadruped robot mobile platform and an anti-riot control superstructure integrated on its back; the anti-riot control superstructure includes one or more of the following: a sound-generating mechanism, a high-intensity light mechanism, a capture and disposal mechanism, a visual perception mechanism, a communication and control mechanism, and an auxiliary warning mechanism. A sound-emitting device used to emit sound to disperse crowds or to play audio for advertising. The high-intensity light mechanism is located in an unobstructed position on the front side of the upper body and has multiple light-emitting modes; The capture and disposal mechanism includes a capture net and / or capture rope that can be quickly disassembled and installed at an upward angle, as well as an automatic firing mechanism; The visual perception mechanism, including the gimbal pod and surround-view camera array, is used for video acquisition, facial recognition, and license plate recognition; Communication and control mechanisms, including radios, control boxes and / or UWB devices, for remote communication, equipment control and personnel tracking; Auxiliary warning mechanisms, including warning lights, are used for visual warning.

[0007] Preferably, at least two speakers in the sound-generating mechanism are arranged at the front of the upper part, in a symmetrical or angled distribution to expand the sound coverage.

[0008] Preferably, the high-intensity light mechanism includes switchable high-brightness mode, low-brightness mode, strobe mode, and slow-flash mode.

[0009] Preferably, the automatic firing mechanism is movably mounted on the upper housing. The automatic firing mechanism includes a firing button and a triggering structure. The triggering structure includes a linear motor and a firing lever or a servo motor and a firing arm for triggering the firing button.

[0010] Preferably, the capture and disposal mechanism also includes a stepless adjustment mechanism for adjusting the firing angle of the automatic firing mechanism. The stepless adjustment mechanism is located between the upper housing and the automatic firing mechanism. The stepless adjustment mechanism includes a swing guide rod mechanism, with the upper and lower ends of the swing guide rod mechanism respectively hinged between the automatic firing mechanism and the upper housing.

[0011] Preferably, the gimbal pod in the visual perception mechanism is located at the front center of the upper structure and is equipped with a pod protective cover that can be quickly disassembled and installed. The lower end of the gimbal pod is equipped with a pod vibration damping structure, which includes rubber damping balls and annular metal grids for filtering vibrations.

[0012] Preferably, the riot control equipment is equipped with a surround-view camera group around its perimeter. The surround-view camera group includes multiple cameras arranged in a ring at the same horizontal height, supporting image splicing and individual display.

[0013] Preferably, the UWB equipment in the communication and control mechanism includes three base stations, which are installed at the head and tail of the upper structure respectively, for personnel to follow.

[0014] Preferably, the control box is located directly above the back of the upper structure, with a built-in main control module that provides power and communication interfaces for each device.

[0015] Preferably, the warning light is located at the highest point of the upper structure and supports red and blue flashing warning light modes.

[0016] Compared with the prior art, the beneficial effects of this utility model are as follows: In the scheme of this application: 1. Through sound-emitting mechanisms, high-intensity light mechanisms, and capture net equipment, it can achieve functions such as dispersing, blinding, and capturing illegal personnel, thereby improving on-site control capabilities; 2. Equipped with a gimbal pod and surround-view camera array, it supports video capture, facial recognition, license plate recognition, and 360° all-around law enforcement recording; 3. Long-distance communication and control are achieved through radio, and UWB devices support robots to follow police officers on patrol, reducing the risk of close contact; 4. Each functional module supports quick disassembly and replacement to adapt to different task requirements, improving operational flexibility and maintenance efficiency; 5. The warning light is located at the highest point and supports red and blue warning light modes to enhance visual warning and deterrence effects. Attached Figure Description

[0017] Figure 1 This application provides a schematic diagram of the overall right front end structure of a riot control quadruped robot. Figure 2 This application provides a schematic diagram of the overall left rear end structure of a riot control quadruped robot; Figure 3 This application provides a schematic diagram of the overall right rear end structure of a riot control quadruped robot; Figure 4 This application provides a schematic diagram of the overall left front end structure of a riot control quadruped robot; Figure 5 This application provides a schematic diagram of the overall right-side structure of a riot control quadruped robot. Figure 6 This application provides a schematic diagram of the stepless adjustment mechanism for adjusting the angle of a riot control quadruped robot. Figure 7 This application provides a riot control quadruped robot. Figure 4 A magnified schematic diagram of the capture net equipment in China A; Figure 8 The diagram above shows the overall structure of the automatic firing mechanism of a riot control quadruped robot provided in this application.

