CN106737752A - A kind of remote monitoring robot - Google Patents
A kind of remote monitoring robot Download PDFInfo
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- CN106737752A CN106737752A CN201710041958.9A CN201710041958A CN106737752A CN 106737752 A CN106737752 A CN 106737752A CN 201710041958 A CN201710041958 A CN 201710041958A CN 106737752 A CN106737752 A CN 106737752A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6887—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient mounted on external non-worn devices, e.g. non-medical devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/74—Details of notification to user or communication with user or patient ; user input means
- A61B5/746—Alarms related to a physiological condition, e.g. details of setting alarm thresholds or avoiding false alarms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/063—Safety devices working only upon contact with an outside object
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Health & Medical Sciences (AREA)
- Surgery (AREA)
- Medical Informatics (AREA)
- Veterinary Medicine (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Physics & Mathematics (AREA)
- Molecular Biology (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Nursing (AREA)
- Physiology (AREA)
- Alarm Systems (AREA)
Abstract
The present invention relates to a kind of remote monitoring robot, including robot body and the life physical sign monitoring device and remote alarming device that are attached on robot body, the robot body is made up of walking mechanism, robot fuselage, walk driving circuit, master controller, motion sensor group and robot electric supply installation, walking mechanism includes chassis, buffer unit and multiple road wheels, the life physical sign monitoring device uses contactless humanbody life physical sign monitoring device, the device to be made up of radar detection antenna, radar circuit, signal processing circuit.The beneficial effects of the present invention are, there is provided it is a kind of it is easy to use, can remote monitoring and safe and reliable remote monitoring robot.
Description
Technical field
The present invention relates to a kind of remote monitoring robot.
Background technology
With the arrival of aging society, elderly population increase fast, and aging, empty nesting trend are substantially, it is necessary to take care of
Half disability old man is more and more.Due to the fierceness of social competition, work and the quickening of rhythm of life, people have no time to look after it is old or
Sick and weak relatives, the nursing of old, sick and weak colony has become a thorny social concern.Therefore, substantial amounts of health
Monitoring product arises at the historic moment, and the various monitors based on basic human body physiological parameter detecting come into the life of people.Especially
With the successive exploitation of the development of microelectric technique and electromechanical integration, particularly new generation sensor part, multifunctinoal health shape
The performance of state detector becomes relatively reliable, and function is more perfect, for the domestic medicine monitoring of people provides great convenience.
It is Application No. 2006100148831, entitled《Portable, multiple parameter custodial care facility》Invention, disclosing one kind can
So that by the device of GPRS communication network transmission patient's physiologic informations, remotely monitor is using sensings such as cardiac diagnosis lead, pulse probes
Device gathers the physiologic information of patient.But, the described physiological information sensor of this invention uses traditional sensor technology, these
Sensor is laid in patient body privileged site, and its connection cables can also cause winding to limbs, old to need to guard all the year round
Year, sick and weak object bring inconvenience.At present, known most of physiological parameter tele-care device is similar with this inventive technique.
It is Application No. 2004100887492, entitled《A kind of contactless aroused in interest and breathing detection technology》Invention, profit
Human heartbeat and breathing are measured with pressure sensor, patient can break away from sensor laying on body, but must rely on
Detection could be realized on a mattress or back cushion for having disposed pressure sensor, this invention still limits monitored personnel's body
The freely activity of body.
It is Application No. 02224624X, entitled《Radar non-contact life parameter detecting device》Invention, using radar
The body fine motion that technology detection human body respiration, pulse cause, the non-contact monitoring human body major vital in the range of certain distance
Parameter, has broken away from traditional sensors and has laid the winding of human body and its connection cables to limbs, but this disclosure of the invention is only to give birth to
Life parameter detection device circuit structure in itself, be not directed to detection device from motion tracking, long distance monitoring technology, have in practical
Inconvenience.
In recent years, the development of robot technology brings the method for operation of new opportunity, its hommization to obtain to monitoring technology
The favor of people.It is Application No. 038229145, entitled《Medical tele-robotic system》Invention, disclose one kind and pass through
The system that robot remote guards patient, using broadband networks, camera, monitor technology, remotely located care provider
It can be seen that the image of patient, case history, also remote-controlled mobile robot prompting patient's medication.But medical tele-robotic system only with
Based on monitoring remote video, autonomous detection to children under guardianship's life parameters is not implemented, it is impossible to when realizing vital sign abnormalities
Automatic alarm.
