208 results about "PatrolBot" patented technology

The invention discloses an internet of things-based intelligent building monitoring managing system, which mainly realizes remote monitoring and managing on an intelligent building. The system comprises four parts of a building equipment managing system, a firefighting linkage alarm system, a positioning navigation system and a security system; the building equipment managing system realizes concentrated managing on building equipment based on a tree cluster network established by an intelligent sensor module; the firefighting linkage alarm system adopts an optimized A*algorithm to search for an optimal fire escape path; the positioning navigation system is achieved by a mobile navigation robot covering floors of the building, and if a user inputs a destination, the navigation robot directly inserts virtual scene information into a reality scene, and displays a direction mark; the security system is realized by a mobile patrolling robot based on a GPS/DR combined navigation technology, and an intruder is alarmed after being found, the current intelligentized managing requirements of the building are met and the system is suitable for a high-rise building such as a commercial building with a large scale.

The invention relates to a scheduling method and system for multiple patrol robots. The scheduling method and system for the multiple patrol robots are used for managing and scheduling systems for the multiple patrol robots. The method mainly comprises the steps that a space database based on a target region is built for map data, three-dimensional data and attribute data; a patrol robot database and a sensitive information database are built; the patrol robots are deployed in the target region; overall situation route planning is conducted on the patrol robots; the patrol robots monitor the target region to judge whether emergencies occur; according to the monitored emergencies, the patrol robots send alarm signals to a control room; finally, according to the alarm signals, the patrol robots are reasonably scheduled, and scheduling information is released in a three-dimensional GIS. According to the scheduling method based on the three-dimensional GIS, multi-angle, comprehensive and three-dimensional management and scheduling on the patrol robots are achieved, and effective and timely monitoring is dynamically conducted on the target region in real time.

The invention discloses an intelligent charging method. The intelligent charging method includes detecting state of charge of a patrol robot; sending a pre-charge request when the detected state of charge is lower than the set threshold value; establishing the marriage relation according to the received per-charge request; verifying identity of the patrol robot within the charging range based on the established marriage relation; starting a charging power supply for the verified patrol robot. According to the arrangement, special charging request of the patrol robot is met through methods including charging reserve and start and stop controlling of the charging power supply, the problem that multiple patrol robots need to be charged is solved, low-carbon and energy-saving effect is achieved, wireless charging technology is adopted, charging efficiency is improved, and element cost is lowered; manual work is free during the whole charging of the patrol robot, and the actual automation and intelligentization is realized. The invention further provides an intelligent charging system, the patrol robot and the charging power supply.

The invention discloses a patrol robot, which comprises a robot main body, a moving device connected with the robot main body and used for advancing of the patrol robot, an execution mechanism for driving the moving device, and a sound monitoring module arranged in the robot main body, wherein the sound monitoring module is used for acquiring and storing sound data, screening the sound data according to the abnormality rules and processing the sound data in accordance with the abnormality rules to acquire the azimuth of a sound source; and the moving device moves according to the azimuth of the sound source. Moreover, the invention also provides an early warning system based on the patrol robot, and a monitoring method of the patrol robot. According to the patrol robot, the early warning system and the monitoring method of the patrol robot, because sound is adopted for monitoring, the limitation of shooting conditions and visual angles can be neglected, and the abnormal condition that the video cannot be monitored due to the limitation of a dead zone can be monitored.

The invention provides a multifunctional patrol robot with an independent map building function and an independent wireless charging function, and belongs to the technical field of robots. The robot comprises a robot body and a movable chassis, wherein the robot body is arranged on the movable chassis; a Kinect sensor, a horn, a combustible gas sensor and a fire smoke sensor are arranged on the outer part of the robot body; the movable chassis is moved by dual motors arranged in the movable chassis; and the robot body internally comprises a main control module, a network and wireless communication module, a motor drive module, an independent wireless charging module, a voice playing module, an intelligent identifying module, a combustible gas alarm module, a fire smoke alarm module and the like. The robot has the independent map building function and the self-charging function, and can independently go on patrol and work for a long time in an unfamiliar environment; and the robot is combined with internet of things, so that the service of the robot is increased; and the robot is more intelligent and user-friendly by virtue of a navigation module and the independent wireless charging module.

The invention relates to an intelligent security robot which solves the problems of the prior art. The intelligent security robot has the technical scheme points that a safety precaution patrolling robot is in communication connection with a customer terminal; the customer terminal is connected with a server of the safety precaution patrolling robot through a network; and an underground charging point is arranged at a working place of the safety precaution patrolling robot and is matched with an automatic charging interface. The intelligent security robot is characterized by comprising a mobile platform, a car body and a holder, wherein the mobile platform comprises a car frame, a steering module, a drive module, a drive wheel, a differential mechanism, the automatic charging interface anda charging socket; an electric control processing module and a battery are arranged in the car body; the steering module is arranged on the front part of the car frame; the drive module is fixed ontothe car frame; the differential mechanism is fixed to the rear part of the car frame; and the drive module is connected with the drive wheel through the differential mechanism.