[0018] The image shows: 1. Sound-generating mechanism; 2. High-intensity light mechanism; 3. Capture net; 4. Gimbal pod; 5. Radio; 6. Surround view camera group; 7. UWB equipment; 8. Control box; 9. Warning light; 11. Pod protective cover. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model.

[0020] Therefore, the following detailed description of the embodiments of this utility model is not intended to limit the scope of the claimed utility model, but merely illustrates some embodiments of the utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model. It should be noted that, unless otherwise specified, the embodiments, features, and technical solutions in the embodiments of this utility model can be combined with each other.

[0021] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0022] like Figures 1-5 As shown, this embodiment proposes a riot control quadruped robot, including a general-purpose quadruped robot mobile platform and a riot control upper structure integrated on its back; the riot control upper structure includes one or more of the following: a sound-generating mechanism 1, a high-intensity light mechanism 2, a capture and disposal mechanism, a visual perception mechanism, a communication and control mechanism, and an auxiliary warning mechanism. like Figures 1-4 As shown, the anti-riot quadruped robot is further equipped with a sound-emitting mechanism 1, which is used to emit sounds to disperse crowds or play audio for publicity; at least two speakers in the sound-emitting mechanism 1 are arranged at the front of the upper body, in a symmetrical or angled distribution to expand the sound coverage area. Specifically, the sound-emitting device can emit specific audio frequencies that cause discomfort to people, thereby dispersing crowds. The sound intensity of the device can reach 130dB or higher, allowing it to be clearly heard from a distance of one kilometer or even further. The device can also play custom audio, allowing users to decide the content to play based on their needs, thus enabling educational and promotional activities tailored to the specific usage scenario. The device has two speakers located at the front of the quadruped robot's outer shell, arranged at a certain angle to maximize the sound propagation area.

[0023] like Figure 1 As shown, the anti-riot quadruped robot is further equipped with a high-intensity light mechanism 2, which is located in an unobstructed position on the front of the upper body and has multiple light-emitting modes; the high-intensity light mechanism 2 includes switchable high-brightness mode, low-brightness mode, strobe mode and slow-flash mode; Specifically, the high-intensity light device is a high-brightness white laser. White lasers have short-term blinding properties. After being irradiated into the human eye, it will cause blindness for a short period of time, but the person will recover without actually damaging the eye. This will have a certain dispelling and deterrent effect. The high-intensity light device has multiple modes: high-brightness mode, low-brightness mode, strobe mode, and slow-flash mode, which can be selected and used as needed. The high-intensity light device is installed at the very front of the quadruped robot's outer shell, with no obstruction on the front side.

[0024] like Figure 1 , Figures 4-8 As shown, the capture and disposal mechanism in the riot control quadruped robot further includes a capture net 3 and / or capture rope that can be quickly disassembled and installed at an upward angle, as well as an automatic firing mechanism; the automatic firing mechanism is movably installed on the upper housing, and includes a firing button and a triggering structure. The triggering structure includes a linear motor and a firing lever or a servo motor and a firing arm for triggering the firing button. The capture and disposal mechanism also includes a stepless adjustment mechanism for adjusting the firing angle of the automatic firing mechanism. The stepless adjustment mechanism is located between the upper shell and the automatic firing mechanism. The stepless adjustment mechanism includes a swing guide rod mechanism, with the upper and lower ends of the swing guide rod mechanism respectively hinged between the automatic firing mechanism and the upper shell.