The content of the invention
In view of the above-mentioned problems in the prior art, the defect it is a primary object of the present invention to solve prior art,
The present invention provide it is a kind of it is easy to use, can remote monitoring and safe and reliable remote monitoring robot.
The invention provides a kind of remote monitoring robot, including robot body and it is attached on robot body
Life physical sign monitoring device and remote alarming device, the robot body is by walking mechanism, robot fuselage, hoofing part electricity
Road, master controller, motion sensor group and robot electric supply installation composition, wherein：
The walking mechanism includes chassis, buffer unit and multiple road wheels, and the chassis is arranged on the robot
Fuselage bottom, the multiple road wheel is arranged on the bottom on the chassis, and the buffer unit is arranged on the robot fuselage
Between bottom and the chassis upper surface, wherein, the buffer unit includes cushioning supportive plate and multiple first buffer springs,
The cushioning supportive plate is arranged on the robot fuselage bottom, and the robot fuselage, cushioning supportive plate and chassis pass through
Multiple guide pillar connections, the multiple first buffer spring is uniformly arranged on the cushioning supportive plate lower surface with the chassis upper table
Between face, the road wheel center is provided through support shaft, the support shaft by be arranged on its both sides first support and
Second support is fixedly connected with the chassis；
The life physical sign monitoring device uses contactless humanbody life physical sign monitoring device, and the device is by radar detection
Antenna, radar circuit, signal processing circuit composition, the robot body are also additionally arranged human body tracking circuit, are used to control thunder
Human body is directed at all the time up to exploring antenna, and control robot body keeps setpoint distance with human body；
The radar detection antenna of the noncontact life physical sign monitoring device uses directional aerial, radar detection antenna or thunder
Combiner up to exploring antenna circuit Integral design associated therewith is installed on the top of robot body；
The remote alarming device is made up of monitoring warning circuit and radio communication circuit, by wireless communication networks with language
Sound or short message mode send alarm signal to the monitoring phone of setting；
The robot body is provided with remote network video monitoring device, and remote network video monitoring device is by video camera
Component, microphone, video encoding circuit, network communications circuits composition, network communications circuits are accessed by wireless network circuit
Internet, the camera assembly is arranged on the upper end of the radar detection antenna, and the microphone is arranged on the robot
Fuselage roof, and positioned at radar detection antenna lower section.
Optionally, the monitoring warning circuit also can connect network communications circuits, alarm signal by master controller simultaneously
Processed through packing, by the computer or intelligent terminal of the Internet transmission to distal end.
Optionally, when the camera assembly for being installed on robot body configures head, radar detection antenna or radar are visited
The combiner of observation line circuit Integral design associated therewith, keeps linking, so that alignment is guarded simultaneously with camera pan-tilt
Object.
Optionally, when the camera assembly configures head, master controller connection cradle head control circuit, human body tracking electricity
The control signal on road controls head from motion tracking first, when angle is tracked beyond certain limit, then controls robot body certainly
Motion tracking.
Optionally, master controller network-connectable telecommunication circuit, walk driving circuit, cradle head control circuit, care provider
Using PC or intelligent terminal, by the movement of broadband network monitoring and remote-controlled machine human body and camera pan-tilt.
Optionally, the multiple road wheel is four road wheels, is separately positioned on the corner on the chassis.
Optionally, the robot fuselage left lower and lower right side are respectively arranged with the first protector and second
Protector.
Optionally, the chassis left side and right side are respectively arranged with the first collision prevention device and the second collision prevention device, institute
The first collision prevention device and the second collision prevention device is stated to be fixedly connected with the chassis by fastening bolt respectively.
Optionally, the guide pillar upper end is fixedly connected with the robot fuselage, and the guide pillar runs through the cushioning supportive
Plate and the chassis, the guide pillar lower end are attached by fastening nut with the chassis, and second is arranged with the guide pillar
Buffer spring.
Optionally, the buffer unit also includes sealing device, and the sealing device is close including the first sealing gasket and second
Packing, first sealing gasket is arranged on the left side between the cushioning supportive plate and the chassis, and second sealing gasket sets
The right side between the cushioning supportive plate and the chassis is put, and the multiple first buffer spring is arranged at described first
Between sealing gasket and the second sealing gasket.
