CN104142643A - Monitoring system applying video monitoring robot - Google Patents
Monitoring system applying video monitoring robot Download PDFInfo
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- CN104142643A CN104142643A CN201410335532.0A CN201410335532A CN104142643A CN 104142643 A CN104142643 A CN 104142643A CN 201410335532 A CN201410335532 A CN 201410335532A CN 104142643 A CN104142643 A CN 104142643A
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Abstract
The invention provides a monitoring system applying a video monitoring robot. A pick-up lens is mounted on the robot, and a monitor is mounted on a remote electronic information device. The robot can be controlled by the monitor to move to needed field points, the pick-up lens is adjusted to various different camera shooting angles, and a camera shooting and video recording application communication network and the monitor are in communication. Monitoring personnel can carry out the monitoring action at the field points through the movement of the robot and cannot be limited by fixed setting points. The monitoring personnel can remotely control the robot to needed monitoring points to carry out camera shooting at different angles through the remote monitoring APP, and needed images are captured at any time. Moreover, wires do not need to be arranged, cost is saved, and the attractiveness cannot be influenced by electric wires wound everywhere. In addition, through long-distance communication, the monitoring personnel can carry out monitoring at any time and any where, and cannot be limited in some places.
Description
Technical field
Present invention is directed to portable monitoring, especially a kind of supervisory system of image application supervisory-controlled robot.
Background technology
General supervisory system builds mode at present, is all to select multiple fixed locations in a space, places watch-dog, to allow monitor staff can monitor at any time the situation in whole space in these fixed points.For example watch-dogs are placed in the multiple positions in warehouse or household, then by monitor staff from telemonitoring.When the spatial dimension of needs monitoring is larger, just need more watch-dogs are installed, to allow monitoring range can contain whole space; On the other hand, when the facility thing in space is more, the visual dead angle in monitoring also can be more, and this situation also needs to install multiple watch-dogs, to avoid producing the dead angle of monitoring.
When required watch-dog quantity is more, cost also can be higher, and also higher for connecting the wiring cost of watch-dog, makes overall surveillance cost increase.And because watch-dog is to be all placed on fixing position, if invader learns the position of these watch-dogs in advance, just likely allow invader avoid monitoring range, or destroy these watch-dogs, make supervisory system occur dead angle, and allow invader be able to monitoring instruction space.
Due to the suitable progress of the technology of present robot, and can application remoting technology allow easily robot move freely in the space of setting.These technology have developed into and can drop into practical degree.
Therefore this case wishes to propose a kind of supervisory system of brand-new image application supervisory-controlled robot, to solve the many defects on prior art.
Summary of the invention
Object of the present invention is the problem solving in above-mentioned prior art, the present invention proposes a kind of supervisory system of image application supervisory-controlled robot, wherein this monitor staff can see through the movement of robot and on each point, carry out supervisory control action, and can not be limited to fixing set-point.And utilize long-range monitoring APP to make monitor staff to carry out the shooting of different angles to needed control point by this robot of remote control, capture at any time needed image.Moreover do not need wiring, save on the one hand cost, nor can be repugnant to the eye because of the electric wire being wound around everywhere.The communication of long-distance thoroughly in addition, monitor staff can monitor whenever and wherever possible, and needn't be confined to some place.