The invention relates to a night patrol robot automatic tracking method, by which the robot performs automatic patrol along a matching tracking line paved on a ground. The night patrol robot automatic tracking method comprises: the robot performs initialization; a grayscale sensor installed on the bottom of the robot and an illumination device contained by the grayscale sensor finish the detection for the matching tracking line; the robot obtains a moving result according to the detection data and a tracking algorithm; the robot performs automatic patrol moving according to the moving result; the average value of a black-white grayscale value is picked as an identification black-white critical value in the tracking algorithm; and white is identified when the grayscale value is higher than the black-white critical value, and the black is identified when the grayscale value is lower than the black-white critical value. The moving result comprises left advertence, right advertence, going straight, left turning and right turning. Through reasonable design of the black-white track pavement method and gray sensor installed on the bottom of the robot, and by combining with the corresponding tracking algorithm, the night patrol robot automatic tracking method enables the robot to accurately and stably track in the night environment.

The invention discloses a patrol robot and a patrol robot management system. The patrol robot comprises a robot body and a control system arranged on the robot body. The control system comprises a main control module, an image processing module and an image acquisition device. The main control module is electrically connected with the image processing module. The image processing module is electrically connected with the image acquisition device. The image acquisition device comprises a dome camera arranged in an accommodating cavity. The image processing module comprises a behavior recognition unit used for recognizing abnormal behaviors of pedestrians according to an environment image acquired by the image acquisition device and generating pedestrian abnormal behavior recognition information. The main control module is used for sending the pedestrian abnormal behavior recognition information to the patrol robot management system. The patrol robot can acquire image information in a patrol area, analyze and recognize abnormal emergencies, assist in effective and real-time monitoring and meet the security requirements of large-flow people and logistics places.

The invention discloses a patrol robot. The robot comprises a line patrol module (2), a master controller (1), a moving mechanism (3), a sweeping mechanism (4), a watering mechanism (5), a dust sucking mechanism (6), a camera (7), a wireless transmission module (8) and an obstacle avoiding module (9). According to the patrol robot in the embodiment manner, independent running can be completed through line patrol, real-time images of a monitoring area are obtained through the camera, and are uploaded to the remote monitoring system through the wireless transmission module, and the patrol function is achieved. At the same time, ground cleaning work is completed jointly through the sweeping mechanism, the dust suction mechanism and the watering mechanism in the process of patrol monitoring.

A campus night safety patrol robot comprises a four-wheel trolley used for walking and serving as a main bearing body, and a single chip microcomputer control module with a single chip microcomputer STM32 as the center, an environment monitoring module, a driving module, an alarm module, a GPRS wireless communication module and a power source are arranged in the four-wheel trolley, wherein the environment monitoring module, the driving module, the alarm module, the GPRS wireless communication module and the power source are connected with the single chip microcomputer control module and arranged on the four-wheel trolley; and the power source supplies power to the single chip microcomputer control module, the alarm module and the driving module. The campus night safety patrol robot is simple in structure, reasonable in design, high in antijamming capability and capable of completing campus safety patrol work, workloads of a worker are reduced, and the working efficiency is improved.

The invention relates to a patrol robot. The patrol robot comprises a camera device, a walking drive device, an alarm apparatus and a controller. The camera device, the walking drive device and the alarm apparatus are connected to the controller. The camera device is used for acquiring image data in real time. The walking drive device is used for driving the patrol robot to move. The alarm apparatus is used for emitting an alarm signal. The controller is used for carrying out image identification according to the image data so as to identify a dangerous object. And the controller is also used for making the walking drive device drive the patrol robot to move towards the dangerous object after the dangerous object is identified, and making the alarm apparatus emit an alarm signal after the patrol robot moves into a set area. The dangerous object is in the set area. When discovering the dangerous object, the patrol robot can move towards the dangerous object and emits the alarm signal so as to prompt surrounding persons to leave a dangerous area and deter the dangerous object. Therefore, the patrol robot can timely intervene in a generation site of an accident so as to mitigate damages brought by the accident.

The invention discloses a community safety alarm method and a patrol robot. The community safety alarm method comprises the steps of judging whether environment noise is larger than a set threshold value or not, if yes, calculating the actual position of a sound source according to the position, relative to the patrol robot, of the sound source and the position of the patrol robot in the current environment, and sending the actual position of the sound source to a remote monitoring end. By means of the community safety alarm method, the happening site of an accident can be accurately positioned, safety protection workers are informed in time to handle the accident, and the personnel and property losses are reduced.

