CN110065081A - A kind of household safe patrol robot supporting SIP - Google Patents
A kind of household safe patrol robot supporting SIP Download PDFInfo
- Publication number
- CN110065081A CN110065081A CN201910438610.2A CN201910438610A CN110065081A CN 110065081 A CN110065081 A CN 110065081A CN 201910438610 A CN201910438610 A CN 201910438610A CN 110065081 A CN110065081 A CN 110065081A
- Authority
- CN
- China
- Prior art keywords
- robot body
- sip
- controller
- mobile object
- ultrasonic sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
- H04L65/1066—Session management
- H04L65/1101—Session protocols
- H04L65/1104—Session initiation protocol [SIP]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- General Business, Economics & Management (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of household safe patrol robots for supporting SIP, including robot body, robot body is provided with mobile mechanism, the robot body is provided with for carrying out network communication with mobile device and being provided with the controller of session initiation program, for the camera, the ultrasonic sensor for detecting mobile object, the WIFI interface for connecting WIFI network of video monitoring, and camera, ultrasonic sensor, WIFI interface are connect with controller line.Robot body is provided with controller and is provided with session initiation protocol (SIP) in the controller in the present invention, after the ultrasonic sensor in robot body detects mobile object, monitoring will be tracked to mobile object, and it can initiate to call the SIP of default mobile device by wireless technologys such as WiFi, resident can watch the state of the situation and mobile object in house by mobile device, improve the safety of kinsfolk.
Description
Technical field
The present invention relates to robot field more particularly to a kind of household safe patrol robots for supporting SIP.
Background technique
Household safe is one of the most critical issue of intelligent and safe house, and the appearance of robot is becoming in daily life
Indispensable a part life and patrol robot obtains greatly universal in recent years.With nonlinear system and communication
The family of the fusion of technology, intelligence and safety is no longer the concept of science.However, in traditional household monitoring system, camera shooting
The position of machine be it is fixed, therefore, because the movement of mobile object and limited network bandwidth, resident can not pass through all camera shootings
Machine video flowing uses multiple video cameras progress family monitoring Expenses Cost larger to obtain the real-time dynamic of mobile object,
It is unsuitable for the promotion and popularization in market.
Summary of the invention
Object of the present invention is in view of the above-mentioned problems, provide one kind can carry out conversing with resident and can to mobile object into
The household safe patrol robot of the support SIP of row tracking.
To achieve the goals above, the technical scheme is that
A kind of household safe patrol robot supporting SIP, including robot body, robot body are provided with moving machine
Structure, the robot body are provided with for carrying out network communication with mobile device and being provided with the control of session initiation program
Device, camera, the ultrasonic sensor for detecting mobile object, the WIFI for connecting WIFI network for video monitoring
Interface, camera, ultrasonic sensor, WIFI interface are connect with controller line.
Further, the robot body uses Pioneer P3-DX.
Further, the controller uses onboard PC.
Compared with prior art, the advantages and positive effects of the present invention are:
Robot body is provided with controller and is provided in the controller session initiation protocol (SIP) in the present invention, when
After ultrasonic sensor in robot body detects mobile object, monitoring, and meeting will be tracked to mobile object
It initiates to call the SIP of default mobile device by wireless technologys such as WiFi, resident can watch house by mobile device
The state of interior situation and mobile object improves so that people can anywhere or anytime be monitored family status
The safety of kinsfolk；On the other hand, when robot body follows mobile object from a room to another room,
Wireless connection may interrupt and audio and video stream is caused to disconnect, and by the mobility support in SIP, robot body can be with
Be switched to another access point with more preferable signal strength from original access point (AP), audio and video stream will after handover after
It is continuous, it will be apparent that its monitoring effect to be improved, so that family's monitoring is more intelligent.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is triangulation measurement position schematic diagram；
Fig. 2 is work flow diagram of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
As shown in Figure 1 and Figure 2, the present invention uses Pioneer P3-DX, and wherein P3-DX is equipped with ultrasonic sensor, ultrasound
The measurement of wave sensor can be read by the library ARIA.One platen is installed on P3-DX and carries PC.PC has Wi-Fi interface, camera
And it is mounted with SIP UA (i.e. the mobile device of session initiation program default).
Robot body is equipped with one group of sensor and camera, and knows session initiation protocol (SIP).In addition, machine
Device human body is activated in the scheduled period, and periodical inspection domestic space.When robot body senses mobile object, it will
Start to track.Meanwhile robot body will initiate to call the SIP of default mobile device by wireless technologys such as WiFi.SIP will
Audio and video stream is established between robot body and mobile device.Resident can be by his/her mobile device well
Understand the state in house.In addition, Radio Link may when robot body follows object from a room to another room
It can interrupt and cause the disconnection of audio and video stream.By the mobility support in SIP, robot body can be from original access
Point (AP) is switched to another access point with more preferable signal strength.Finally, audio and video stream will continue after handover.By
Its ability can be enhanced by the integration of artificial intelligence and the communication technology in domestic robot, pass through robot and wireless technology
Cooperation, home owner obtains home state in time, so that family is more intelligent, safer.