For the present invention that achieves the above object proposes a kind of supervisory system of image application supervisory-controlled robot, comprise:
One imaging monitoring robot, comprises
One robot fuselage, comprises main part, and from this extended incidence in main part top, and actuating unit; Wherein this incidence comprises a head and a neck; This neck system upwards extends in scalable mode from this main part, and this head is connected to this neck in rotatable mode; This actuating unit is installed on the below of this main part;
One power source system is arranged on the inside of this robot fuselage and creates relevant all component for providing power to give this; This power source is main is battery or a socket, can connect civil power via line of electric force, draws the power of electric power as robot to connect;
One pick-up lens system is arranged on this incidence, and it comprises lens combination and can make a video recording to context;
One image processor, is to receive the image of shooting with video-corder from this pick-up lens, and carries out digital image processing, the video conversion of simulation is originally become to digitized video, and be stored in an internal memory;
One control panel is arranged on this robot fuselage interior, for the action of control and the action of other relevant apparatus; This control panel comprises:
One power-driven mechanism can receive outside signal, and this power-driven mechanism can drive this actuating unit to move, and orders about this robot fuselage action;
One incidence driving mechanism can receive outside signal, to control the flexible of this neck and to rotate, and the rotation of this head;
One camera operating-controlling mechanism, for receiving outside signal to control the shooting of this pick-up lens, as the basic function of the depth of field, brightness, shutter speed, flash luminance etc. pick-up lens;
One signal transmitting and receiving machine system of robot is arranged on another position of this robot fuselage, connects this image processor, digitized video stored this internal memory of this image processor outwards can be transmitted;
One distant place monitoring client, comprises
One watch-dog, is mainly the watch-dog separating with this robot fuselage; This watch-dog can be arranged on the long-range suitable electronic message unit of separating with this robot fuselage; This watch-dog comprises a watch-dog APP (application, application program) as man-machine interface; Operator can be via this watch-dog APP and this watch-dog interaction, and this watch-dog receives the camera signal from this robot fuselage, and emission control signal carries out corresponding control action with the control panel of this watch-dog; Wherein this watch-dog comprises a monitoring client transceiver.
Described actuating unit comprises gear train and wheel body.
Described power source have electric energy metering machine can be at any time by stored energy calculate out and be sent to long-range; The exposed parts that this power comes from this robot fuselage comprises power plug structure, can to preposition, this power plug structure be combined with socket via remote-controlled robot, so that robot is charged.
Wherein drive this pick-up lens rotating 360 degrees via this incidence driving mechanism, and the technology of obtained image image application processing is set up to the ring field image of 3D, to make supervisor can understand actual situation.
Further, the supervisory system of described image application supervisory-controlled robot, still comprises a timer, starts the time of shooting or the time of reminding monitor staff to monitor by external setting-up.
Described incidence driving mechanism shows the shooting direction of pick-up lens and the working direction of this robot fuselage; And this two direction is outwards transmitted in vectorial mode; And
This watch-dog receives the shooting direction of this pick-up lens and the working direction of this robot fuselage from this incidence driving mechanism, and this two direction is shown on monitoring screen in vectorial mode, to allow supervisor manipulate smoothly this robot fuselage, and can understand the orientation of the image of taking the photograph.
The supervisory system of described image application supervisory-controlled robot, wherein, in in-plant manipulation, this watch-dog system is arranged in an electronic information aid; This electronic information aid and this watch-dog are directly applied WiFi communications protocol and are carried out communication, and relevant dicom message is also stored in respectively in the internal memory of mobile phone or this robot fuselage.
The supervisory system of described image application supervisory-controlled robot, wherein, in in-plant manipulation, this watch-dog system is arranged in an electronic information aid; This electronic information aid and this watch-dog are directly applied WiFi communications protocol and are carried out communication, and relevant dicom message is also stored in respectively in the internal memory of a cloud server; This robot fuselage is by captured message via being sent to this cloud server and being stored in the internal memory of this cloud server at the router of near-end, then this electronic information aid is applied existing communication network and enter the stored signal of this robot fuselage of memory access of this cloud server; The image that wherein the main Shi Gai of the signal of this storage robot fuselage is taken the photograph.
The supervisory system of described image application supervisory-controlled robot, wherein when this cloud server position above-mentioned Zhi Gai robot fuselage or this electronic information aid nearby time, can directly apply WiFi communications protocol and this cloud server is communicated; In the time of the distant place of this cloud server position at above-mentioned Zhi Gai robot fuselage or this electronic information aid, apply existing length and communicate apart from communication network and this cloud server.
The supervisory system of described image application supervisory-controlled robot, wherein, in manipulating at a distance, this watch-dog system is arranged in an electronic information aid; This electronic information aid and this watch-dog can see through general length and enter this cloud server apart from communication network, and this cloud server sees through this length again and carries out the transmission of signal apart from communication network and this robot fuselage, is mainly the transmission of controlling signal; And relevant dicom message is also stored in respectively in the internal memory of this cloud server.
