CN110096060A - A kind of inspecting robot and its control method with monitoring function - Google Patents
A kind of inspecting robot and its control method with monitoring function Download PDFInfo
- Publication number
- CN110096060A CN110096060A CN201910398348.3A CN201910398348A CN110096060A CN 110096060 A CN110096060 A CN 110096060A CN 201910398348 A CN201910398348 A CN 201910398348A CN 110096060 A CN110096060 A CN 110096060A
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- China
- Prior art keywords
- wireless
- telecar
- monitoring
- signal
- workshop
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C3/00—Registering or indicating the condition or the working of machines or other apparatus, other than vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/30—Transforming light or analogous information into electric information
- H04N5/33—Transforming infrared radiation
Abstract
The invention discloses a kind of inspecting robots with monitoring function, including telecar, telecar is internally provided with battery, and the surface of telecar is provided with charging slot, control box is fixedly connected at the top of telecar, the bottom of control box inner wall is provided with wireless receiving module, is related to monitoring device technical field.The inspecting robot and its control method with monitoring function carry out reciprocal monitoring and shooting to the main route of unmanned workshop, reduce the workload of the tour of staff, it ensures the convenience of the environmental monitoring inside unmanned workshop and improves the range of unmanned power house environment detection, pyroelectric sensor is set, as someone in the detection range of inspecting robot two sides, inspecting robot stopping moves on, and Radio infrared camera starts to rotate in the horizontal direction, to complete 360 ° of comprehensive monitoring and shooting, to monitor the safe condition of the environment inside workshop and enter whether workshop personnel are staff.
Description
Technical field
The present invention relates to monitoring device technical field, specially a kind of inspecting robot and its control with monitoring function
Method.
Background technique
For workshop for factory, safety is not only in that the qualification of equipment, while lying also in staff's operation
Accuracy and safety, have the unmanned work workshop of important equipment for construction, staff or maintenance personnel need timing
Artificial carry out workshop tour and inspection, whether the working condition to grasp equipment in workshop normal and whether has inoperative
Personnel are strayed into and influence the safety of workshop and the normal operation of equipment, and there is certain safety during tour and inspection
Hidden danger.
In the prior art, existing unmanned workshop is mostly artificial jack-up inspection, when patrol officer is not inside workshop
Working environment inside unmanned workshop, which exists, makes an inspection tour blind area, has some potential safety problems, can not be in real time to the inside of workshop
It is maked an inspection tour and is monitored, and information reporting will be maked an inspection tour there are the time difference after making an inspection tour, reduce the real-time of tour.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides a kind of inspecting robot and its control method with monitoring function,
Solving the problems, such as manual patrol, there are the time differences there are the result of security risk and tour.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs: a kind of tour machine with monitoring function
People includes telecar, and the telecar is internally provided with battery, and the surface of telecar is provided with charging slot, described distant
Control box is fixedly connected at the top of control vehicle, the bottom of the control box inner wall is provided with wireless receiving module, and controls box
The side that the bottom of inner wall is located at the wireless receiving module is provided with single-chip microcontroller, and the bottom of the control box inner wall is far from described
The side of wireless receiving module is fixedly connected with rotation motor, and the output end of the rotation motor is fixedly connected with the first conical tooth
Wheel, the flank engagement of first angular wheel have the second angular wheel, are fixedly connected at the axle center of second angular wheel
There is rotating bar, the bottom of the rotating bar is connect with the lower rotation of the control box inner wall, and the top of the control box is fixed
It is connected with shield, the top side of the rotating bar is through the top of the control box inner wall and the top of the shield inner wall
Portion and the top for extending to the shield, and the side that rotating bar extends to inside the shield is fixedly connected with auxiliary
Turntable is fixedly connected with the first contact switch at the top of the auxiliary turntable, and the side of the shield inner wall is fixedly connected with
Mounting blocks, the two sides of the mounting blocks have been respectively fixedly connected with the second contact switch and third contact switch.