As shown in Figure 1, robot must detect mobile object first before robot starts to track mobile object.Machine
Device people can be by comparing distance dLAnd dRMobile object is detected, is when variation occur within the certain intervals time in two distances
Show that object moves, distance dLAnd dRIt is measured respectively by ultrasonic sensor.Two ultrasounds can be used in the two distance values
Wave sensor measures, and robot can calculate the position of moving object by the two distances.
As shown in Fig. 2, it starts to make an inspection tour protection zone and detects movement after starting robot body within a predetermined period of time
Object.In addition, robot body will also register its contact details to the proxy server of mobile device in advance, to reduce future
Call delay.When robot body by comparing the measured value of ultrasonic sensor to detect mobile object when, it start with
Track simultaneously initiates SIP calling to home owner.Robot body will continue to track mobile object, until object leaves its induction range
Or zone of protection is left, then robot body will continue to go on patrol.
Claims (3)
1. a kind of household safe patrol robot for supporting SIP, including robot body, robot body are provided with moving machine
Structure, it is characterised in that: the robot body is provided with for carrying out network communication with mobile device and being provided with session initiation
The controller of program, for the camera of video monitoring, the ultrasonic sensor for detecting mobile object, for connecting WIFI
The WIFI interface of network, camera, ultrasonic sensor, WIFI interface are connect with controller line.
2. supporting the household safe patrol robot of SIP as described in claim 1, it is characterised in that: the robot body
Using Pioneer P3-DX.
3. supporting the household safe patrol robot of SIP as described in claim 1, it is characterised in that: the controller uses
Onboard PC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910438610.2A CN110065081A (en) | 2019-05-24 | 2019-05-24 | A kind of household safe patrol robot supporting SIP |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910438610.2A CN110065081A (en) | 2019-05-24 | 2019-05-24 | A kind of household safe patrol robot supporting SIP |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110065081A true CN110065081A (en) | 2019-07-30 |
Family
ID=67371501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910438610.2A Pending CN110065081A (en) | 2019-05-24 | 2019-05-24 | A kind of household safe patrol robot supporting SIP |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110065081A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6039429A (en) * | 1994-06-24 | 2000-03-21 | Unisys Corporation | Misprint detection techniques |
| WO2012091801A2 (en) * | 2010-12-30 | 2012-07-05 | Irobot Corporation | Mobile human interface robot |
| CN103294061A (en) * | 2013-06-26 | 2013-09-11 | 林威 | Home security robot based on mobile internet |
| CN105934959A (en) * | 2014-01-20 | 2016-09-07 | 三星电子株式会社 | Electronic device for sharing data and method for controlling the same |
| CN106302262A (en) * | 2016-10-12 | 2017-01-04 | 广东技术师范学院 | A kind of intelligent restaurant service robot wireless communications method based on soft switch |
| CN107891430A (en) * | 2017-12-23 | 2018-04-10 | 河南智盈电子技术有限公司 | A kind of security robot based on Internet of Things |
| WO2018097574A1 (en) * | 2016-11-24 | 2018-05-31 | 엘지전자 주식회사 | Mobile robot and control method thereof |
| CN207495513U (en) * | 2017-10-19 | 2018-06-15 | 河北大白机器人科技有限公司 | Novel belt leak water detdction security robot |
| CN109227546A (en) * | 2018-11-01 | 2019-01-18 | 陕西科技大学 | A kind of wired home robot system that can remotely monitor based on P2P |
| CN109514566A (en) * | 2018-11-07 | 2019-03-26 | 杭州电子科技大学 | A kind of intelligent monitoring machine people based on raspberry pie |
-
2019
- 2019-05-24 CN CN201910438610.2A patent/CN110065081A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6039429A (en) * | 1994-06-24 | 2000-03-21 | Unisys Corporation | Misprint detection techniques |
| WO2012091801A2 (en) * | 2010-12-30 | 2012-07-05 | Irobot Corporation | Mobile human interface robot |
| CN103294061A (en) * | 2013-06-26 | 2013-09-11 | 林威 | Home security robot based on mobile internet |
| CN105934959A (en) * | 2014-01-20 | 2016-09-07 | 三星电子株式会社 | Electronic device for sharing data and method for controlling the same |
| CN106302262A (en) * | 2016-10-12 | 2017-01-04 | 广东技术师范学院 | A kind of intelligent restaurant service robot wireless communications method based on soft switch |
| WO2018097574A1 (en) * | 2016-11-24 | 2018-05-31 | 엘지전자 주식회사 | Mobile robot and control method thereof |
| CN207495513U (en) * | 2017-10-19 | 2018-06-15 | 河北大白机器人科技有限公司 | Novel belt leak water detdction security robot |
| CN107891430A (en) * | 2017-12-23 | 2018-04-10 | 河南智盈电子技术有限公司 | A kind of security robot based on Internet of Things |
| CN109227546A (en) * | 2018-11-01 | 2019-01-18 | 陕西科技大学 | A kind of wired home robot system that can remotely monitor based on P2P |
| CN109514566A (en) * | 2018-11-07 | 2019-03-26 | 杭州电子科技大学 | A kind of intelligent monitoring machine people based on raspberry pie |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190730 |