The advantage of this case is that this monitor staff can see through the movement of robot and on each point, carry out supervisory control action, and can not be limited to fixing set-point.And utilize long-range monitoring APP to make monitor staff to carry out the shooting of different angles to needed control point by this robot of remote control, capture at any time needed image.Moreover do not need wiring, save on the one hand cost, nor can be repugnant to the eye because of the electric wire being wound around everywhere.The communication of long-distance thoroughly in addition, monitor staff can monitor whenever and wherever possible, and needn't be confined to some place.
Can further be understood feature and the advantage thereof of this creation by explanation below, when reading and please refer to accompanying drawing.
Brief description of the drawings
Fig. 1 shows the schematic three dimensional views of the robot of this case.
Fig. 2 shows the structure calcspar of the assembly of this case.
The schematic diagram of Fig. 3 shows the shooting direction of pick-up lens and the working direction of this robot fuselage in this case.
Fig. 4 shows the structure calcspar of the Near Field Communication pattern of this case.
Fig. 5 shows the structure calcspar of another Near Field Communication pattern of this case.
Fig. 6 shows the structure calcspar of the telecommunication pattern of this case.
Embodiment
Hereby sincerely with regard to the structure composition of this case, and effect and the advantage that can produce, coordinate graphicly, one of act this case preferred embodiment is described in detail as follows.
Please refer to shown in Fig. 1 to Fig. 2, show the supervisory system of the image application supervisory-controlled robot of this creation, comprise following assembly:
One robot fuselage 1, comprises main part 100, and from these main part 100 extended incidence 200 in top, and actuating unit 300.Wherein this incidence 200 comprises a head 220 and a neck 210.This neck 210 is upwards to extend in scalable mode from this main part 100, and 220, this head is connected to this neck 210 in rotatable mode.This actuating unit 300 is generally installed on the below of this main part 100.General this actuating unit 300 comprises gear train 410 and wheel body 310.This wheel body 310 can exterior chain band 320 to increase the ability of creeping of this robot fuselage 1.This neck 210 also can have the function of rotation.
One power source 400 is that relevant all component is created for providing power to give this in the inside that is arranged on this robot fuselage 1, as provides power to give this gear train 410, to make this gear train 410 these wheel bodys 310 of guiding.This power source 400 is main is battery, and preferably is rechargeable battery.Also can be a socket, can connect civil power via line of electric force, draw the power of electric power as robot to connect.
This power source 400 have electric energy metering machine can be at any time by stored energy calculate out and be sent to long-range.This power source 400 comprises power plug structure in the exposed parts of this robot fuselage 1, can to preposition, this power plug structure be combined with socket via remote-controlled robot, so that robot is charged.
One pick-up lens 30 is to be arranged on this incidence 200, and it comprises lens combination and can make a video recording to context.
One image processor 31, is to receive the image of shooting with video-corder from this pick-up lens 30, and carries out digital image processing, the video conversion of simulation is originally become to digitized video, and be stored in an internal memory 40.
One control panel 10 is arranged on this robot fuselage 1 inside, for the action of control and the action of other relevant apparatus.This control panel 10 comprises:
One power-driven mechanism 20 can receive outside signal, and this power-driven mechanism 20 can drive this actuating unit 300 to move, and takes action and order about this robot fuselage 1.This power-driven mechanism 20 can order about this gear train 410 power is sent to this wheel body 310, and makes this wheel body 310 roll and order about this robot fuselage 1 and move.This power-driven mechanism 20 in the time that this robot fuselage 1 moves can by process track calculate motion-vector.
One incidence driving mechanism 21 can receive outside signal, to control the flexible of this neck 210 and to rotate, and the rotation of this head 220.As shown in Figure 3, this incidence driving mechanism 21 can show the shooting direction 600 of pick-up lens 30 and the working direction 610 of this robot fuselage 1.And this two direction is outwards transmitted in vectorial mode.As shown in Figure 3, in this case, can drive these pick-up lens 30 rotating 360 degrees via this incidence driving mechanism 21, and the technology of obtained image image application processing be set up to the ring field image of 3D, to make supervisor can understand actual situation.