Further, the side that the rotating bar extends to the top of the shield is fixedly connected with rotation axis, described
The surface of rotation axis is rotatably connected to mounting rack by rotation slot, and the bottom of the mounting rack offers auxiliary turn trough, and pacifies
The top shelved is provided with Radio infrared camera.
Further, the lower section that the surface that the rotating bar extends to the top of the shield is located at the mounting rack is solid
Surely it is connected with support plate, electric telescopic rod is rotatably connected at the top of the support plate, the side of the mounting rack is fixedly connected
There are adjustable plate, the top rotation connection of the bottom of the adjustable plate and the electric telescopic rod.
Further, the two sides of the telecar are provided with buffering air column, are provided on two buffering air columns
Charge valve.
Further, the side close to the rotation motor of the control box offers transom, the wireless receiving
The top of module is through the top for controlling box inner wall and extends to the outside for controlling box, the input of the rotation motor
End and the output end of the single-chip microcontroller are electrically connected.
Further, the two sides of the control box are provided with pyroelectric sensor, two pyroelectric sensors
Output end is electrically connected with the input terminal of the single-chip microcontroller.
Further, the wireless input of the wireless receiving module is provided with wireless transmitter module, the wireless transmission
Module is set to the receiving in range of the wireless receiving module, and the output end of wireless receiving module and the single-chip microcontroller
Input terminal is electrically connected, the wireless output at the wireless input signal end of the wireless transmitter module and the Radio infrared camera
Signal end is adapted.
Further, the interface of the wireless transmitter module is provided with monitoring host, the prison by data line
Survey two-way electric connection between host and the wireless transmitter module.
Further, the input terminal of the output end of the charging slot and the battery is electrically connected, and battery
The input terminal of output end and the single-chip microcontroller is electrically connected, the output end electricity of the electric telescopic rod input terminal and the single-chip microcontroller
Property connection.
A kind of control method of the inspecting robot with monitoring function, comprising the following steps:
Step 1: before use, preferentially being charged by inside of the charging slot external power supply to battery in unmanned workshop, protecting
Hindering battery has normal operation electricity；
Step 2: being transmitted control signals on wireless transmitter module by monitoring host, wireless transmitter module will control signal and turn
Wireless signal transmission is changed to the inside of wireless receiving module, wireless receiving module receives wireless signal and is converted to electric signal biography
Defeated in single-chip microcontroller, single-chip microcontroller identification electric signal simultaneously converts electrical signals to the input terminal that control wire size is transferred to telecar, makes
Telecar straight line spacing inside workshop is obtained to move back and forth；
Step 3: during telecar linear movement, Radio infrared camera examines the region on initial straight trip direction
It surveys and monitors, and the image for acquiring and taking can be converted to wireless signal transmission to wireless hair by Radio infrared camera
The inside of module is penetrated, the wireless signal transmission of receiving to monitoring host is passed through monitoring host real-time display by wireless transmitter module
Picture and image from Radio infrared camera real-time monitoring；
Step 4: during telecar straight reciprocating motion, if personnel occur in the two sides of the telecar direction of motion, heat is released
Electric transducer issues electric signal, and for pyroelectric sensor by electric signal transmission to single-chip microcontroller, single-chip microcontroller sends out pyroelectric sensor
The electric signal sent is converted to two control signals, and a control signal control telecar stops, so that monitoring of structures is integrally fixed
On the position that pyroelectric sensor detects signal, another control signal enabling rotation motor；
Step 5: after rotation motor starting, rotation motor drives rotating bar to rotate synchronously, and rotating bar is driven by rotation axis and installed
Frame slowly rotates synchronously, and mounting rack drives Radio infrared camera to be rotated in horizontal plane, so that 360 ° of completion is comprehensive
Monitoring and shooting, to monitor the safe condition of the environment inside workshop and enter whether workshop personnel are staff；
Step 6: when image abnormity of the staff by monitoring detecting host Radio infrared thecamera head, and it is wireless red
When the inconvenient complete observation of the shooting angle of outer camera, control signal is sent to wireless transmitter module by monitoring host,
Wireless transmitter module is converted to signal is controlled in wireless signal transmission to wireless receiving module, and wireless receiving module will be received
Wireless signal change is that control signal is transferred to single-chip microcontroller, and single-chip microcontroller controls the stretching, extension of electric telescopic rod by control signal, together
When by monitor host equally can remotely control the contraction of electric telescopic rod, to adjust the vertical bat of Radio infrared camera
Take the photograph angle, thus obtain more fully monitor picture, when accident and accident occurs, by remotely monitor host can first when
Between understand workshop in accident situation, ensure workshop internal environment safety.