The invention discloses a patrol robot and a control system thereof. The patrol robot comprises an embedded gateway and a terminal control chip connected with the embedded gateway, wherein the embedded gateway is used for data acquisition, analysis and transmission, and the terminal control chip is used for controlling a patrol robot terminal. The embedded gateway and the terminal control chip are connected to form the control system of the patrol robot, the complexity and error rate of robot control are reduced, control on the patrol robot terminal and control on other modules are not influenced mutually, the phenomenon that other work of the patrol robot is influenced when a control terminal of the patrol robot breaks down is avoided, and detection, maintenance and replacement of the control portion of the patrol robot are also facilitated.

The invention discloses an extensible multi-robot patrol method. When additional patrol robots join or the patrol robots quit from a patrol area, patrol subarea and patrol area can be automatically adjusted for each patrol robot in the patrol area. The patrol area can be fully monitored by automatically adjusting the patrol subarea and patrol area for each patrol robot in the patrol area, patrol dead space in the patrol area caused by quitting of the patrol robots is prevented, resource waste in patrol area overlapping caused by the joining of additional patrol robots is also avoided, and patrolling is more effective. In addition, the invention discloses an extensible multi-robot patrol system.

The invention discloses a design method of a patrol robot full-coverage traversal path planning algorithm. The method includes the following steps that: a one-dimensional Chebychev mapping is selectedas a chaotic dynamic equation, and inverse sine transformation is utilized to improve the chaotic characteristic and uniform characteristic of the chaotic dynamic equation; two inverse sine-improvedone-dimensional Chebychev mapping equations are adopted to construct a two-dimensional chaotic path planner; the patrol area of a robot is decomposed into traversable sub-regions and obstacle regions;transition sub-regions re established, and a transition algorithm is designed; the traversable sub-regions in the patrol area are connected to form a traversal sequence diagram; the patrol robot full-coverage traversal path planning algorithm is designed according to the traversal sequence diagram and the transition algorithm, and the patrol robot full-coverage traversal path planning algorithm can be used for completing a patrol task. The algorithm of the invention has the advantages of simplicity, low repetition rate and high coverage rate, and can ensure the randomness and unpredictabilityof the patrol task while ensuring full coverage of the patrol area.

The invention discloses an automatic patrol robot. The automatic patrol robot comprises a robot body, a ground driving device arranged at the bottom of the robot body, and a control interaction device, a path safety automatic judging device, a function actuator, a positioning navigation device and an energy storage and supply device which are arranged on the robot body, wherein the control interaction device is connected with the ground driving device, the path safety automatic judging device, the positioning navigation device, the function actuator and the energy storage and supply device respectively; the power is supplied to the ground driving device, the path safety automatic judging device, the function actuator, the positioning navigation device and the control interaction device by the energy storage and supply device. According to the automatic patrol robot, patrol can be carried out on any needed road or ground according to a pre-set instruction or an instruction of a background control center, and acquisition of real time data and samples can be carried out in a dangerous place.

The invention discloses an intelligent community security protection system. The system comprises an automatic patrol robot, an analysis management system and an alarm system. The automatic patrol robot is used for real-time monitoring in a community, the analysis management system comprises a main management system and a subsystem connected with the main management system for determining danger information, and the alarm system includes a warning device and a first terminal; the main management system is respectively connected to the automatic patrol robot, the warning device and the first terminal. The system performs real-time monitoring information of the community through the automatic patrol robot, and performs risk determination on the monitored information through the analysis management system, for the information of which the judgment result is dangerous, the analysis management system performs an alarm through the alarm system, and transmits the processing information to thefirst terminal, and security personnel timely deal with problems occurring in the community according to the processing information on the first terminal carried by the security personnel, thereby achieving intelligent security protection of the community.

The invention discloses an outdoor patrol robot with a damping device. The outdoor patrol robot includes a vehicle body, a driven wheel assembly and a driving wheel assembly. The driven wheel assemblyand the driving wheel assembly are mounted at the bottom of the vehicle body through damping assemblies respectively. Each damping assembly includes an upper connecting frame connected with the vehicle body and a lower connecting frame connected with the driving wheel assembly or the driven wheel assembly. A buffer assembly is disposed between the upper connecting frame and the lower connecting frame. The vehicle body is further provided with an environment detection unit, a visual unit and a communication unit. The outdoor patrol robot with the damping device is provided with the damping assemblies. On the one hand, shock can be effectively absorbed, and image collection stability of the visual unit is ensured; on the other hand, a driving wheel and a driven wheel can effectively adhereto the ground under the conditions of road unevenness, and the over-obstacle capacity of the robot is ensured.