One camera operating-controlling mechanism 22, for receiving outside signal to control the shooting of this pick-up lens 30, as the basic function of the depth of field, brightness, shutter speed, flash luminance etc. pick-up lens.
One timer 50, can start the time of shooting or the time of reminding monitor staff to monitor by external setting-up.
One robot signal transmitting and receiving machine 60 is another position that is arranged on this robot fuselage 1, connects this image processor 31, digitized video stored this internal memory 40 of this image processor 31 outwards can be transmitted.This robot signal transmitting and receiving machine 60 of preferably is transceiver.
One watch-dog 71, is mainly the watch-dog separating with this robot fuselage 1.This watch-dog 71 can be arranged on the long-range suitable electronic message unit of separating with this robot fuselage 1, in mobile phone, computing machine, flat computer, PDA etc. device.This watch-dog 71 comprises a watch-dog APP (application, application program) 70 as man-machine interface.Operator can be via this watch-dog APP 70 and these watch-dog 71 interactions, apply wired or wireless mode by this watch-dog 71 again and this robot fuselage 1 carries out signal transmission, receive on the one hand the camera signal from this robot fuselage 1, and emission control signal carries out corresponding control action with the control panel 10 of this watch-dog 71.This watch-dog 71 also receives the shooting direction 600 of this pick-up lens 30 and the working direction 610 of this robot fuselage 1 from this incidence driving mechanism 21 in addition, and this two direction is shown on monitoring screen in vectorial mode, to allow supervisor manipulate smoothly this robot fuselage 1, and can understand the orientation of the image of taking the photograph.
This watch-dog 71 comprises a monitoring client transceiver 72.This monitoring client transceiver 72 receives the signal from this robot signal transmitting and receiving machine 60, can see through this robot fuselage 1 monitoring site environment with the monitor staff who makes in this watch-dog 71 one end.This monitor staff also can send signal and this robot signal transmitting and receiving machine 60 via this monitoring client transceiver 72 of this watch-dog 71 in addition, to control the movement of this actuating unit 300.
Please refer to Fig. 4, wherein show the communication mode of this case, this pattern system is suitable for being applied in in-plant manipulation.Wherein this watch-dog 71 of this case is to be arranged in an electronic information aid 500 (as computing machine).This electronic information aid 500 is directly applied WiFi communications protocol with this watch-dog 71 and is carried out communication, and relevant dicom message is also stored in respectively in the internal memory of mobile phone or this robot fuselage 1.Such as in a huge warehouse, this robot fuselage 1 of computer control that storekeeper personnel can directly apply desktop at central control room to be to move to each position in warehouse, the situation of monitoring goods, or have nobody to invade this warehouse.
Please refer to Fig. 5, wherein show the another kind of communication mode of this case, this pattern system is suitable for being applied in in-plant manipulation.Wherein this watch-dog 71 of this case is to be arranged in an electronic information aid 500 (as mobile phone).This electronic information aid 500 is directly applied WiFi communications protocol with this watch-dog 71 and is carried out communication, and relevant dicom message is also stored in respectively in the internal memory of a cloud server 800.This robot fuselage 1 is by captured message via being sent to this cloud server 800 and being stored in the internal memory of this cloud server 800 at the router 90 of near-end as shown in the figure, and then this electronic information aid 500 is applied existing communication network and enter the stored signal of this robot fuselage 1 of memory access of this cloud server 800.The image that wherein the main Shi Gai of the signal of this storage robot fuselage 1 is taken the photograph.
In this example when 800 of this cloud servers above-mentioned Zhi Gai robot fuselage 1 or this electronic information aid 500 nearby time, can directly apply WiFi communications protocol and this cloud server 800 is communicated.In the time of 800 distant places at above-mentioned Zhi Gai robot fuselage 1 or this electronic information aid 500 of this cloud server, can directly apply existing length and communicate apart from communication network (as GPRS) and this cloud server 800.