(3) beneficial effect
The invention has the following advantages:
(1), the inspecting robot and its control method with monitoring function, by being provided with telecar, telecar drives top
The Radio infrared camera straight reciprocating motion in portion carries out reciprocal monitoring and shooting to the main route of unmanned workshop, reduces work
The workload for making the tour of personnel ensures the convenience of the environmental monitoring inside unmanned workshop and improves unmanned power house environment detection
Range.
(2), the inspecting robot and its control method with monitoring function, by the way that pyroelectric sensor is arranged, when patrolling
Depending on when someone, inspecting robot stopping is moved on, and Radio infrared camera starts in the detection range of robot two sides
It rotates in the horizontal direction, so that 360 ° of comprehensive monitoring and shooting are completed, to monitor the safe shape of the environment inside workshop
Whether condition and entrance workshop personnel are staff.
(3), the inspecting robot and its control method with monitoring function, by being provided with electric telescopic rod, in nothing
When the shooting angle inconvenience of line infrared camera is completely observed, adjusted by the contraction and stretching, extension of electric telescopic rod wireless
The shooting angle of infrared camera more fully monitors picture to obtain, when accident and accident occurs, by remotely monitoring
Host can understand the accident situation in workshop at the first time, ensure the safety of workshop internal environment.
Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.
Detailed description of the invention
Fig. 1 is a kind of preferable structural schematic diagram of the present invention；
Fig. 2 is the structural schematic diagram of the part of auxiliary turntable in Fig. 1 of the present invention；
Fig. 3 is the enlarged drawing in the present invention portion A shown in FIG. 1；
Fig. 4 is the present invention whole structural schematic diagram shown in FIG. 1；
The control block diagram of the position Fig. 5 present invention single chip part shown in FIG. 1.
In figure, 1- telecar, 2- battery, 3- charging slot, 4- control box, 5- wireless receiving module, 6- single-chip microcontroller, 7- turn
Dynamic motor, the first angular wheel of 8-, the second angular wheel of 9-, 10- rotating bar, 11- shield, 12- auxiliary turntable, 13- first
Contact switch, 14- mounting blocks, the second contact switch of 15-, 16- third contact switch, 17- rotation axis, 18- rotation slot, 19- peace
It shelves, 20- auxiliary turn trough, 21- Radio infrared camera, 22- support plate, 23- electric telescopic rod, 24- adjustable plate, 25- buffering
Air column, 26- transom, 27- pyroelectric sensor, 28- wireless transmitter module, 29- monitor host.
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 shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " aperture ", "upper", "lower", " thickness ", "top", " in ",
Indicating positions or the positional relationship such as " length ", "inner", " surrounding ", are merely for convenience of description of the present invention and simplification of the description, without
It is that the component of indication or suggestion meaning or element must have a particular orientation, is constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.
