CN102755194B - A kind of remote monitoring robot - Google Patents
A kind of remote monitoring robot Download PDFInfo
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- CN102755194B CN102755194B CN201110102370.2A CN201110102370A CN102755194B CN 102755194 B CN102755194 B CN 102755194B CN 201110102370 A CN201110102370 A CN 201110102370A CN 102755194 B CN102755194 B CN 102755194B
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Abstract
A kind of remote monitoring robot, by robot body and the contactless humanbody life physical sign monitoring device that is attached in robot, human body tracking circuit, remote alarming device, remote network video monitoring device forms, this remote monitoring robot can automatically or remote tracking guardianship, and in scope separated by a distance the major vital sign of non-contact monitoring guardianship, children under guardianship person can be freely movable within the specific limits, break away from traditional monitor device to limit the action of children under guardianship person, when surveyed vital sign parameter is abnormal, automatically emergency signal can distally be sent by existing mobile communications network and the Internet.The technology of the present invention can be widely used in the long distance monitoring of solitary old age, sick and weak colony, for the domestic medicine nursing under aging, fast pace society provides great convenience.
Description
Technical field
The present invention relates to a kind of remote monitoring robot, especially a kind ofly realize contactless humanbody vital signs detecting and the human body remote monitoring robot 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 taken care of to get more and more.Due to the fierceness of social competition, work and the quickening of rhythm of life, people have no time the old or sick and weak relatives for the treatment of, and the nursing of old, sick and weak colony has become a thorny social problem.For this reason, a large amount of measuring of human health products arises at the historic moment, and the various monitors based on basic human body physiological parameter detecting come into the life of people.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 function is more perfect, for the domestic medicine monitoring of people provides great convenience.
Application number is 2006100148831, name is called the invention of " Portable, multiple parameter custodial care facility ", disclose a kind of can by the device of GPRS communication network transmission patient physiologic information, telemonitoring utilizes the physiologic information of the sensor acquisition patient such as cardiac diagnosis lead, pulse probe.But, this invention described in physiological information sensor adopt traditional sensor technology, these sensors are laid in patient body specific part, and its connection cable also can cause winding to limbs, bring inconvenience to the old age needing to guard all the year round, sick and weak object.At present, invention technology type is seemingly therewith for known most of physiological parameter tele-care device.
Application number is 2004100887492, name is called the invention of " a kind of contactless aroused in interest and respiration detection technology ", pressure transducer is utilized to measure human heartbeat and breathing, patient can break away from sensor laying on health, but must rely on one to have settled and the mattress of pressure transducer or back cushion could realize detect, this invention still limits the freely movable of monitored personnel's health.
Application number is 02224624X, name is called the invention of " radar non-contact life parameter detecting device ", utilize the health fine motion that Radar Technology detects human body respiration, pulse causes, non-contact monitoring human body major vital parameter in the scope of certain distance, break away from traditional sensors and lay human body and connection cable thereof to the winding of limbs, but this disclosure of the invention is only the circuit structure of life parameter detecting device itself, do not relate to sniffer from motion tracking, long distance monitoring technology, have inconvenience in practical.
In recent years, the development of robotics brings new opportunity to monitoring technology, and the method for operation of its hommization obtains the favor of people.Application number is 038229145, name is called the invention of " medical tele-robotic system ", disclose a kind of system by robot remote monitor patients, utilize broadband networks, photographing unit, monitor technology, the care provider being positioned at remote location can see image, the case history of patient, and also remote-controlled mobile robot points out patient to take medicine.But medical tele-robotic system is only based on monitoring remote video, the unrealized autonomous detection to children under guardianship's life parameters, cannot realize automatic alarm during vital sign abnormalities.
Summary of the invention
In order to overcome the defect of existing long distance monitoring technology, the invention provides a kind of remote monitoring robot.This remote monitoring robot can automatically or remote tracking guardianship, and in scope separated by a distance, the major vital sign of contactless monitoring guardianship, sends warning message automatically when surveyed vital sign parameter is abnormal.
