CN202060883U - Remote monitoring robot - Google Patents
Remote monitoring robot Download PDFInfo
- Publication number
- CN202060883U CN202060883U CN2011201221323U CN201120122132U CN202060883U CN 202060883 U CN202060883 U CN 202060883U CN 2011201221323 U CN2011201221323 U CN 2011201221323U CN 201120122132 U CN201120122132 U CN 201120122132U CN 202060883 U CN202060883 U CN 202060883U
- Authority
- CN
- China
- Prior art keywords
- robot
- circuit
- monitoring
- human body
- long distance
- 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.)
- Expired - Lifetime
Links
Images
Abstract
A remote monitoring robot consists of a robot body, and a noncontact type human body vital sign monitoring device, a human body tracking circuit, a remote alarm device and a remote network video monitoring device that are attached to the robot. The robot can track a monitored object automatically or under remote control, and monitor the main vital signs of the monitored object in a noncontact type within a range of a certain distance. The monitored person can freely move within a certain range, therefore, the robot gets rid of the action limit of a traditional monitoring device on the monitored person. When the parameters of detected vital signs are abnormal, the robot can automatically send an emergency signal to a far end through the existing mobile communication network and the Internet. The technology of the remote monitoring robot can be widely applied to remote monitoring on the elderly living alone and the sick and weak people, and provide great convenience for household medical care in an ageing and fast-paced society.
Description
Technical field
This utility model relates to a kind of long distance monitoring robot, especially a kind of long distance monitoring robot that realizes contactless humanbody vital signs detecting and human body from motion tracking.
Background technology
Along with the arrival of aging society, aging population increase fast, and aging, empty nesting trend are obvious, need the half anergy old man who takes care of more and more.Since the fierceness of social competition, the quickening of work and rhythm of life, people have no time to look after old or sick and weak relatives, and nursing old, sick and weak colony has become a thorny social problem.For this reason, a large amount of health monitoring products arise at the historic moment, and come into people's life based on the various monitors of basic human body physiological parameter detecting.Especially along with the development of microelectric technique and electromechanical integration, the particularly exploitation in succession of new generation sensor part, the performance of multifunctinoal health state detector becomes more reliable, and more perfect function is for the monitoring of people's domestic medicine provides great convenience.
Application number is 2006100148831, name is called the invention of " Portable, multiple parameter custodial care facility ", disclose a kind of device that can transmit patient's physiologic information by the GPRS communication network, telemonitoring utilizes sensor acquisition patients' such as cardiac diagnosis lead, pulse probe physiologic information.But, this invents described physiological information sensor and adopts traditional sensor technology, and these pick offs are laid in the patient body specific part, and its connection cable also can cause winding to limbs, and giving needs old age, the sick and weak object of monitoring all the year round to bring inconvenience.At present, the invention technology type is seemingly therewith for known most of physiological parameter long distance monitoring equipment.
Application number is 2004100887492, name is called the invention of " a kind of contactless aroused in interest and respiration detection technology ", utilize pressure transducer to measure human body heart beating and breathing, patient can break away from pick off laying on health, could realize detecting but must rely on a mattress of having settled pressure transducer or the back cushion, this invention has still limited the free movable of monitored personnel's health.
Application number is that 02224624X, name are called the utility model of " the contactless life parameters sniffer of radar ", the health fine motion that utilizes Radar Technology detection human body respiration, pulse to cause, the main life parameters of noncontact monitoring human in the scope of certain distance, broken away from traditional sensors and laid the winding of human body and connection cable thereof limbs, but this disclosure of the Invention only is the circuit structure of life parameters sniffer itself, do not relate to sniffer from motion tracking, long distance monitoring technology, inconvenience is arranged in practicality.
In recent years, the development of robotics brings new opportunity to monitoring technology, and the method for operation of its hommization obtains people's favor.Application number is 038229145, name is called the invention of " medical tele-robotic system ", a kind of system by the long distance monitoring patient of robot is disclosed, utilize broadband networks, photographing unit, monitor technology, the monitoring personnel that are positioned at remote location can see patient's image, case history, and also remote-controlled mobile robot points out patient to take medicine.But medical tele-robotic system is unrealized to the autonomous detection of children under guardianship's life parameters the automatic warning in the time of can't realizing vital sign abnormalities only based on monitoring remote video.
Summary of the invention
In order to overcome the defective of existing long distance monitoring technology, this utility model provides a kind of long distance monitoring robot.This long distance monitoring robot can be automatically or the remote tracking guardianship, and in scope separated by a distance, the main vital sign of contactless monitoring guardianship sends warning message automatically when the survey vital sign parameter is unusual.