Please refer to Fig. 6, wherein show the third communication mode of this case, this pattern system is suitable for being applied in remote manipulation.Wherein this watch-dog 71 of this case is to be arranged in an electronic information aid 500 (as mobile phone).This electronic information aid 500 can see through general length with this watch-dog 71 and enter this cloud server 800 apart from communication network (as GPRS), this cloud server 800 sees through this length again and carries out the transmission of signal apart from communication network and this robot fuselage 1, is mainly the transmission of controlling signal.And relevant dicom message is also stored in respectively in the internal memory of this cloud server 800.This robot fuselage 1 is by captured message via being sent to this cloud server 800 and being stored in the internal memory of this cloud server 800 at the router 90 of near-end as shown in the figure, and then this electronic information aid 500 is applied existing communication network and enter the stored signal of this robot fuselage 1 of memory access of this cloud server 800.The image that wherein the main Shi Gai of the signal of this storage robot fuselage 1 is taken the photograph.
Such as in controlling at home, in the time that user stays out, can see through above-mentioned communication link, transfer control signal Yu Gai robot fuselage 1, Ling Gai robot fuselage 1 starts shooting, and captures needed image via this above-mentioned power-driven mechanism 20 of this image control, this incidence driving mechanism 21 and this camera operating-controlling mechanism 22 to reach needed position.As whether safe and sound and do not invaded in watched door and window to each door and window place place.Or near the window that can detour when rainy, see if there is rainwater and sprinkle light fixture in a family or in interview room and whether have and open or close.
The advantage of this case is that this monitor staff can see through the movement of robot and on each point, carry out supervisory control action, and can not be limited to fixing set-point.And utilize long-range monitoring APP to make monitor staff to carry out the shooting of different angles to needed control point by this robot of remote control, capture at any time needed image.Moreover do not need wiring, save on the one hand cost, nor can be repugnant to the eye because of the electric wire being wound around everywhere.The communication of long-distance thoroughly in addition, monitor staff can monitor whenever and wherever possible, and needn't be confined to some place.
In sum, the design of consideration of this case hommization, quite realistic demand.The existing disappearance of its concrete improvement, obviously has breakthrough progress advantage compared to known techniques, really have the enhancement of effect, and non-being easy to is reached.This case discloses or is exposed on the document and market of internal and overseas, has met patent statute.
Above-listed detailed description system illustrates for one of this creation possible embodiments, and only this embodiment is not in order to limit the scope of the claims of this creation, does not allly depart from equivalent enforcement or the change for it of this creation skill spirit institute, all should be contained in the scope of the claims of this case.
Claims (10)
1. a supervisory system for image application supervisory-controlled robot, is characterized in that: comprise:
One imaging monitoring robot, comprises:
One robot fuselage, comprises main part, and from this extended incidence in main part top, and actuating unit; Wherein this incidence comprises a head and a neck; This neck system upwards extends in scalable mode from this main part, and this head is connected to this neck in rotatable mode; This actuating unit is installed on the below of this main part;
One power source system is arranged on the inside of this robot fuselage and creates relevant all component for providing power to give this; This power source is main is battery or a socket, can connect civil power via line of electric force, draws the power of electric power as robot to connect;
One pick-up lens system is arranged on this incidence, and it comprises lens combination and can make a video recording to context;
One image processor, is to receive the image of shooting with video-corder from this pick-up lens, and carries out digital image processing, the video conversion of simulation is originally become to digitized video, and be stored in an internal memory;
One control panel is arranged on this robot fuselage interior, for the action of control and the action of other relevant apparatus; This control panel comprises:
One power-driven mechanism can receive outside signal, and this power-driven mechanism can drive this actuating unit to move, and orders about this robot fuselage action;
One incidence driving mechanism can receive outside signal, to control the flexible of this neck and to rotate, and the rotation of this head;
One camera operating-controlling mechanism, for receiving outside signal to control the shooting of this pick-up lens;
One signal transmitting and receiving machine system of robot is arranged on another position of this robot fuselage, connects this image processor, in order to digitized video stored this internal memory of this image processor is outwards transmitted; And
One distant place monitoring client, comprises
One watch-dog, is mainly the watch-dog separating with this robot fuselage; This watch-dog can be arranged on the long-range suitable electronic message unit of separating with this robot fuselage; This watch-dog comprises a watch-dog APP as man-machine interface; Operator is via this watch-dog APP and this watch-dog interaction, and this watch-dog receives the camera signal from this robot fuselage, and emission control signal carries out corresponding control action with the control panel of this watch-dog; Wherein this watch-dog comprises a monitoring client transceiver.