The technical solution adopted for the present invention to solve the technical problems is: a kind of remote monitoring robot, by robot body and the life physical sign monitoring device that is attached in robot, remote alarming device forms, described robot body is primarily of can walking mechanism, robot fuselage, motion driving system, main controller system, motion-sensing system, robot electric supply installation composition, it is characterized in that: described life physical sign monitoring device adopts contactless humanbody life physical sign monitoring device, this device is by radar detection antenna, radar signal transmitting-receiving and treatment circuit, vital signs detecting Digital Signal Analysis and Processing circuit forms, described robot body has also set up human body tracking circuit, all the time human body is aimed in order to control radar exploring antenna, control machine human body and human body keep setpoint distance.The radar detection antenna of described noncontact life physical sign monitoring device adopts beam antenna, and the combiner of radar detection antenna or radar detection antenna and its interlock circuit Integral design is installed on the top of robot body.Described remote alarming device arranges circuit by alarm signal, radio communication circuit forms, and sends alarm signal by wireless communication networks with voice or short message mode to the monitoring phone set.Alarm signal arranges circuit also can connect broadband network communication circuit by main controller system simultaneously, alarm signal through packing process, by the Internet transmission to the computer of far-end or intelligent terminal.Described robot body configurable remote network video monitoring device, remote network video monitoring device is made up of camera assembly, microphone, video encoding circuit, broadband network communication circuit, and broadband network communication circuit is by wireless network connecting circuit accessing Internet.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 its interlock circuit Integral design, keeps linking with camera pan-tilt, to aim at by guardianship simultaneously.When described camera assembly configuration The Cloud Terrace, main controller system connects cradle head control circuit, and first the control signal of human body tracking circuit controls The Cloud Terrace from motion tracking, and when following the tracks of angle and exceeding certain limit, then control machine human body follows the tracks of automatically.Robot body main controller system can connect broadband network communication circuit, motion driving system, cradle head control circuit, and care provider uses PC or intelligent terminal, by broadband network monitoring and the movement of remote-controlled machine human body and camera pan-tilt.
Robot body described in technical solution of the present invention, base machine people general under referring to prior art, this kind of robot is as a kind of technology platform, and people can at the new robot product of Expansion development on its basis.Contactless humanbody life physical sign monitoring device described in technical solution of the present invention utilizes the radar exploration technique, its principle is: launching beam shines directly into the human body outside 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 to transmit mixing, its output signal goes out the human body vital sign parameters such as breathing, heart beating by signal analysis and processing circuit extraction again, for observation monitoring.Meanwhile, arrange in circuit in alarm signal and preset the upper lower limit value of vital sign parameter abnormal alarm, after actual measurement parameter reaches alarm limits, send warning message by master controller and radio communication circuit, Internet Transmission immediately.
The invention has the beneficial effects as follows, can automatically or remote tracking guardianship, and in scope separated by a distance the major vital sign of non-contact monitoring guardianship, children under guardianship person can be freely movable within the specific limits, break away from traditional monitor device to limit the action of children under guardianship person, when surveyed vital sign parameter is abnormal, automatically can distally send emergency signal by existing mobile communications network and the Internet.The technology of the present invention can be widely used in the long distance monitoring of solitary old age, sick and weak colony, for the domestic medicine nursing under aging, fast pace society provides great convenience.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is the overall structure schematic front view of the embodiment of the present invention.
Fig. 2 is that the one of the embodiment of the present invention simplifies circuit block diagram.
In figure: 1. can walking mechanism, 2. robot fuselage, 3. radar detection antenna, 4. camera assembly, 5. microphone, 6. The Cloud Terrace, 7. video encoding circuit, 8. main controller system, 9. radar signal transmitting-receiving and treatment circuit, 10. vital signs detecting Digital Signal Analysis and Processing circuit, 11. alarm signals arrange circuit, 12. radio communication circuits, 13. broadband network communication circuit, 14. wireless network connecting circuits, 15. power control circuits, 16. accumulator batteries and charge-discharge control circuit, 17. human body tracking circuit, 18. motion-sensing systems, 19. motion driving systems, 20. Equipments Setting serial ports, 21. lens control circuits, 22. cradle head control circuit.
Detailed description of the invention
Fig. 1 is the overall structure schematic front view of the present invention's exemplary embodiments.In figure, remote monitoring robot walking mechanism (1) can adopt common wheeled or crawler type, robot fuselage has installed the critical pieces such as main controller system circuit and electric supply installation in (2).The The Cloud Terrace (6) on robot fuselage (2) top is installed radar detection antenna (3) and camera assembly (4), both and The Cloud Terrace synchronous axial system, ensured that radar detection antenna (3) aims at guardianship with camera assembly (4) simultaneously.