[0025] Specifically, the capture net 3 and the capture rope are installed using corresponding clamping blocks. The clamping blocks are fixed in the capture and disposal mechanism by screws. The clamping blocks for installing the capture rope and the capture net 3 are only different in diameter and size, and the firing method of the two is the same. like Figure 6 and Figure 8 As shown, during the firing of the capture net 3 or the capture rope: the linear motor in the automatic firing mechanism can be used in conjunction with the firing lever to press the firing button, thereby triggering the capture net 3 or the capture rope; alternatively, the servo motor and firing arm in the automatic firing mechanism can be used in conjunction with the firing lever to press the firing button (see...). Figure 7 The triggering structure in this application can be a linear motor, a servo motor, or other mechanism capable of performing the action. The linear motor or servo motor is installed in the corresponding position of the capture and disposal mechanism by a bracket. The position and specific power components can be adjusted according to the modification or needs of the specific technicians. No further restrictions are imposed here, as long as the pressing of the trigger button can be achieved. The launching of the capture net 3 or the capture rope and the aiming of the target are controlled by the existing tracking system. By locking and tracking the target, the accuracy of the capture is ensured. The specific specification of the tracking system is not limited here. Those skilled in the art can connect the specific system specifications to the back end of the robot control platform according to actual needs to implement them. In addition, such as Figure 6 As shown, the swing guide rod mechanism in the stepless adjustment mechanism consists of a dovetail guide rail structure, an adjusting slider, and an adjusting rocker. The adjusting rocker drives the adjusting slider to slide along the dovetail guide rail structure to steplessly adjust the launch angle α. The adjusting slider has a dovetail groove structure and is clamped and fixed by fixing screws to maintain the stability of the launch angle. When the angle of the adjusting rocker is adjusted, it drives the slider to slide, thereby adjusting the launch angle of the capture and disposal device. The adjusting slider has a dovetail groove structure and is clamped and fixed by screws. To prevent the triggering of the firing button, in actual use, such as when the quadruped robot of this application is not in use, a safety pin with a pull ring can be inserted into the anti-accidental triggering position of the firing button. A safety hole can be provided through the side of the firing button, with the side of the safety hole being horizontal to the mounting surface of the firing button, for the through setting between the safety pin and the safety hole. In this setting, when the safety pin is inserted, it can abut against the mounting surface of the firing button through the side of the safety pin, which can effectively prevent the firing button from moving. The pull ring can also be secured to the device of this application by a rope (such as a steel wire rope) to prevent the safety pin from being pulled out of the safety hole and falling off.

[0026] The riot control equipment is equipped with a surround camera group 6 around its perimeter. The surround camera group 6 includes multiple cameras arranged in a ring at the same horizontal height, supporting image splicing and individual display. The visual perception mechanism includes a gimbal pod 4 and a surround-view camera group 6, which are used for video acquisition, face recognition and license plate recognition. The gimbal pod 4 in the visual perception mechanism is located at the front center of the upper structure and is equipped with a pod protective cover 11 that can be quickly disassembled and installed. The lower end of the gimbal pod 4 is equipped with a pod vibration damping structure, which includes rubber damping balls and annular metal grids for filtering vibration.

[0027] Specifically, the annular metal grid has alternating annular grid grooves to filter interference from low-frequency, high-amplitude vibrations; the rubber damping ball uses the rubber ball material and the internal cavity curve of the ball as parameters to filter interference from high-frequency, low-amplitude vibrations. In addition, the gimbal pod 4 is installed facing forward at the front of the quadruped robot's outer shell, with a centered left-right installation; the gimbal pod 4 is designed with a protective cover that can be quickly removed and installed as needed; the camera angle of the gimbal pod 4 can be rotated and adjusted as needed on the control terminal or management platform; the gimbal pod 4 has capabilities such as face recognition and license plate recognition; The surround-view camera system consists of four cameras, all mounted on the quadruped robot's outer shell. They are located on the front, rear, left, and right sides of the outer shell. Figure 1 The numbers 6-1, 6-2 and in Figure 2 As shown in labels 6-3 and 6-4; the surround-view camera devices are installed at the same horizontal height and in a horizontal direction, and can be spliced ​​together; the video images of the surround-view cameras can be displayed by the control terminal, and the display method can be either spliced ​​together or individual camera images can be displayed separately; the video images of the surround-view cameras can be used to assist remote control and can also be used for law enforcement recording.