The present invention has advantages below and beneficial effect：
1st, the present invention can automatically or remote tracking guardianship, and the non-contact monitoring prison in scope separated by a distance
The major vital sign of object is protected, people under the guardianship can be freely movable within the specific limits, has broken away from traditional monitor device to quilt
The action limitation of care provider, when surveyed vital sign parameter is abnormal, can be automatically by existing mobile communications network and interconnection
Net sends emergency signal to distal end；
2nd, the long distance monitoring of solitary old, sick and weak colony is the composite can be widely applied to, is aging, fast pace society
Under domestic medicine nursing provide greatly facilitate；
3rd, the walking mechanism that the present invention passes through setting, and the walking mechanism includes chassis, buffer unit and multiple walkings
Wheel, and first protector and the second protector of the robot fuselage left and right sides are arranged on, while chassis left side and the right side
Side is respectively arranged with the first collision prevention device and the second collision prevention device, can make the remote monitoring robot have damping, buffering with
And the function of anticollision, so that the target of more safe and reliable long distance monitoring is realized, while extending the remote monitoring robot
Service life, and then improve the utilization ratio of the remote monitoring robot.
Brief description of the drawings
Fig. 1 is the structural representation of remote monitoring robot of the invention；
Fig. 2 is the theory diagram of remote monitoring robot of the invention.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Present invention implementation generally described and illustrated in accompanying drawing herein
The component of example can be arranged and designed with a variety of configurations.Therefore, reality of the invention below to providing in the accompanying drawings
The detailed description for applying example is not intended to limit the scope of claimed invention, but is merely representative of selected implementation of the invention
Example.Based on the embodiment in the present invention, what those of ordinary skill in the art were obtained under the premise of creative work is not made
Every other embodiment, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", D score, "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outward " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify describe, rather than indicate imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.Additionally, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicating or implying relative importance.
In the description of the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or one
The connection of body ground；Can mechanically connect, or electrically connect；Can be joined directly together, it is also possible to indirect by intermediary
It is connected, can is two connections of element internal.For the ordinary skill in the art, can manage as the case may be
Solve above-mentioned term concrete meaning in the present invention.
The present invention is further illustrated with specific embodiment below with reference to accompanying drawings.
As shown in Fig. 1 to 2：A kind of remote monitoring robot of the embodiment of the present invention, including robot body and set up
In life physical sign monitoring device and remote alarming device on robot body, robot body is man-machine by walking mechanism, machine
Body 2, walk driving circuit 19, master controller 8, motion sensor group 18 and robot electric supply installation composition, robot fuselage 2
Radar detection antenna 3 and camera assembly 4 are mounted with the head 5 on top, both and head synchronous axial system, it is ensured that radar detection
Antenna 3 is directed at guardianship simultaneously with camera assembly 4, wherein：Walking mechanism includes chassis 31, buffer unit and multiple rows
Wheel 1 is walked, chassis 31 is arranged on the bottom of robot fuselage 2, and multiple road wheels 1 are arranged on the bottom on chassis 31, and buffer unit is set
Between the bottom of robot fuselage 2 and the upper surface of chassis 31, the buffer unit is used to improve the remote monitoring robot in walking
During damping, buffering performance, preferably to realize the target of long distance monitoring, wherein, buffer unit include cushioning supportive plate 25
And multiple first buffer springs 30, cushioning supportive plate 25 is arranged on the bottom of robot fuselage 2, robot fuselage 2, cushioning supportive
Plate 25 and chassis 31 pass through multiple guide pillars 32 and connect, and multiple first buffer springs 30 are uniformly arranged on the following table of cushioning supportive plate 25
Between face and the upper surface of chassis 31, the center of road wheel 1 is provided through support shaft 36, and support shaft 36 is by being arranged on its both sides
First support 34 and second support 35 are fixedly connected with chassis 31, first support 34 and second support 35 respectively by bolt 33 with
Chassis is fastenedly connected, and facilitates the maintenance or replacing of later stage road wheel；Life physical sign monitoring device uses contactless humanbody life
Semiotic monitor, the device is made up of radar detection antenna 3, radar circuit 9, signal processing circuit 10, and robot body is also
Human body tracking circuit 17 is additionally arranged, human body is directed at all the time to control radar exploring antenna 3, control robot body is protected with human body
Hold setpoint distance；Remote alarming device is made up of monitoring warning circuit 11 and radio communication circuit 12, by wireless communication networks
Alarm signal is sent to the monitoring phone of setting with voice or short message mode；Robot body is provided with remote network video monitoring
Device, remote network video monitoring device is by camera assembly, microphone 6, video encoding circuit, network communications circuits group
Into network communications circuits access internet by wireless network circuit, and camera assembly 4 is arranged on the upper of radar detection antenna 3
End, microphone 6 is arranged on robot fuselage roof, and positioned at the lower section of radar detection antenna 3 and the top of head 5.