Fig. 2 is that the one of the embodiment of the present invention simplifies circuit block diagram.In figure, remote monitoring robot is made up of robot body and noncontact life physical sign monitoring device, remote alarming device, robot body is primarily of can walking mechanism (1), robot fuselage (2), motion driving system (19), main controller system (8), motion-sensing system (18), robot electric supply installation form.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 monitors accumulator charging and discharging state automatically, need to be reported to the police by external sound or optical indicator during charging, remind charging in time, automatically stop after charging complete charging and pass through external sound or optical indicator display.Also external automatic charging socket can be equipped with, when needs charge, apparatus of the present invention are by the related sensor in motion-sensing system (18), detection, identification charger position, controlling through main controller system (8) and motion driving system (19) can walking mechanism (1), before automatic moving to cradle, realize automatic charging.Internal electric source control circuit (15) obtains power supply from accumulator battery and charge-discharge control circuit (16), under the management of main controller system (8) pre-set programs, management each several part circuit, equipment power switching and dormancy, wake up, the state such as battery saving mode.
Contactless humanbody life physical sign monitoring device in the present embodiment is received and dispatched by radar detection antenna (3), radar signal and is formed with treatment circuit (9), vital signs detecting Digital Signal Analysis and Processing circuit (10), here radar detection antenna (3) adopts microwave beam antenna, radar detection antenna (3) can be received and dispatched and treatment circuit (9) Integral design with radar signal, and its combiner is installed on the The Cloud Terrace (6) on robot body top together with camera assembly (4).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 human body outside certain distance, be loaded with the human body reflection echo signal of breathing, heart beating fine motion information, received by radar detection antenna (3), echo amplifier processing and amplifying is sent through circulator, with local oscillated signal mixing in frequency mixer, its output signal extracts the human body vital sign parameters such as breathing, heart beating by vital signs detecting Digital Signal Analysis and Processing circuit (10) again, for observation monitoring.Simultaneously, arrange in circuit (11) in alarm signal, the upper lower limit value of vital sign parameter exception can be preset, after actual measurement parameter reaches limit value, send alarm signal with voice or short message mode to the monitoring phone set by main controller system (8) and radio communication circuit (12) immediately.Owing to being configured with broadband network communication circuit (13) in the present embodiment, alarm signal arranges circuit (11) also can pass through main controller system (8) connection broadband network communication circuit (13) simultaneously, alarm signal is through packing process, by the Internet transmission to the computer of far-end or intelligent terminal, now, guardian can utilize computer or intelligent terminal's related software immediately, observes the guardianship live video that remote network video monitoring device sends.
The remote network video monitoring device that the present embodiment configures is made up of camera assembly (4), microphone (5), video encoding circuit (7), broadband network communication circuit (13), and broadband network communication circuit (13) is by wireless network connecting circuit (14) accessing Internet.Also can be added the video and audio supervising device of oppositely passback by broadband network communication circuit (13), its scheme is: on robot body, install display, speaker and video and audio decoding circuit additional, these all belong to known technology simultaneously.For the purpose of simple, the direct panel computer installing an interconnection network on robot body of the present invention additional, can show the image that far-end transmits even, and the audiovisual information realizing care provider and guardianship is mutual.
Human body tracking circuit (17) has person body orientation detection and human body distance measurement function, its detection data input main controller system (8), through master controller (8) calculation process, respectively to cradle head control circuit (22) and motion driving system (19) output order, first The Cloud Terrace (6) is controlled from motion tracking human body, when The Cloud Terrace (6) tracking angle exceeds certain limit, then control machine human body walking mechanism (1) is rotated, and keeps from motion tracking.When robot body and human body are apart from time too far away, master controller (8) controlled motion drive system (19) drives and can walking mechanism (1) move near human body, and keeps setpoint distance.The orientation detection that human body tracking circuit (17) is used and distance measurement technology, 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 in motion tracking of the present embodiment.
When being necessary, such as, after care provider receives the warning of guardianship vital sign abnormalities, care provider uses PC or intelligent terminal, pass through the Internet, through broadband network communication circuit (13), main 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 remote monitoring robot and network parameter directly configure by described local device configuration serial ports (20), also connect by network, carry out Remote configuration by system far-end computer.Main controller system (8) has reserved interface, when needs, and the non-contact infrared telemetry system of easily extensible access body temperature and the monitoring and alarming system of other events indoor.
Physical circuit and the required microprocessor working procedure of above-described embodiment belong to known technology, will not describe in detail herein.
Claims (8)
1. a remote monitoring robot, by robot body and the life physical sign monitoring device that is attached in robot, remote alarming device forms, described robot body is primarily of can walking mechanism, robot fuselage, motion driving system, main controller system, motion-sensing system, robot electric supply installation composition, it is characterized in that: described life physical sign monitoring device adopts contactless humanbody life physical sign monitoring device, this device is by radar detection antenna, radar signal transmitting-receiving and treatment circuit, vital signs detecting Digital Signal Analysis and Processing circuit forms, described robot body has also set up human body tracking circuit, all the time human body is aimed in order to control radar exploring antenna, control machine human body and human body keep setpoint distance.
2. a kind of remote monitoring robot according to claim 1, it is characterized in that: the radar detection antenna of described noncontact life physical sign monitoring device adopts beam antenna, and the combiner of radar detection antenna or radar detection antenna and its interlock circuit Integral design is installed on the top of robot body.
3. a kind of remote monitoring robot according to claim 1, it is characterized in that: described remote alarming device arranges circuit by alarm signal, radio communication circuit forms, send alarm signal with voice or short message mode to the monitoring phone set by wireless communication networks.
4. a kind of remote monitoring robot according to claim 3, it is characterized in that: alarm signal arranges circuit also can connect broadband network communication circuit by main controller system simultaneously, alarm signal through packing process, by the Internet transmission to the computer of far-end or intelligent terminal.
5. a kind of remote monitoring robot according to claim 1, it is characterized in that: described robot body configurable remote network video monitoring device, remote network video monitoring device is made up of camera assembly, microphone, video encoding circuit, broadband network communication circuit, and broadband network communication circuit is by wireless network connecting circuit accessing Internet.
6. a kind of remote monitoring robot according to claim 5, 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 its interlock circuit Integral design, keep linking with camera pan-tilt, to aim at by guardianship simultaneously.
7. a kind of remote monitoring robot according to claim 5, it is characterized in that: when described camera assembly configuration The Cloud Terrace, main controller system connects cradle head control circuit, first the control signal of human body tracking circuit controls The Cloud Terrace from motion tracking, when following the tracks of angle and exceeding certain limit, then control machine human body follows the tracks of automatically.
8. a kind of remote monitoring robot according to claim 5, it is characterized in that: robot body main controller system can connect broadband network communication circuit, motion driving system, cradle head control circuit, care provider uses PC or intelligent terminal, by broadband network monitoring and the movement of remote-controlled machine human body and camera pan-tilt.
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| CN201110102370.2A CN102755194B (en) | 2011-04-25 | 2011-04-25 | A kind of remote monitoring robot |
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| CN201110102370.2A CN102755194B (en) | 2011-04-25 | 2011-04-25 | A kind of remote monitoring robot |
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| CN102755194B true CN102755194B (en) | 2015-11-18 |
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| 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 |
| CN104182152A (en) * | 2014-07-31 | 2014-12-03 | 李庆松 | Interaction display method and interaction display equipment |
| CN104965491A (en) * | 2015-03-13 | 2015-10-07 | 齐鲁工业大学 | Novel baby monitoring apparatus based on vehicle-mounted voice prompt |
| CN104757944A (en) * | 2015-03-31 | 2015-07-08 | 长源动力（北京）科技有限公司 | Telemedicine assistant platform |
| CN105286829A (en) * | 2015-11-05 | 2016-02-03 | 南京理工大学 | Non-contact vital sign intelligent detection device |
| CN105678958A (en) * | 2016-03-11 | 2016-06-15 | 深圳前海勇艺达机器人有限公司 | Robot-based human body tumble monitoring system |
| CN105996993A (en) * | 2016-04-29 | 2016-10-12 | 南京理工大学 | System and method for intelligent video monitoring of vital signs |
| CN106108863A (en) * | 2016-08-12 | 2016-11-16 | 李乾 | A kind of monitoring robot system |
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| CN106777960A (en) * | 2016-12-12 | 2017-05-31 | 浙江侍维波机器人科技有限公司 | A kind of application of Ros distributed system architectures in medical care |
| CN106821309A (en) * | 2016-12-27 | 2017-06-13 | 深圳前海勇艺达机器人有限公司 | Aged health intelligent management system |
| CN110139598B (en) * | 2016-12-29 | 2022-07-01 | 关健强 | Monitoring and tracking system, method, article and apparatus |
| CN106737752A (en) * | 2017-01-20 | 2017-05-31 | 小煷伴（深圳）智能科技有限公司 | A kind of remote monitoring robot |
| CN106974626A (en) * | 2017-03-09 | 2017-07-25 | 深圳市奥芯博电子科技有限公司 | Monitoring of pulse robot |
| CN108742564B (en) * | 2018-07-03 | 2019-03-26 | 梁汐萌 | Life parameters monitoring method and device |
| CN111938623A (en) * | 2020-08-25 | 2020-11-17 | 成都宋元科技有限公司 | Respiratory heart rate dynamic measurement method and device based on UWB positioning guidance |
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