The technical scheme that its technical problem that solves this utility model adopts is: a kind of long distance monitoring robot, by robot body and be attached to vital sign monitoring device in the robot, remote alarming device is formed, but described robot body is mainly by walking mechanism, the robot fuselage, motion driving system, the master controller system, the motion-sensing system, the robot electric supply installation is formed, it is characterized in that: described vital sign monitoring device adopts contactless humanbody vital sign monitoring device, this device is by the radar detection antenna, radar signal transmitting-receiving and treatment circuit, vital signs detecting Digital Signal Analysis and Processing circuit is formed, described robot body has also been set up the human body tracking circuit, all the time aim at human body in order to the control radar exploring antenna, control robot body and human body keep setpoint distance.The radar detection antenna of described noncontact vital sign monitoring device adopts beam antenna, and the combiner of radar detection antenna or radar detection antenna and the design of its interlock circuit one is installed on the top of robot body.Described remote alarming device by alarm signal circuit is set, radio communication circuit is formed, and sends alarm signal with voice or short message mode to the monitoring phone of setting by wireless communication networks.Alarm signal is provided with circuit also can connect the broadband network communication circuit by the master controller system simultaneously, and alarm signal is handled through packing, by computer or the intelligent terminal of the Internet transmission to far-end.Described robot body configurable remote Network Video Surveillance device, the telecommunication network video monitoring apparatus is made up of camera assembly, microphone, video encoding circuit, broadband network communication circuit, and the broadband network communication circuit inserts the Internet by the wireless network connecting circuit.When being installed on the camera assembly configuration The Cloud Terrace of robot body, the combiner of radar detection antenna or radar detection antenna and the design of its interlock circuit one keeps interlock with camera pan-tilt, so that aim at by guardianship simultaneously.When described camera assembly disposed The Cloud Terrace, the master controller system connected the cradle head control circuit, and the control signal of human body tracking circuit is at first controlled The Cloud Terrace from motion tracking, when the tracking angle exceeds certain limit, controlled robot body again from motion tracking.Robot body master controller system can connect broadband network communication circuit, motion driving system, cradle head control circuit, and the monitoring personnel use PC or intelligent terminal, by moving of broadband network monitoring and remote-controlled machine human body and camera pan-tilt.
Robot body described in the technical solutions of the utility model is meant base machine people general under the prior art, and this robotlike is as a kind of technology platform, and people can expand the new robot product of exploitation on its basis.Contactless humanbody vital sign monitoring device described in the technical solutions of the utility model utilizes The radar exploration technique, its principle is: launching beam shines directly into the outer human body of certain distance, the echo-signal of human body reflection is loaded with human body respiration, heart beating fine motion information, echo-signal in monitoring device with the mixing that transmits, its output signal goes out human body vital sign parameters such as breathing, heart beating again by the signal analysis and processing circuit extraction, for the observation monitoring.Simultaneously, the upper lower limit value of default vital sign parameter abnormal alarm is set in the circuit, after the actual measurement parameter reaches the warning limit value, sends warning message by master controller and radio communication circuit, network transmission immediately in alarm signal.
The beneficial effects of the utility model are, can be automatically or the remote tracking guardianship, and in scope separated by a distance the main vital sign of noncontact monitoring guardianship, children under guardianship person can be free within the specific limits movable, broken away from of the action restriction of traditional monitor device to children under guardianship person, when the survey vital sign parameter is unusual, can send the emergency signal by existing mobile communications network and the Internet to far-end automatically.This utility model technology can be widely used in solitary old age, the long distance monitoring of sick and weak colony, for the nursing of the domestic medicine under aging, the fast pace society provides great convenience.
Description of drawings
Below in conjunction with drawings and Examples this utility model is further described.
Fig. 1 is the overall structure schematic front view of this utility model embodiment.
Fig. 2 is a kind of simplification circuit block diagram of this utility model embodiment.
Among the figure: but 1. walking mechanism, 2. robot fuselage, 3. radar detection antenna, 4. camera assembly, 5. microphone, 6. The Cloud Terrace, 7. video encoding circuit, 8. master controller system, 9. radar signal transmitting-receiving and treatment circuit, 10. vital signs detecting Digital Signal Analysis and Processing circuit, 11. alarm signal is provided with circuit, 12. radio communication circuit, 13. broadband network communication circuit, 14. wireless network connecting circuits, 15. power control circuit, 16. accumulator battery and charge-discharge control circuit, 17. human body tracking circuit, 18. motion-sensing systems, 19. motion driving system, 20. equipment configuration serial ports, 21. lens control circuits, 22. cradle head control circuit.