In the embodiment of the present invention, robot electric supply installation includes power control circuit 15 and batteries and charge and discharge control
Circuit 16, batteries and charge-discharge control circuit 16 are made up of batteries and its charge and discharge control circuit, and circuit is supervised automatically
Accumulator charging and discharging state is surveyed, it is necessary to be alarmed by external sound or light indicator when charging, is reminded and is charged in time, after charging complete
It is automatically stopped and charges and by external sound or light indicator for displaying.Also provided with external automatic charging socket, when needing to charge, lead to
The related sensor crossed in motion sensor group 18, detection, identification charger position, through master controller 8 and walk driving circuit
19 control can walking mechanism, before automatic moving to cradle, realize automatic charging.Power control circuit 15 is from batteries and fills
Charge/discharge control circuit 16 obtains power supply, and under the management of the pre-set programs of master controller 8, management each several part circuit, equipment are powered
The state such as switching and dormancy, wake-up, battery saving mode.
Contactless humanbody life physical sign monitoring device in the present embodiment is by radar detection antenna 3, radar circuit 9, letter
Number process circuit 10 is constituted, and radar detection antenna 3 here uses microwave directional aerial, and radar detection antenna 3 can be with radar electricity
The Integral design of road 9, its combiner is installed on the head 5 on robot body top together with camera assembly 4.Radar circuit
9 mainly include local oscillated signal source and its power amplifier, directional coupler and circulator, echo amplifier, frequency mixer and mixed
Audio signalprocessing circuit.Local oscillated signal forms transmitted wave through power amplifier, directional coupler and circulator, radar detection antenna 3
Beam, shines directly into the human body outside certain distance, breathing, the human body reflection echo signal of heartbeat fine motion information is loaded with, by radar
Exploring antenna 3 is received, and echo amplifier enhanced processing is sent through circulator, is mixed with local oscillated signal in frequency mixer,
Its output signal extracts the human body vital sign parameter such as breathing, heartbeat by signal processing circuit 10 again, is guarded for observation.Together
When, in warning circuit 11 is guarded, the abnormal upper lower limit value of vital sign parameter can be preset, when actual measurement parameter reaches limit value
Afterwards, alarm is sent to the monitoring phone of setting with voice or short message mode by master controller 8 and radio communication circuit 12 immediately
Signal.Due to being configured with network communications circuits 13 in the present embodiment, monitoring warning circuit 11 can also be connected by master controller 8 simultaneously
Network communications circuits 13 are connect, alarm signal is processed through packing, by the computer or intelligent terminal of the Internet transmission to distal end, this
When, guardian can immediately utilize computer or intelligent terminal related software, it was observed that the transmission of remote network video monitoring device comes
Guardianship live video.
The remote network video monitoring device that the embodiment of the present invention is configured is by camera assembly 4, microphone 6, video and audio
Coding circuit 7, network communications circuits 13 are constituted, and network communications circuits 13 access internet by wireless network circuit 14.Pass through
Network communications circuits 13 can also simultaneously add the video and audio supervising device of reverse passback, and its scheme is：On robot body
Install display, loudspeaker and video and audio decoding circuit additional, these belong to known technology.For the sake of simple, even directly in this hair
Install a panel computer for connection network on bright described robot body additional, you can the image that display distal end is transmitted, realize prison
Shield personnel interact with the audiovisual information of guardianship.There is human body tracking circuit 17 person body orientation to detect and human body distance spy
Brake, its detection data input master controller, through the calculation process of master controller 8, respectively to cradle head control circuit 22 and walking
The output order of drive circuit 19, controls head 5 from motion tracking human body first, when the tracking angle of head 5 exceeds certain limit, then
Control robot body walking mechanism is rotated, and is kept from motion tracking.When robot body and human body away from it is too far away when, master controller
8 control walk driving circuits 19 drive can walking mechanism move near human body, and keep setpoint distance.Human body tracking circuit 17
The orientation detection and distance measurement technology used, can be using known radar detection, infrared, laser, ultrasonic listening technology.