[0028] The communication and control mechanism, including radio 5, control box 8, and / or UWB equipment 7, is used for remote communication, equipment control, and personnel tracking; the UWB equipment 7 in the communication and control mechanism includes three base stations. Figure 3 7-2 and 7-3 in Figure 4 7-1, located at the head and tail of the superstructure, is used for personnel following; the control box 8 is located on the top of the back of the superstructure, with a built-in main control module providing power and communication interfaces for each device. The auxiliary warning mechanism includes a warning light 9 for visual warning; the warning light 9 is located at the highest point of the superstructure and supports red and blue flashing modes.

[0029] Specifically, the radio 5 device is installed at the tail of the quadruped robot's upper shell. The radio 5 device has remote communication capabilities. Through the radio 5 device, the movement of the quadruped robot and the control of the upper equipment can be remotely controlled via a terminal at a distance of >1km, such as the striking and firing of the capture net 3 device and the angle rotation control of the pod gimbal. The three base stations of UWB device 7 are installed at the head and tail of the upper structure, one at the head and two at the tail. The UWB base station at the head faces forward, while the UWB base stations at the tail are symmetrically installed to the left and right. The UWB base station equipment on the quadruped robot, together with the UWB beacon carried by the operator or police officer, can enable the quadruped robot to follow the person and carry out patrols. The control box 8 is located directly above the back of the quadruped robot. The control box 8 provides power supply, control, and communication interfaces for the various devices mounted on the robot. The control box 8 is internally designed with a main control module, which provides the computing power foundation for the various devices installed on it. The main control module is existing technology. In this application, it is sufficient to provide computing power and control functions for each device on the upper part. The main computing power it provides is for the capture distance of the capture net 3, the firing time of the automatic firing mechanism, the synthesis of video captured by each camera, and the capture of the captured object.

[0030] Warning light 9 is located at the very top of the quadruped robot's outer shell. Its top position ensures that it can be seen from all directions, thus playing a better deterrent role. Warning light 9 has a red and blue flashing mode, which can flash when the quadruped robot is performing a task.

[0031] One specific implementation example is used for dispersing and educating people who have illegally gathered: At an illegal assembly in a square, where police forces were unable to control the gathering at close range, a riot control quadruped robot was remotely deployed to the scene. It played loud audio to disperse the crowd via a sound-emitting device 1, while simultaneously activating a flashing light mode on a high-intensity light device 2 to create an audiovisual deterrent. The robot transmitted real-time video feeds from the scene via a gimbal pod 4 and performed facial recognition to identify key individuals. If further control was needed, a capture net 3 could be activated to make a non-lethal arrest of the target. The entire process was remotely controlled from the command center via radio 5, ensuring the safety of the officers.

[0032] Another implementation, used for nighttime patrols and suspect tracking: During nighttime security patrols, the robot activates the surround-view camera group 6 for 360° environmental monitoring and follows police officers via UWB device 7. When a suspicious vehicle is detected, the gimbal pod 4 automatically recognizes the license plate and compares it with the database. If the vehicle is identified as involved in a case, the robot activates the warning lights 9 and the high-intensity light mechanism 2 to illuminate the vehicle and prevent its escape. At the same time, the robot transmits video and location information in real time via radio 5 to support the police force in quickly encircling the suspect. If the suspect abandons the vehicle and tries to escape, the robot can fire a button to activate the capture net 3 for interception, effectively assisting in the arrest operation.