The invention provides a double-camera three-dimensional recognition patrol robot which comprises a pair of cameras, a positioning module, a video processing module and a central control module. The cameras are separated from each other by a certain distance, are arranged on the patrol robot and are used for acquiring image information of forward obstacles; the positioning module is used for acquiring positional information of the patrol robot; the video processing module is used for computing scene depth difference between every two corresponding feature points on the image information according to imaging distances of the two feature points in each camera and the fixed distance between the two cameras; the central control module is used for acquiring three-dimensional information of the forward obstacles according to the scene depth difference between every two corresponding feature points in the forward image information and adjusting patrol tracks of the patrol robot according to the positional information. The double-camera three-dimensional recognition patrol robot has the advantages that depth difference between every two corresponding feature points is computed, the three-dimensional information of the forward obstacles is acquired, and accordingly foundations can be laid for patrol robot navigation; the position of a body of the patrol robot can be acquired, and accordingly the patrol tracks can be planned and adjusted again for the forward obstacles.

The invention discloses a long-time face tracking method based on an intelligent cloud platform of a patrol robot. The method comprises the steps that an adaboost face detection module is used to carry out face detection in a region of interest in an input video image frame; a detected face is initialized; a face tracking module tracks the initialized face, and if tracking is effective, a face template updating module is started to update a face template; and if tracking is ineffective, a template matching face detection module is started to carry out template matching detection of the detected face. According to the invention, the face is detected in higher instantaneity, the modules are tracked and learnt, the speed is higher, a target which is lost in tracking can be relocated, the face can be tracked in long time, and multi-target tracking is in real time.

The invention discloses a control method and system of patrolling robots used for meeting security. The control method comprises the steps that the first patrolling robot is controlled to reach all patrolling points on a preset patrolling path along the preset patrolling oath, and the pedestrian volume of each patrolling point is obtained; the priorities of the patrolling points are classified according to the pedestrian volumes of the patrolling points; a patrolling path and a patrolling time on each patrolling point are planed according to the patrolling priorities of the patrolling points;and the second patrolling robot is controlled to reach all the patrolling points on the patrolling path along the patrolling path and to detect exceptional events on each patrolling point by the corresponding patrolling time, and an alarm is sent to a preset terminal when an exceptional event is detected on a certain patrolling point.

The invention provides an industrial patrol robot system. According to the system, through utilization of an infrared photographing collection unit, when a patrol robot patrols in the night, if a person enters a patrol region, an image of the current staff can be collected. Through utilization of an image processing unit and an image analysis unit, whether the current staff is an enterprise internal staff or not can be judged. When it is judged that the current staff is the enterprise internal staff, a moving path of the enterprise internal staff is generated through utilization of a moving path generation unit. Through utilization of an abnormal condition reporting unit, when the moving path of the enterprise internal staff is different from a path usually moved by the enterprise internalstaff to own office, it is identified that the enterprise internal staff carries out an abnormal action in the night, and current time, information of the enterprise internal staff and the moving path are reported to a security protection system of an enterprise and are preserved as evidences.

The invention discloses a retractable multirobot patrol method. According to the retractable multirobot patrol method, when the area of a patrol region is changed, the patrol area and patrol subregions of patrol robots within the patrol region can be automatically adjusted; and the patrol region can be completely monitored by automatically adjusting the patrol area and patrol subregions of the patrol robots within the patrol region, so that the condition that the patrol effect influenced because a part of the patrol region can not be patrolled when the patrol region is amplified can be prevented, and the condition that the resource waste is wasted because a part of the patrol robots are idled when the area of the patrol region is reduced. In addition, the invention also discloses a retractable multirobot patrol system.

The invention discloses a bird repelling method based on a patrol robot and a bird repelling method thereof. The bird repelling method comprises following steps: setting the frequency range of a birdrepelling terminal and bird repelling audio in advance; monitoring the birds in an area to be monitored in real time, delivering the result to a desktop control center; after the result is received bythe desktop control center, carrying out corresponding judging; determining whether the result is in a preset range or not; examining the bird repelling result in real time by a judging unit; stopping bird repelling if the bird repelling effect is good; and changing the bird repelling mode when the bird repelling effect is bad. The provided bird repelling method can overcome the shortage that inthe prior art, the audio bird repelling effect cannot last for a long term. At the same time, the provided bird repelling method can judge the bird repelling effect and gives an alarm, the real time bird repelling effect is guaranteed, and the safety of an airport is greatly improved. The disclosed bird repelling device comprises a remote expert analyzing module, when birds are not in the preset range, artificial analysis and judgment can be realized, and the birds can be precisely repelled.