The camera human body movement image analysis tracking technique of developed recently, can also be used to the present embodiment from motion tracking.
When being necessary, for example after care provider is connected to the alarm of guardianship vital sign abnormalities, care provider uses
PC or intelligent terminal, by internet, through network communications circuits 13, master controller, walk driving circuit 19, cradle head control electricity
Road 22, lens control circuit 21, remote-controlled machine human body and camera pan-tilt, the motion of camera lens.The portion of remote monitoring robot
Subset operational factor and network parameter can directly be configured by the device configuration serial ports 20, also can by network connection, by
System far-end computer carries out Remote configuration.Master controller has reserved interface, when needing, expansible access body temperature it is non-
The monitoring and alarming system of contact Infrared Telemetry System of Rotating and indoor other events.
Used as the preferred embodiment of above-described embodiment, monitoring warning circuit 11 can also be connected by master controller 8 simultaneously
Network communications circuits 13, alarm signal is processed through packing, by the computer or intelligent terminal of the Internet transmission to distal end.
As the preferred embodiment of above-described embodiment, when the camera assembly for being installed on robot body configures head
When, the combiner of radar detection antenna or radar detection antenna circuit Integral design associated therewith keeps with camera pan-tilt
Linkage, to be aligned by guardianship simultaneously.
As the preferred embodiment of above-described embodiment, when camera assembly configures head 5, master controller connection head
Control circuit, the control signal of human body tracking circuit controls head from motion tracking first, when angle is tracked beyond certain limit,
Robot body from motion tracking is controlled again.
As the preferred embodiment of above-described embodiment, master controller network-connectable telecommunication circuit, walk driving circuit,
Cradle head control circuit, care provider uses PC or intelligent terminal, by broadband network monitoring and remote-controlled machine human body and takes the photograph
The movement of camera head.
Used as the preferred embodiment of above-described embodiment, multiple road wheels 1 are four road wheels, are separately positioned on chassis 31
Corner.
Used as the preferred embodiment of above-described embodiment, the left lower of robot fuselage 2 and lower right side are respectively provided with
There are the first protector 23 and the second protector 24, for protecting the robot fuselage not collided by exterior object, and should
First protector and the second protector can select rubber blanket.
Used as the preferred embodiment of above-described embodiment, the left side of chassis 31 and right side are respectively arranged with the first collision prevention device
28 and second collision prevention device 29, the first collision prevention device 28 and the second collision prevention device 29 pass through fastening bolt and chassis respectively
It is fixedly connected, further improves the anti-collision capacity of remote monitoring machine people, improves its service life.
Used as the preferred embodiment of above-described embodiment, the upper end of guide pillar 32 is fixedly connected with robot fuselage 2, and guide pillar 32 is passed through
Cushioning supportive plate 25 and chassis 31 are worn, the lower end of guide pillar 32 is attached with chassis 31 by fastening nut 39, is arranged on guide pillar 32
There is the second buffer spring 38.
Used as the preferred embodiment of above-described embodiment, buffer unit also includes sealing device, and sealing device includes first
The sealing gasket 27 of sealing gasket 37 and second, the first sealing gasket 37 is arranged on the left side between cushioning supportive plate 25 and chassis 31, second
Sealing gasket 27 is arranged on the right side between cushioning supportive plate and chassis, and multiple first buffer springs are arranged at the first sealing gasket
And second between sealing gasket, dust or impurity for preventing outside enter in buffer spring, to avoid influenceing buffer spring
Shock-absorbing capacity.