2. the supervisory system of image application supervisory-controlled robot as claimed in claim 1, is characterized in that: described actuating unit comprises gear train and wheel body.
3. the supervisory system of image application supervisory-controlled robot as claimed in claim 1, is characterized in that: described power source has electric energy metering machine in order at any time by stored energy calculate out and be sent to long-range; The exposed parts that this power comes from this robot fuselage comprises power plug structure, to preposition, this power plug structure is combined with socket, so that robot is charged via remote-controlled robot.
4. the supervisory system of image application supervisory-controlled robot as claimed in claim 1, it is characterized in that: drive described pick-up lens rotating 360 degrees via described incidence driving mechanism, and the technology of obtained image image application processing is set up to the ring field image of 3D, to make supervisor can understand actual situation.
5. the supervisory system of image application supervisory-controlled robot as claimed in claim 1, is characterized in that: this system also comprises a timer, starts the time of shooting or the time of reminding monitor staff to monitor by external setting-up.
6. the supervisory system of image application supervisory-controlled robot as claimed in claim 1, is characterized in that: described incidence driving mechanism shows the shooting direction of pick-up lens and the working direction of this robot fuselage; And this two direction is outwards transmitted in vectorial mode; And
Described watch-dog receives the shooting direction of pick-up lens and the working direction of this robot fuselage from this incidence driving mechanism, and this two direction is shown on monitoring screen in vectorial mode, to allow supervisor manipulate smoothly this robot fuselage, and can understand the orientation of the image of taking the photograph.
7. the supervisory system of image application supervisory-controlled robot as claimed in claim 1, is characterized in that: in in-plant manipulation, described watch-dog system is arranged in an electronic information aid; This electronic information aid and this watch-dog are directly applied WiFi communications protocol and are carried out communication, and relevant dicom message is also stored in respectively in the internal memory of mobile phone or this robot fuselage.
8. the supervisory system of image application supervisory-controlled robot as claimed in claim 1, is characterized in that: in in-plant manipulation, described watch-dog system is arranged in an electronic information aid; This electronic information aid and this watch-dog are directly applied WiFi communications protocol and are carried out communication, and relevant dicom message is also stored in respectively in the internal memory of a cloud server; This robot fuselage is by captured message via being sent to this cloud server and being stored in the internal memory of this cloud server at the router of near-end, then this electronic information aid is applied existing communication network and enter the stored signal of this robot fuselage of memory access of this cloud server; The image that wherein the main Shi Gai of the signal of this storage robot fuselage is taken the photograph.
9. the supervisory system of image application supervisory-controlled robot as claimed in claim 8, it is characterized in that: when described cloud server position described robot fuselage or described electronic information aid nearby time, directly apply WiFi communications protocol and this cloud server is communicated; In the time of the distant place of this cloud server position at above-mentioned Zhi Gai robot fuselage or this electronic information aid, apply existing length and communicate apart from communication network and this cloud server.
10. the supervisory system of image application supervisory-controlled robot as claimed in claim 8, is characterized in that: in manipulating at a distance, described watch-dog system is arranged in an electronic information aid; This electronic information aid and this watch-dog see through general length and enter described cloud server apart from communication network, and this cloud server sees through this length again and carries out the transmission of signal apart from communication network and described robot fuselage, is mainly the transmission of control signal; And relevant dicom message is also stored in respectively in the internal memory of this cloud server.
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| CN201410335532.0A CN104142643A (en) | 2014-07-15 | 2014-07-15 | Monitoring system applying video monitoring robot |
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| CN201410335532.0A CN104142643A (en) | 2014-07-15 | 2014-07-15 | Monitoring system applying video monitoring robot |
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| CN107197196A (en) * | 2016-03-15 | 2017-09-22 | 群耀光电科技（苏州）有限公司 | Carrier system is monitored in real time |
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