[0033] The above embodiments are only used to illustrate the present utility model and are not intended to limit the technical solutions described in the present utility model. Although the present utility model has been described in detail with reference to the above embodiments, the present utility model is not limited to the specific embodiments described above. Therefore, any modifications or equivalent substitutions to the present utility model, and all technical solutions and improvements that do not depart from the spirit and scope of the utility model, are covered within the scope of the claims of the present utility model.

Claims

1. A riot control quadruped robot, characterized in that, It includes a general-purpose quadruped robot mobile platform and an anti-riot disposal upper structure integrated on its back; the anti-riot disposal upper structure includes one or more of the following: a sound-generating mechanism (1), a high-intensity light mechanism (2), a capture and disposal mechanism, a visual perception mechanism, a communication and control mechanism, and an auxiliary warning mechanism: A sound-emitting device (1) is used to emit sounds to disperse crowds or to play audio for advertising. The high-intensity light mechanism (2) is located on the unobstructed front side of the upper garment and has multiple light-emitting modes; The capture and disposal mechanism includes a capture net (3) that can be quickly disassembled and installed at an upward angle and / or a capture rope and an automatic firing mechanism; The visual perception mechanism includes a gimbal pod (4) and a surround-view camera group (6) for video acquisition, face recognition and / or license plate recognition; Communication and control mechanisms, including radios (5), control boxes (8) and / or UWB devices (7), for remote communication, equipment control and / or personnel following; Auxiliary warning mechanisms, including warning lights (9), are used for visual warning.

2. The riot control quadruped robot as described in claim 1, characterized in that, At least two speakers in the sound-generating mechanism (1) are arranged at the front of the upper part, in a symmetrical or angled distribution to expand the sound coverage range.

3. The riot control quadruped robot as described in claim 1, characterized in that, The high-intensity light mechanism (2) includes switchable high-brightness mode, low-brightness mode, strobe mode and slow-flash mode.

4. The riot control quadruped robot as described in claim 1, characterized in that, The automatic firing mechanism is movably mounted on the upper housing. The automatic firing mechanism includes a firing button and a triggering structure. The triggering structure includes a linear motor and a firing lever or a servo motor and a firing arm for triggering the firing button.

5. The riot control quadruped robot as described in claim 1, characterized in that, The capture and disposal mechanism also includes a stepless adjustment mechanism for adjusting the firing angle of the automatic firing mechanism. The stepless adjustment mechanism is located between the upper housing and the automatic firing mechanism. The stepless adjustment mechanism includes a swing guide rod mechanism, with the upper and lower ends of the swing guide rod mechanism respectively hinged between the automatic firing mechanism and the upper housing.

6. The riot control quadruped robot as described in claim 1, characterized in that, The gimbal pod (4) in the visual perception mechanism is located at the front center of the upper structure and is equipped with a pod protective cover (11) that can be quickly disassembled. The lower end of the gimbal pod (4) is provided with a pod vibration damping structure, which includes rubber damping balls and annular metal grids for filtering vibration.

7. The riot control quadruped robot as described in claim 1, characterized in that, The riot control equipment is equipped with a surround-view camera group (6) around its perimeter. The surround-view camera group (6) includes multiple cameras arranged in a ring and installed at the same horizontal height, supporting image splicing and individual display.

8. The riot control quadruped robot as described in claim 1, characterized in that, The UWB device (7) in the communication and control mechanism includes three base stations, which are installed at the head and tail of the upper structure respectively, for the purpose of enabling personnel to follow.

9. The riot control quadruped robot as described in claim 1, characterized in that, The control box (8) is located directly above the back of the upper structure and has a built-in main control module that provides power and communication interfaces for each device.

10. The riot control quadruped robot as described in claim 1, characterized in that, The warning light (9) is located at the highest point of the upper structure and supports red and blue warning light flashing mode.

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