Contactless humanbody life physical sign monitoring device in technical solution of the present invention utilizes the radar exploration technique, its principle
It is：Launching beam shines directly into the human body outside certain distance, and the echo-signal of human body reflection is loaded with human body respiration, heartbeat fine motion
Information, echo-signal is mixed in monitoring device with transmission signal, and its output signal passes through signal analysis and processing circuit extraction again
Go out the human body vital sign parameter such as breathing, heartbeat, guarded for observation.Meanwhile, vital sign ginseng is preset in warning circuit is guarded
The upper lower limit value of number abnormal alarms, after surveying parameter and reaching alarm limits, immediately by master controller and radio communication circuit,
Network transmission alert.
[01] present invention has advantages below and beneficial effect：
[02] 1, the present invention can automatically or remote tracking guardianship, and the non-contact monitoring prison in scope separated by a distance
The major vital sign of object is protected, people under the guardianship can be freely movable within the specific limits, has broken away from traditional monitor device to quilt
The action limitation of care provider, when surveyed vital sign parameter is abnormal, can be automatically by existing mobile communications network and interconnection
Net sends emergency signal to distal end；
[03] 2, the long distance monitoring of solitary old, sick and weak colony is the composite can be widely applied to, is aging, fast pace society
Under domestic medicine nursing provide greatly facilitate；
[04] 3, the walking mechanism that the present invention passes through setting, and the walking mechanism includes chassis, buffer unit and multiple walkings
Wheel, and first protector and the second protector of the robot fuselage left and right sides are arranged on, while chassis left side and the right side
Side is respectively arranged with the first collision prevention device and the second collision prevention device, can make the remote monitoring robot have damping, buffering with
And the function of anticollision, so that the target of more safe and reliable long distance monitoring is realized, while extending the remote monitoring robot
Service life, and then improve the utilization ratio of the remote monitoring robot.
[05] finally should be noted that：Above-described each embodiment is merely to illustrate technical scheme, rather than to it
Limitation；Although being described in detail to the present invention with reference to the foregoing embodiments, it will be understood by those within the art that：
It can still modify to the technical scheme described in previous embodiment, or which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technical side
The scope of case.
Claims (10)
1. a kind of remote monitoring robot, including robot body and the vital sign monitoring dress being attached on robot body
Put and remote alarming device, the robot body is by walking mechanism, robot fuselage, walk driving circuit, master controller, fortune
Dynamic sensor group and robot electric supply installation composition, it is characterised in that：
The walking mechanism includes chassis, buffer unit and multiple road wheels, and the chassis is arranged on the robot fuselage
Bottom, the multiple road wheel is arranged on the bottom on the chassis, and the buffer unit is arranged on the robot fuselage bottom
Between the chassis upper surface, wherein, the buffer unit includes cushioning supportive plate and multiple first buffer springs, described
Cushioning supportive plate is arranged on the robot fuselage bottom, and the robot fuselage, cushioning supportive plate and chassis are by multiple
Guide pillar connect, the multiple first buffer spring be uniformly arranged on the cushioning supportive plate lower surface and the chassis upper surface it
Between, the road wheel center is provided through support shaft, and the support shaft is by being arranged on the first support and second of its both sides
Support is fixedly connected with the chassis；
The life physical sign monitoring device uses contactless humanbody life physical sign monitoring device, and the device is by radar detection day
Line, radar circuit, signal processing circuit composition, the robot body is also additionally arranged human body tracking circuit, to control radar
Exploring antenna is directed at human body all the time, and control robot body keeps setpoint distance with human body；
The radar detection antenna of the noncontact life physical sign monitoring device uses directional aerial, radar detection antenna or radar to visit
The combiner of observation line circuit Integral design associated therewith is installed on the top of robot body；
The remote alarming device is made up of monitoring warning circuit and radio communication circuit, by wireless communication networks with voice or
Short message mode sends alarm signal to the monitoring phone of setting；
The robot body is provided with remote network video monitoring device, and remote network video monitoring device is by shooting unit
Part, microphone, video encoding circuit, network communications circuits composition, network communications circuits are accessed mutual by wireless network circuit
Networking, the camera assembly is arranged on the upper end of the radar detection antenna, and it is man-machine that the microphone is arranged on the machine
Body top, and positioned at radar detection antenna lower section.
2. remote monitoring robot according to claim 1, it is characterised in that the monitoring warning circuit can also lead to simultaneously
Cross master controller connection network communications circuits, alarm signal is processed through packing, by the computer of the Internet transmission to distal end or
Intelligent terminal.