The specific embodiment
Fig. 1 is the overall structure schematic front view of an exemplary embodiments of this utility model.Among the figure, but the walking mechanism of long distance monitoring robot (1) can adopt common wheeled or crawler type, and the robot fuselage has been installed critical pieces such as master controller circuit system and electric supply installation in (2).Radar detection antenna (3) and camera assembly (4) have been installed on the The Cloud Terrace (6) on robot fuselage (2) top, and both and The Cloud Terrace rotate synchronously, and assurance radar detection antenna (3) is aimed at guardianship simultaneously with camera assembly (4).
Fig. 2 is a kind of simplification circuit block diagram of this utility model embodiment.Among the figure, but the long distance monitoring robot by robot body and noncontact vital sign monitoring device, remote alarming device form, robot body mainly is made up of walking mechanism (1), robot fuselage (2), motion driving system (19), master controller system (8), motion-sensing system (18), robot electric supply installation.The robot electric supply installation comprises power control circuit (15) and accumulator battery and charge-discharge control circuit (16), accumulator battery and charge-discharge control circuit (16) are made up of accumulator battery and charge and discharge control circuit thereof, circuit is monitored accumulator charging and discharging state automatically, report to the police by external sound or optical indicator when needing charging, prompting is in time charged, and stops charging after charging is finished automatically and passes through external sound or the optical indicator demonstration.Also can be equipped with external automatic cradle, when needs charge, this utility model device is by the related sensor in the motion-sensing system (18), survey, discern the charger position, through master controller system (8) and motion driving system (19) but control walking mechanism (1), before moving to cradle voluntarily, realize charging automatically.Internal electric source control circuit (15) is obtained power supply from accumulator battery and charge-discharge control circuit (16), under the management of master controller system (8) pre-set programs, the switching and the dormancy of management each several part circuit, power devices, wake up, state such as battery saving mode.
Contactless humanbody vital sign monitoring device in the present embodiment is made up of with treatment circuit (9), vital signs detecting Digital Signal Analysis and Processing circuit (10) radar detection antenna (3), radar signal transmitting-receiving, the radar detection antenna (3) here adopts the microwave beam antenna, radar detection antenna (3) can design with radar signal transmitting-receiving and treatment circuit (9) one, and its combiner is installed on the The Cloud Terrace (6) on robot body top with camera assembly (4).The radar signal transmitting-receiving mainly comprises local oscillated signal source and power amplifier, directional coupler and circulator, echo amplifier, frequency mixer and mixed frequency signal treatment circuit with treatment circuit (9).Local oscillated signal forms launching beam through power amplifier, directional coupler and circulator, radar detection antenna (3), shine directly into the outer human body of certain distance, be loaded with the human body reflection echo signal of breathing, heart beating fine motion information, received by radar detection antenna (3), send ripple signal amplifier processing and amplifying back to through circulator, in frequency mixer with the local oscillated signal mixing, its output signal extracts human body vital sign parameters such as breathing, heart beating by vital signs detecting Digital Signal Analysis and Processing circuit (10) again, for the observation monitoring.Simultaneously, be provided with in the circuit (11) in alarm signal, can preset the unusual upper lower limit value of vital sign parameter, after the actual measurement parameter reaches limit value, send alarm signal with voice or short message mode to the monitoring phone of setting by master controller system (8) and radio communication circuit (12) immediately.Owing to disposed broadband network communication circuit (13) in the present embodiment, alarm signal is provided with circuit (11) also can connect broadband network communication circuit (13) by master controller system (8) simultaneously, alarm signal is handled through packing, by computer or the intelligent terminal of the Internet transmission to far-end, at this moment, the guardian can utilize computer or intelligent terminal's related software immediately, observes the guardianship video live telecast that the telecommunication network video monitoring apparatus sends.
The telecommunication network video monitoring apparatus that present embodiment disposed is made up of camera assembly (4), microphone (5), video encoding circuit (7), broadband network communication circuit (13), and broadband network communication circuit (13) inserts the Internet by wireless network connecting circuit (14).Look the Voice Surveillance device by what broadband network communication circuit (13) also can add reverse passback simultaneously, its scheme is: install display, speaker additional and look audio decoding circuit on robot body, these all belong to known technology.For simplicity, directly on robot body described in the utility model, install a panel computer that connects network even additional, can show the image that far-end transmits, realize that the audiovisual information of monitoring personnel and guardianship is mutual.