Fig. 1-5 is please referred to, the embodiment of the present invention provides a kind of technical solution: a kind of tour machine with monitoring function
People, including telecar 1, telecar 1 is internally provided with drive motor, and the track route of telecar 1 only has linear reciprocation fortune
Dynamic, inspecting robot can be integrally placed to carry out linear reciprocation fortune on the main track route in unmanned workshop by when use
Dynamic, telecar 1 is internally provided with battery 2, and the surface of telecar 1 is provided with charging slot 3, and the top of telecar 1 is solid
Surely it is connected with control box 4, the bottom of control 4 inner wall of box is provided with wireless receiving module 5, and controls the bottom position of 4 inner wall of box
The side of wireless receiving module 5 is provided with single-chip microcontroller 6, the bottom for controlling 4 inner wall of box is solid far from the side of wireless receiving module 5
Surely it is connected with rotation motor 7,7 stepper motors of rotation motor, the output end of rotation motor 7 is fixedly connected with the first angular wheel
8, the flank engagement of the first angular wheel 8 has the second angular wheel 9, is fixedly connected with rotation at the axle center of the second angular wheel 9
The bottom of bar 10, rotating bar 10 is connect with the lower rotation of control 4 inner wall of box, and the top of control box 4 is fixedly connected with shield
11, the top side of rotating bar 10 runs through the top of 11 inner wall of top and shield of control 4 inner wall of box and extends to shield
11 top, and the side that rotating bar 10 extends to inside shield 11 is fixedly connected with auxiliary turntable 12, auxiliary turntable 12
Top be fixedly connected with the first contact switch 13, the side of 11 inner wall of shield is fixedly connected with mounting blocks 14, mounting blocks 14
Two sides be respectively fixedly connected with the second contact switch 15 and third contact switch 16, the second contact switch 15 and third contact are opened
It closes and 16 is adapted with the first contact switch 13, when the first contact switch 13 and the second contact switch 15 contact, the second contact
Switch 15 is sent on electric signal to single-chip microcontroller 6, and the rotation direction that single-chip microcontroller 6 controls rotation motor 7 is to rotate forward, when third contact is opened
When pass 16 and the first contact switch 13 contact, third contact switch 16 is sent on electric signal to single-chip microcontroller 6, and the control of single-chip microcontroller 6 turns
The rotation direction of dynamic motor 7 is reversion, so that the round-trip rotation that the angle rotatable of rotating bar 10 is safe within the scope of 0 ~ 360 °.
The side that rotating bar 10 extends to the top of shield 11 is fixedly connected with rotation axis 17, and the surface of rotation axis 17 is logical
It crosses rotation slot 18 and is rotatably connected to mounting rack 19, the bottom of mounting rack 19 offers auxiliary turn trough 20, and the top of mounting rack 19
Portion is provided with Radio infrared camera 21, the model of Radio infrared camera 21 are as follows: N-WC005, and in actual use by nothing
The direction of line infrared camera 21 is adjusted to the side it can be observed that workshop door, so that inspecting robot is reciprocal in automatic linear
Always the situation on workshop doorway is observed that when movement.
The lower section that the surface that rotating bar 10 extends to the top of shield 11 is located at mounting rack 19 is fixedly connected with support plate
22, the top of support plate 22 is rotatably connected to electric telescopic rod 23, and the side of mounting rack 19 is fixedly connected with adjustable plate 24, adjusts
The bottom of plate 24 and the top of electric telescopic rod 23 are rotatablely connected.
The two sides of telecar 1 are provided with buffering air column 25, are provided with charge valve on two buffering air columns 25.
The side for controlling the close rotation motor 7 of box 4 offers transom 26, and the top of wireless receiving module 5 is through control
The top of 4 inner wall of box processed and the outside for extending to control box 4, the input terminal of rotation motor 7 electrically connect with the output end of single-chip microcontroller 6
It connects.
The two sides of control box 4 are provided with pyroelectric sensor 27, the output end of two pyroelectric sensors 27 with list
The input terminal of piece machine 6 is electrically connected.
The wireless input of wireless receiving module 5 is provided with wireless transmitter module 28, and wireless transmitter module 28 is set to nothing
Line receiving module 5 receives in range, and the input terminal of the output end of wireless receiving module 5 and single-chip microcontroller 6 is electrically connected, nothing
The wireless input signal end of line transmitting module 28 is adapted with the wireless output signal end of Radio infrared camera 21.
The interface of wireless transmitter module 28 is provided with monitoring host 29 by data line, monitoring host 29 and wireless
Two-way electric connection between transmitting module 28.