3. remote monitoring robot according to claim 2, it is characterised in that when the video camera for being installed on robot body
During component Configuration head, the combiner of radar detection antenna or radar detection antenna circuit Integral design associated therewith and is taken the photograph
Camera head keeps linkage, to be aligned by guardianship simultaneously.
4. remote monitoring robot according to claim 2, it is characterised in that when the camera assembly configures head
When, master controller connection cradle head control circuit, the control signal of human body tracking circuit controls head from motion tracking, works as tracking first
When angle exceeds certain limit, then control robot body from motion tracking.
5. remote monitoring robot according to claim 1, it is characterised in that master controller network-connectable communication electricity
Road, walk driving circuit, cradle head control circuit, care provider use PC or intelligent terminal, by broadband network monitoring and distant
The movement of man-controlled mobile robot body and camera pan-tilt.
6. remote monitoring robot according to claim 1, it is characterised in that the multiple road wheel is four walkings
Wheel, is separately positioned on the corner on the chassis.
7. remote monitoring robot according to claim 1, it is characterised in that the robot fuselage left lower and
Lower right side is respectively arranged with the first protector and the second protector.
8. remote monitoring robot according to claim 1, it is characterised in that the chassis left side and right side are respectively provided with
There are the first collision prevention device and the second collision prevention device, first collision prevention device and the second collision prevention device are respectively by tight
Fixing bolt is fixedly connected with the chassis.
9. remote monitoring robot according to claim 1, it is characterised in that the guide pillar upper end and the machine are man-machine
Body is fixedly connected, and the guide pillar runs through the cushioning supportive plate and the chassis, and the guide pillar lower end passes through fastening nut and institute
State chassis to be attached, the second buffer spring is arranged with the guide pillar.
10. remote monitoring robot according to claim 1, it is characterised in that the buffer unit also includes that sealing is filled
Put, the sealing device includes the first sealing gasket and the second sealing gasket, first sealing gasket is arranged on the cushioning supportive plate
With the left side between the chassis, second sealing gasket is arranged on the right side between the cushioning supportive plate and the chassis,
And the multiple first buffer spring is arranged between first sealing gasket and the second sealing gasket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710041958.9A CN106737752A (en) | 2017-01-20 | 2017-01-20 | A kind of remote monitoring robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710041958.9A CN106737752A (en) | 2017-01-20 | 2017-01-20 | A kind of remote monitoring robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737752A true CN106737752A (en) | 2017-05-31 |
Family
ID=58944991
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710041958.9A Pending CN106737752A (en) | 2017-01-20 | 2017-01-20 | A kind of remote monitoring robot |
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| Country | Link |
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| CN (1) | CN106737752A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108210082A (en) * | 2018-01-14 | 2018-06-29 | 谢博 | A kind of medical detector with anti-collision |
| CN108880573A (en) * | 2018-05-08 | 2018-11-23 | 中国人民解放军军事科学院军事医学研究院 | A kind of field sick and wounded information radio transmission apparatus |
| CN110491060A (en) * | 2019-08-19 | 2019-11-22 | 深圳市优必选科技股份有限公司 | A kind of robot and its method for safety monitoring, device and storage medium |
| CN113197672A (en) * | 2021-05-09 | 2021-08-03 | 青岛大学附属医院 | Remote control device for operating system of remote operation robot |
| CN114310967A (en) * | 2022-01-19 | 2022-04-12 | 上海今一科技发展有限公司 | Old man attends to intelligent robot |
| WO2022077643A1 (en) * | 2020-10-13 | 2022-04-21 | 南京公诚责强软件科技有限公司 | Nursing robot for monitoring critically ill patient |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108210082A (en) * | 2018-01-14 | 2018-06-29 | 谢博 | A kind of medical detector with anti-collision |
| CN108880573A (en) * | 2018-05-08 | 2018-11-23 | 中国人民解放军军事科学院军事医学研究院 | A kind of field sick and wounded information radio transmission apparatus |
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| CN114310967A (en) * | 2022-01-19 | 2022-04-12 | 上海今一科技发展有限公司 | Old man attends to intelligent robot |
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Application publication date: 20170531 |