Human body tracking circuit (17) have that person body orientation is surveyed and human body apart from detecting function, its detection data input master controller system (8), through master controller (8) calculation process, respectively to cradle head control circuit (22) and motion driving system (19) output order, at first control The Cloud Terrace (6) from the motion tracking human body, when The Cloud Terrace (6) tracking angle exceeds certain limit, control robot body walking mechanism (1) again and rotate, keep from motion tracking.When robot body and human body when too far away, master controller (8) controlled motion drive system (19) but drive walking mechanism (1) and move near the human body, and keep setpoint distance.The orientation detection that human body tracking circuit (17) is used and apart from Detection Techniques can adopt known radar detection, infrared, laser, ultrasonic listening technology.The camera human body movement image analysis tracking technique of developed recently also can use going of present embodiment in motion tracking.
When being necessary, after for example the monitoring personnel receive the warning of guardianship vital sign abnormalities, the monitoring personnel use PC or intelligent terminal, pass through the Internet, through broadband network communication circuit (13), master controller system (8), motion driving system (19), cradle head control circuit (22), lens control circuit (21), the motion of remote-controlled machine human body and camera pan-tilt, camera lens.
The equipment component operational factor of long distance monitoring robot and network parameter can directly dispose by described local device configuration serial ports (20), also can connect by network, carry out Remote configuration by system's far-end computer.Master controller system (8) has reserved interface, in needs, can expand the contactless infrared telemetry system of access body temperature and the monitoring and alarming system of indoor other incidents.
Physical circuit of the foregoing description and required microprocessor working procedure belong to known technology, will not describe in detail herein.
Claims (8)
1. long distance monitoring robot, by robot body and be attached to vital sign monitoring device in the robot, remote alarming device is formed, but described robot body is mainly by walking mechanism, the robot fuselage, motion driving system, the master controller system, the motion-sensing system, the robot electric supply installation is formed, it is characterized in that: described vital sign monitoring device adopts contactless humanbody vital sign monitoring device, this device is by the radar detection antenna, radar signal transmitting-receiving and treatment circuit, vital signs detecting Digital Signal Analysis and Processing circuit is formed, described robot body has also been set up the human body tracking circuit, all the time aim at human body in order to the control radar exploring antenna, control robot body and human body keep setpoint distance.
2. a kind of long distance monitoring according to claim 1 robot, it is characterized in that: the radar detection antenna of described noncontact vital sign monitoring device adopts beam antenna, and the combiner of radar detection antenna or radar detection antenna and the design of its interlock circuit one is installed on the top of robot body.
3. a kind of long distance monitoring according to claim 1 robot, it is characterized in that: described remote alarming device by alarm signal circuit is set, radio communication circuit is formed, and sends alarm signal with voice or short message mode to the monitoring phone of setting by wireless communication networks.
4. a kind of long distance monitoring according to claim 3 robot, it is characterized in that: alarm signal is provided with circuit also can connect the broadband network communication circuit by the master controller system simultaneously, alarm signal is handled through packing, by computer or the intelligent terminal of the Internet transmission to far-end.
5. a kind of long distance monitoring according to claim 1 robot, it is characterized in that: described robot body configurable remote Network Video Surveillance device, the telecommunication network video monitoring apparatus is made up of camera assembly, microphone, video encoding circuit, broadband network communication circuit, and the broadband network communication circuit inserts the Internet by the wireless network connecting circuit.
6. a kind of long distance monitoring according to claim 5 robot, it is characterized in that: when being installed on the camera assembly configuration The Cloud Terrace of robot body, the combiner of radar detection antenna or radar detection antenna and the design of its interlock circuit one, keep interlock with camera pan-tilt, so that aim at by guardianship simultaneously.
7. a kind of long distance monitoring according to claim 5 robot, it is characterized in that: when described camera assembly disposes The Cloud Terrace, the master controller system connects the cradle head control circuit, the control signal of human body tracking circuit is at first controlled The Cloud Terrace from motion tracking, when the tracking angle exceeds certain limit, control robot body again from motion tracking.