Monitoring host 29 is host computer, can be to wireless transmitter module by the keyboard operation on monitoring host 29
28 send opening for the switching signals of telecar 1, the telescope signal of electric telescopic rod 23,7 switching signal of rotation motor and battery 2
The road Guan Gongsi controls signal, and control operating software compatible with single-chip microcontroller 6, control operation are provided on host computer
Software is identical as the operating system of remote controler in telecontrolled aircraft in the prior art, distant in the remote controler of existing telecontrolled aircraft
It controls device and issues signal, the receiver on aircraft receives signal, and receiver is transmitted to steering engine signal and electric energy, steering engine rotation, the company of drive
Bar, operating aircraft flight, for another example RC Goblin: when pushing away elevator, a data, (you raise drop to transmitter (remote controler)
It is action data that the amount of rudder, which is directly handled by remote controler, this is just intelligent remote controller) launched by its frequency, by
This passes through data line for signal is controlled by the matching control operating software of the keyboard operation on host computer
It is transferred to wireless transmitter module 28 and sends control signal, the reception of wireless receiving module 5 is sent from wireless transmitter module 28
Signal is controlled, the receiver on wireless receiving module 5 and telecontrolled aircraft in the prior art, which has same function and uses, imitates
Fruit, and display system compatible with Radio infrared camera 21 is provided on host computer, monitoring host 29 includes
Have the network switch, can not transmitting module 28 include wireless router, one end couple in router of interchanger, and wireless red
Outer camera 21 is in the range of wireless router, forms a simple wireless video monitoring system, and Radio infrared is taken the photograph
It is realized as the audio-video of first 21 transmission is shown with the monitoring host 29 by access switch is managed.
The output end of charging slot 3 and the input terminal of battery 2 are electrically connected, and the output end of battery 2 and single-chip microcontroller 6
Input terminal be electrically connected, the output end of 23 input terminal of electric telescopic rod and single-chip microcontroller 6 is electrically connected.
A kind of control method of the inspecting robot with monitoring function, comprising the following steps:
Step 1: before use, preferentially being charged by 3 external power supply of charging slot to the inside of battery 2 in unmanned workshop,
Ensure that battery 2 has normal operation electricity；
Step 2: being transmitted control signals on wireless transmitter module 28 by monitoring host 29, wireless transmitter module 28 will control
Signal is converted to wireless signal transmission to the inside of wireless receiving module 5, and wireless receiving module 5 receives wireless signal and is converted to
In electric signal transmission to single-chip microcontroller 6, single-chip microcontroller 6, which identifies electric signal and converts electrical signals to control wire size, is transferred to telecar 1
Input terminal so that telecar 1 inside workshop straight line spacing move back and forth；
Step 3: during telecar 1 moves linearly, Radio infrared camera 21 to the region on initial straight trip direction into
Row detection and monitoring, and the image for acquiring and taking can be converted to wireless signal transmission and arrived by Radio infrared camera 21
The wireless signal transmission of receiving to monitoring host 29, is passed through monitoring by the inside of wireless transmitter module 28, wireless transmitter module 28
Picture and image of 29 real-time display of host from 21 real-time monitoring of Radio infrared camera；
Step 4: during 1 straight reciprocating motion of telecar, if there are personnel in the two sides of 1 direction of motion of telecar, heat
It releases electric transducer 27 and issues electric signal, pyroelectric sensor 27 is by electric signal transmission to single-chip microcontroller 6, and single-chip microcontroller 6 is by pyroelectricity
The electric signal that sensor 27 is sent is converted to two control signals, and a control signal control telecar 1 stops, so that monitoring knot
Structure is integrally attached to pyroelectric sensor 27 and detects on the position of signal, another control signal enabling rotation motor 7；
Step 5: after rotation motor 7 starts, rotation motor 7 drives rotating bar 10 to rotate synchronously, and rotating bar 10 passes through rotation axis 17
Mounting rack 19 is driven slowly to rotate synchronously, mounting rack 19 drives Radio infrared camera 21 to be rotated in horizontal plane, thus complete
At 360 ° of comprehensive monitorings and shooting, with monitor the environment inside workshop safe condition and enter workshop personnel whether be
Staff；
Step 6: when staff has found the image abnormity that Radio infrared camera 21 transmits by monitoring host 29, and nothing
When the inconvenient complete observation of the shooting angle of line infrared camera 21, control signal is sent to wireless hair by monitoring host 29
Module 28 is penetrated, wireless transmitter module 28 is converted to signal is controlled in wireless signal transmission to wireless receiving module 5, wireless receiving
Received wireless signal change is that control signal is transferred to single-chip microcontroller 6 by module 5, and single-chip microcontroller 6 is controlled electronic by control signal
The stretching, extension of telescopic rod 23, while equally the contraction of electric telescopic rod 23 can be remotely controlled by monitoring host 29, to adjust
The vertical shooting angle of Radio infrared camera 21 more fully monitors picture to obtain, and when accident and accident occurs, leads to
Accident situation in workshop can be understood at the first time by crossing long-range monitoring host 29, ensure the safety of workshop internal environment.
When work, before use, preferentially being carried out by inside of 3 external power supply of charging slot to battery 2 in unmanned workshop
Charging ensures that battery 2 has normal operation electricity, transmits control signals to wireless transmitter module by monitoring host 29
On 28, wireless transmitter module 28 is converted to wireless signal transmission to the inside of wireless receiving module 5, wireless receiving for signal is controlled
Module 5 receives wireless signal and is converted in electric signal transmission to single-chip microcontroller 6, and single-chip microcontroller 6 identifies electric signal and turns electric signal
It is changed to the input terminal that control wire size is transferred to telecar 1, so that the straight line spacing inside workshop of telecar 1 moves back and forth, distant
During controlling the linear movement of vehicle 1, Radio infrared camera 21 is detected and is monitored to the region on initial straight trip direction, and
And the image for acquiring and taking can be converted to wireless signal transmission to wireless transmitter module 28 by Radio infrared camera 21
Inside, wireless transmitter module 28 by the wireless signal transmission of receiving to monitoring host 29, pass through monitoring 29 real-time display of host
Picture and image from 21 real-time monitoring of Radio infrared camera, during 1 straight reciprocating motion of telecar, telecar
If personnel occur in the two sides of 1 direction of motion, pyroelectric sensor 27 issues electric signal, and pyroelectric sensor 27 passes electric signal
It is defeated on single-chip microcontroller 6, the electric signal that pyroelectric sensor 27 is sent is converted to two control signals, a control by single-chip microcontroller 6
Signal, which controls telecar 1, to be stopped, so that monitoring of structures is integrally attached to pyroelectric sensor 27 and detects on the position of signal, separately
One control signal enabling rotation motor 7, after rotation motor 7 starts, rotation motor 7 drives rotating bar 10 to rotate synchronously, rotation
Bar 10 drives mounting rack 19 slowly to rotate synchronously by rotation axis 17, and mounting rack 19 drives Radio infrared camera 21 in horizontal plane
Rotated, thus complete 360 ° comprehensive monitoring and shooting, with monitor the environment inside workshop safe condition and into
Enter whether workshop personnel are staff, when the figure that staff is transmitted by the monitoring discovery Radio infrared camera 21 of host 29
As it is abnormal when, and when the inconvenient complete observation of shooting angle of Radio infrared camera 21, pass through monitoring host 29 and send
Signal is controlled to wireless transmitter module 28, wireless transmitter module 28 is converted to wireless signal transmission to wireless receiving for signal is controlled
In module 5, received wireless signal change is that control signal is transferred to single-chip microcontroller 6 by wireless receiving module 5, and single-chip microcontroller 6 passes through
The stretching, extension of signal control electric telescopic rod 23 is controlled, while equally can remotely control electric telescopic rod 23 by monitoring host 29
Contraction more fully monitor picture to obtain, occurring to adjust the vertical shooting angle of Radio infrared camera 21
When unexpected and accident, accident situation in workshop can be understood at the first time by remotely monitoring host 29, is ensured inside workshop
The safety of environment.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to better explain the present invention
Principle and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only
It is limited by claims and its full scope and equivalent.
Claims (10)
1. a kind of inspecting robot with monitoring function, including telecar (1), it is characterised in that: the telecar (1) it is interior
Portion is provided with battery (2), and the surface of telecar (1) is provided with charging slot (3), and the top of the telecar (1) is fixed
It is connected with control box (4), the bottom of described control box (4) inner wall is provided with wireless receiving module (5), and controls in box (4)
The side that the bottom of wall is located at the wireless receiving module (5) is provided with single-chip microcontroller (6), the bottom of described control box (4) inner wall
Side far from the wireless receiving module (5) is fixedly connected with rotation motor (7), and the output end of the rotation motor (7) is solid
Surely it being connected with the first angular wheel (8), the flank engagement of first angular wheel (8) has the second angular wheel (9), and described
It is fixedly connected at the axle center of two angular wheels (9) rotating bar (10), the bottom of the rotating bar (10) and the control box (4)
The lower rotation of inner wall connects, and is fixedly connected with shield (11) at the top of the control box (4), the top of the rotating bar (10)
Portion side is through the top of described control box (4) inner wall and the top of the shield (11) inner wall and extends to the shield
(11) top, and rotating bar (10) extends to the internal side of the shield (11) and is fixedly connected with auxiliary turntable
(12), it is fixedly connected with the first contact switch (13) at the top of the auxiliary turntable (12), the one of shield (11) inner wall
Side is fixedly connected with mounting blocks (14), and the two sides of the mounting blocks (14) have been respectively fixedly connected with the second contact switch (15) and
Three contact switch (16).
2. a kind of inspecting robot with monitoring function according to claim 1, it is characterised in that: the rotating bar
(10) side for extending to the top of the shield (11) is fixedly connected with rotation axis (17), the surface of the rotation axis (17)
It being rotatably connected to mounting rack (19) by rotation slot (18), the bottom of the mounting rack (19) offers auxiliary turn trough (20), and
And Radio infrared camera (21) are provided at the top of mounting rack (19).
3. a kind of inspecting robot with monitoring function according to claim 1, it is characterised in that: the rotating bar
(10) surface for extending to the top of the shield (11), which is located at below the mounting rack (19), is fixedly connected with support plate
(22), it is rotatably connected to electric telescopic rod (23) at the top of the support plate (22), the side of the mounting rack (19) is fixed to be connected
It is connected to adjustable plate (24), the bottom of the adjustable plate (24) and the top of the electric telescopic rod (23) are rotatablely connected.
4. a kind of inspecting robot with monitoring function according to claim 1, it is characterised in that: the telecar
(1) two sides are provided with buffering air column (25), are provided with charge valve on two buffering air columns (25).
5. a kind of inspecting robot with monitoring function according to claim 1, it is characterised in that: the control box
(4) the side close to the rotation motor (7) offers transom (26), and the top of the wireless receiving module (5) is run through
It is described control box (4) inner wall top and extend to it is described control box (4) outside, the input terminal of the rotation motor (7) with
The output end of the single-chip microcontroller (6) is electrically connected.
6. a kind of inspecting robot with monitoring function according to claim 1, it is characterised in that: the control box
(4) two sides are provided with pyroelectric sensor (27), the output end of two pyroelectric sensors (27) with the list
The input terminal of piece machine (6) is electrically connected.
7. a kind of inspecting robot with monitoring function according to claim 2, it is characterised in that: the wireless receiving
The wireless input of module (5) is provided with wireless transmitter module (28), and the wireless transmitter module (28) is set to described wireless
Receiving module (5) receive in range, and the output end of wireless receiving module (5) and the input terminal of the single-chip microcontroller (6) electricity
Property connection, the wireless output at the wireless input signal end of the wireless transmitter module (28) and the Radio infrared camera (21)
Signal end is adapted.
8. a kind of inspecting robot with monitoring function according to claim 7, it is characterised in that: the wireless transmission
The interface of module (28) is provided with monitoring host (29), the monitoring host (29) and the wireless hair by data line
Penetrate two-way electric connection between module (28).
9. a kind of inspecting robot with monitoring function according to claim 3, it is characterised in that: the charging slot
(3) input terminal of output end and the battery (2) is electrically connected, and the output end of battery (2) and the single-chip microcontroller
(6) input terminal is electrically connected, and the output end of electric telescopic rod (23) input terminal and the single-chip microcontroller (6) is electrically connected.
10. a kind of control method of the inspecting robot with monitoring function, which comprises the following steps:
Step 1: before use, preferentially being filled by inside of charging slot (3) external power supply to battery (2) in unmanned workshop
Electricity ensures that battery (2) have normal operation electricity；
Step 2: being transmitted control signals on wireless transmitter module (28) by monitoring host (29), wireless transmitter module (28)
Signal will be controlled and be converted to inside of the wireless signal transmission to wireless receiving module (5), wireless receiving module (5) reception wireless communication
Number and be converted to electric signal transmission in single-chip microcontroller (6), single-chip microcontroller (6) identification electric signal simultaneously converts electrical signals to control wire size
It is transferred to the input terminal of telecar (1), so that telecar (1) straight line spacing inside workshop moves back and forth；
Step 3: during telecar (1) moves linearly, Radio infrared camera (21) is to the area on initial straight trip direction
Domain is detected and is monitored, and the image for acquiring and taking can be converted to wireless signal by Radio infrared camera (21)
It is transferred to the inside of wireless transmitter module (28), wireless transmitter module (28) is by the wireless signal transmission of receiving to monitoring host
(29), the picture and image of Radio infrared camera (21) real-time monitoring are come from by monitoring host (29) real-time display；
Step 4: during telecar (1) straight reciprocating motion, telecar (1) is if personnel occur in the two sides of the direction of motion
When, pyroelectric sensor (27) issues electric signal, and pyroelectric sensor (27) is by electric signal transmission to single-chip microcontroller (6), monolithic
The electric signal that pyroelectric sensor (27) is sent is converted to two control signals by machine (6), and a control signal controls telecar
(1) stop, so that monitoring of structures is integrally attached to pyroelectric sensor (27) and detects on the position of signal, another control letter
Number starting rotation motor (7)；
Step 5: after rotation motor (7) starting, rotation motor (7) drives rotating bar (10) to rotate synchronously, and rotating bar (10) passes through
Rotation axis (17) drives mounting rack (19) slowly to rotate synchronously, and mounting rack (19) drives Radio infrared camera (21) in horizontal plane
Rotated, thus complete 360 ° comprehensive monitoring and shooting, with monitor the environment inside workshop safe condition and into
Enter whether workshop personnel are staff；
Step 6: when image abnormity of the staff by monitoring host (29) discovery Radio infrared camera (21) transmission, and
And when the inconvenient complete observation of shooting angle of Radio infrared camera (21), passes through monitoring host (29) and send control signal
It gives wireless transmitter module (28), wireless transmitter module (28) is converted to wireless signal transmission to wireless receiving module for signal is controlled
(5) on, received wireless signal change is that control signal is transferred to single-chip microcontroller (6) by wireless receiving module (5), single-chip microcontroller (6)
By control signal control electric telescopic rod (23) stretching, extension, while by monitor host (29) equally can remotely control it is electronic
The contraction of telescopic rod (23), so that the vertical shooting angle of Radio infrared camera (21) is adjusted, to more fully be supervised
Picture is surveyed, when accident and accident occurs, accident feelings in workshop can be understood at the first time by remotely monitoring host (29)
Condition ensures the safety of workshop internal environment.
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| CN111131796A (en) * | 2020-02-04 | 2020-05-08 | 台州椒江彩格电子科技有限公司 | Household thermal imaging monitoring and detecting device |
| CN111953930A (en) * | 2020-06-19 | 2020-11-17 | 窦崧 | Movable road monitoring equipment |
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