8. a kind of long distance monitoring according to claim 5 robot, it is characterized in that: robot body master controller system can connect broadband network communication circuit, motion driving system, cradle head control circuit, the monitoring personnel use PC or intelligent terminal, by moving of broadband network monitoring and remote-controlled machine human body and camera pan-tilt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201221323U CN202060883U (en) | 2011-04-25 | 2011-04-25 | Remote monitoring robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201221323U CN202060883U (en) | 2011-04-25 | 2011-04-25 | Remote monitoring robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202060883U true CN202060883U (en) | 2011-12-07 |
Family
ID=45054767
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201221323U Expired - Lifetime CN202060883U (en) | 2011-04-25 | 2011-04-25 | Remote monitoring robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202060883U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102508256A (en) * | 2011-11-23 | 2012-06-20 | 中国科学院微电子研究所 | Non-contact real-time physiological signal monitoring system |
| CN102662378A (en) * | 2012-05-18 | 2012-09-12 | 天津申能科技有限公司 | Remote interaction system based on Internet of things technology |
| CN102755194A (en) * | 2011-04-25 | 2012-10-31 | 山东省普来特能源与电器研究院 | Remote monitoring robot |
| CN102824215A (en) * | 2012-08-29 | 2012-12-19 | 冒国彬 | Remote-control medical apparatus |
| CN108839036A (en) * | 2018-07-05 | 2018-11-20 | 四川长虹电器股份有限公司 | Home intelligent health supervision robot |
| US20190104954A1 (en) * | 2017-03-08 | 2019-04-11 | Praesidium, Inc. | Home occupant detection and monitoring system |
| CN114353707A (en) * | 2021-12-30 | 2022-04-15 | 郑州大学 | Multi-target deformation monitoring system and method based on switch array antenna |
-
2011
- 2011-04-25 CN CN2011201221323U patent/CN202060883U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102755194A (en) * | 2011-04-25 | 2012-10-31 | 山东省普来特能源与电器研究院 | Remote monitoring robot |
| CN102755194B (en) * | 2011-04-25 | 2015-11-18 | 山东省普来特能源与电器研究院 | A kind of remote monitoring robot |
| CN102508256A (en) * | 2011-11-23 | 2012-06-20 | 中国科学院微电子研究所 | Non-contact real-time physiological signal monitoring system |
| CN102662378A (en) * | 2012-05-18 | 2012-09-12 | 天津申能科技有限公司 | Remote interaction system based on Internet of things technology |
| CN102824215A (en) * | 2012-08-29 | 2012-12-19 | 冒国彬 | Remote-control medical apparatus |
| US20190104954A1 (en) * | 2017-03-08 | 2019-04-11 | Praesidium, Inc. | Home occupant detection and monitoring system |
| US11918330B2 (en) * | 2017-03-08 | 2024-03-05 | Praesidium, Inc. | Home occupant detection and monitoring system |
| CN108839036A (en) * | 2018-07-05 | 2018-11-20 | 四川长虹电器股份有限公司 | Home intelligent health supervision robot |
| CN114353707A (en) * | 2021-12-30 | 2022-04-15 | 郑州大学 | Multi-target deformation monitoring system and method based on switch array antenna |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102755194B (en) | A kind of remote monitoring robot | |
| CN202060883U (en) | Remote monitoring robot | |
| CN102835958A (en) | Human vital sign remote monitoring device | |
| CN106737752A (en) | A kind of remote monitoring robot | |
| CN106625714A (en) | Monitoring robot for the old physical health condition detection | |
| CN206165991U (en) | Live working safety precaution intelligence bracelet | |
| CN104742139A (en) | Tele medicine auxiliary robot | |
| CN105171752A (en) | Robot system and method thereof | |
| CN106182037A (en) | A kind of domestic monitoring robot and system thereof | |
| CN108078555A (en) | A kind of vital sign remote monitoring device based on Kalman filtering and target following | |
| CN102333202A (en) | Network video monitoring device | |
| CN203211418U (en) | Multifunctional all-terrain bionic robot | |
| CN201846430U (en) | Network video monitoring device | |
| CN204604333U (en) | A kind of tele-medicine auxiliary robot | |
| CN207236777U (en) | One kind monitoring robot and its community's monitor system | |
| CN104916073A (en) | Positioning function based monitoring device and operating method thereof | |
| CN203042462U (en) | Movable emergency treatment monitoring system and ambulance | |
| CN202288266U (en) | Central monitoring and positioning system based on wireless network technology | |
| CN202590047U (en) | Transfusion monitoring device and remote transfusion monitoring network system | |
| CN208223550U (en) | Confined space service personnel positioning and information monitoring device | |
| CN211155811U (en) | Monitoring bracelet equipment containing gesture recognition | |
| CN112123346A (en) | Old man nurses robot | |
| CN107669254A (en) | A kind of wireless power electrocardiogram monitor system | |
| CN204033322U (en) | Portable domestic health detection and monitoring system | |
| CN204695502U (en) | A kind of fall alarm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20111207 Effective date of abandoning: 20151118 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |