CN104104908B - Movable ball-type supervising device and environmental monitoring system - Google Patents
Movable ball-type supervising device and environmental monitoring system Download PDFInfo
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- CN104104908B CN104104908B CN201410189201.0A CN201410189201A CN104104908B CN 104104908 B CN104104908 B CN 104104908B CN 201410189201 A CN201410189201 A CN 201410189201A CN 104104908 B CN104104908 B CN 104104908B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 13
- 230000007613 environmental effect Effects 0.000 title claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 230000015572 biosynthetic process Effects 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 abstract description 3
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- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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Abstract
The present invention provides a kind of movable ball-type supervising device, including：Hollow ball, and it is arranged on the first ball and the second ball, bindiny mechanism and drive mechanism inside the hollow ball；First ball and second ball are rollably arranged on the two ends of the bindiny mechanism, and the first ball and the second ball all offset with the hollow ball inwall；First ball and the second ball are located across one of the hollow ball centre of sphere diametrically；The drive mechanism is fixed on inside the hollow ball, is connected with first ball, for driving first ball to roll.The present invention also provides a kind of environmental monitoring system, including described movable ball-type supervising device, and also including receiving end control system, the reception end control system passes through wireless network and the movable ball-type supervising device wireless connection.Simple in construction, low cost of the invention, can realize mobile monitor.
Description
Technical field
The present invention relates to supervising device technical field, more particularly to a kind of movable ball-type supervising device, Yi Jiyi
Plant environmental monitoring system.
Background technology
In existing shooting monitoring device, most of is all that fixed point places shooting, and the image of camera intake is through wireless
Transport module can be transmitted to distant place display terminal.Except the capture apparatus that fixed point is placed, also there are the camera system of some spheroids, ball
Body can throwing, it is internal to install an IP Camera free to rotate, by the rotation of camera, can obtain 360 ° of panoramas
Image, the equipment volume is smaller to be easy to carry.
Although camera rotatably obtains 360 ° of panoramic pictures of fixed point, spheroid can not be moved in itself, it is impossible to make user
Easily obtain the scene image of different angles.Some special screnes are particularly faced, such as unknown dangerous scene is either
The scene of less inconvenient people's turnover, if using camera rotatable global monitoring system, although monitors environment can be obtained
Realtime graphic, but be due to that spheroid can not be moved freely in itself, therefore be inconvenient to fetch the device that throwing goes out.In addition, if
The device that throwing goes out just falls on corner or blocks camera by other objects, then shoots the view come imperfect.
Also there are many mobile robots, but most of mobile robot complex structures in the prior art, volume is larger,
Involve great expense, cost is higher.
The content of the invention
Based on this, the present invention provides a kind of simple in construction, low cost, can realize the movable ball-type monitoring moved freely
Device and environmental monitoring system.
A kind of movable ball-type supervising device, including：Hollow ball, and be arranged on inside the hollow ball
One ball and the second ball, bindiny mechanism and drive mechanism；
First ball and second ball are rollably arranged on the two ends of the bindiny mechanism, the first ball and
Second ball all offsets with the hollow ball inwall；First ball and the second ball are located across the hollow ball centre of sphere
One diametrically；
The drive mechanism is fixed on inside the hollow ball, is connected with first ball, for driving described
One ball is rolled.
A kind of environmental monitoring system, including described movable ball-type supervising device, also including receiving end control system,
The reception end control system passes through wireless network and the movable ball-type supervising device wireless connection.
Two balls are set in above-mentioned movable ball-type supervising device, hollow ball, and two balls pass through bindiny mechanism
Connection, ball all offsets with hollow ball inwall, drive mechanism drive ball along sphere inner wall roll when, drive another ball
Rolled along sphere inner wall, therefore ball-type supervising device can be driven to move；Ball-type supervising device can be moved flexibly, obtain optimal prison
Position and monitoring angle are controlled, reception end control system, which can be realized, remotely receives data and remote control, and apparatus of the present invention have knot
Structure is simple, small volume and lower-cost advantage.
Brief description of the drawings
Structural representations of the Fig. 1 for the movable ball-type supervising device of the present invention in one embodiment.
Structural representations of the Fig. 2 for the movable ball-type supervising device of the present invention in another embodiment.
Fig. 3 is drive mechanism and the structural representation of the first ball.
Fig. 4 is the structural representation of environmental monitoring system of the present invention in one embodiment.
Embodiment
The present invention is described in further detail with reference to embodiment and accompanying drawing, but embodiments of the present invention are not limited to
This.
As shown in figure 1, the structural representation for a kind of movable ball-type supervising device of the present invention in one embodiment, bag
Include：Hollow ball 11, and it is arranged on the first ball 12 inside the hollow ball 11 and the second ball 13, bindiny mechanism 14
And drive mechanism；
First ball 12 and second ball 12 are rollably arranged on the two ends of the bindiny mechanism 13, first
The ball 13 of ball 121 and second all offsets with the inwall of hollow ball 11；First ball and the second ball are located across described
One of the hollow ball centre of sphere is diametrically；
The drive mechanism is fixed on inside the hollow ball, is connected with first ball 12, described for driving
First ball 12 is rolled；
In the present embodiment, the first ball 12 and the second ball 13 all offset with the inwall of hollow ball 11, driving machine
Structure drives the first ball 12 to be rolled along the inwall of hollow ball 11, has between the first ball 12 and the inwall of the hollow ball 11
There is frictional force, and the second ball 13 is connected by bindiny mechanism 14 with the first ball 12, and two balls are located at hollow ball
Diametrically, under the drive of the first ball 12, the second ball 13 is along the inwall of hollow ball 11 with first for 11 same
The rolling square of ball 12 is rolled in the opposite direction, and the hollow ball 11 is rolled under the drive of the first ball 12 and the second ball 13
It is dynamic.
The bindiny mechanism can have the implementation for showing that bindiny mechanism is connecting rod 14 in various structures realization, such as Fig. 1
Example, bindiny mechanism uses connecting rod 14, can further simplify the structure of system, first ball 12 and second ball 12
The two ends of the connecting rod 14 are rollably fastened on respectively, and the connecting rod 14 passes through the centre of sphere of hollow ball 11, namely
It is that the centre of sphere connecting lines of two balls passes through the hollow ball centre of sphere, the centre of sphere connecting lines of two balls is sphere diameter, it is ensured that two
When individual ball is rolled, two frictional force size equalizations between ball and sphere inner wall, it is ensured that hollow ball 11 is stably moved.
As shown in Fig. 2 the bindiny mechanism 14 may also comprise hemisphere support frame 141 and support bar 142, the hemisphere
Support frame 141 includes the hemisphere face 1411 and rounded face 1412 of closing connection, and first ball 12 is rollably fastened on institute
State the point of intersection of the summit of hemisphere face 1411, the i.e. symmetry axis of hemisphere face 1411 and hemisphere face 1411；One end of the support bar
On the center of circle for being fixed on the rounded face 1412 of the hemisphere support frame 141 vertically, second ball 13 rollably engages
In the other end of the support bar 142；The bindiny mechanism of the present embodiment is using hemisphere support frame 141 and the knot of support bar 142
It can be used for fixing other devices on structure, hemisphere support frame 141, each device can realize shooting, collection audio, transmission data etc.
Function, further enriches the function of device.
With reference to Fig. 1, Fig. 2 and Fig. 3, the schematic diagram that drive mechanism is connected with the first ball 12 is shown；The drive mechanism
Including controller 151, motor 152 and roller 153, the output end of the controller 151 is connected with the motor 152, for controlling
Make the motor to rotate, the rotor of the motor 152 connects the fixing axle of the roller 153, the roller 153 is close to described the
One ball 12；
In the present embodiment, the controlled motor 152 of controller 151 is opened, and its rotor is rotated after motor 152 starts, roller 153
Fixing axle is connected with rotor, and rotor, which is rotated, drives roller 153 to roll, because roller 153 is close to the first ball 12, in roller 153
Drive under, the first ball 12 along the inwall of hollow ball 11 roll；
The rotation direction of the rotor of motor 152 is controllable to counter clockwise direction or clockwise direction, and different rotation directions can
So that the first ball 12 is rolled toward different directions.
In a preferred embodiment, the present apparatus may include two drive mechanisms, the roller of one of drive mechanism
With the contact point of first ball with the first ball centre of sphere the first line of formation, the roller of another drive mechanism and described the
The contact point of one ball is with two dotted lines in the first ball 12 in the formation of the first ball the second line, i.e. Fig. 3, and described first connects
Line is 90 degree with the angle of second line.As shown in figure 3, by the control of two drive mechanisms, controllable ball is forward
Left and right four direction is rolled afterwards, so as to control hollow ball to be rolled toward four direction all around so that the present apparatus can be free
It is mobile.
Specifically, the controller 151 is used for output drive signal, the rotating speed and rotation direction of the motor 152 are controlled；
Controlled motor 152 by way of output drive signal of controller 151, for example, can control the rotating speed and rotation direction of motor, electricity
The rotor of machine 152 can be rotated clockwise or rotated counterclockwise, therefore can control the rotating direction of the first ball 12.
In a preferred embodiment, movable ball-type supervising device can set a variety of devices in hollow ball 11, can
Including image acquisition device, wireless transport module and central processing module, described image collector, wireless transport module and centre
Reason module is fixed on the hollow ball inwall or in the bindiny mechanism；The controller 151, described image collector with
And wireless transport module is connected with the central processing module respectively；
Image acquisition device can be the capture apparatus such as video camera, and for gathering image or shooting video, central processing module connects
Receive the data of image acquisition device collection；
Wireless transport module can be the communication modules such as wifi, bluetooth, 3G or 4G, can be sent out data by wireless transport module
The receiving terminal of outside is given, so that staff monitors the real time information of ball-type supervising device local environment；Also, staff
Also control signal can be sent, being transferred to central processing module by wireless output module is used to control ball-type supervising device, for example
The rotating speed and rotation direction of motor in control instruction control drive mechanism can be sent, or controls unlatching or the pass of image acquisition device
Close, or control the collection period of image acquisition device etc..
In a preferred embodiment, the power supply module being connected with the central processing module, the power supply mould be may also include
Block is fixed on the hollow ball inwall or in the bindiny mechanism, for being powered to fill each device centered.
As shown in figure 4, the present invention also provides a kind of environmental monitoring system, including described movable ball-type supervising device
10, also including receiving end control system 20, the reception end control system 20 passes through wireless network and the movable ball-type
The wireless connection of supervising device 10.
Two balls are set in the movable ball-type supervising device of the present invention, hollow ball, two balls are by connecting machine
Structure is connected, and ball all offsets with hollow ball inwall, drive mechanism drive ball along sphere inner wall roll when, drive another ball
Also rolled along sphere inner wall, therefore ball-type supervising device can be driven to move；Ball-type supervising device can be moved flexibly, be obtained most preferably
Position and monitoring angle are monitored, reception end control system, which can be realized, remotely receives data and remote control, and apparatus of the present invention have
Simple in construction, small volume and lower-cost advantage.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (7)
1. a kind of movable ball-type supervising device, it is characterised in that including：Hollow ball, and it is arranged on the hollow ball
First ball and the second ball, bindiny mechanism and drive mechanism in internal portion；
First ball and second ball are rollably arranged on the two ends of the bindiny mechanism, the first ball and second
Ball all offsets with the hollow ball inwall；First ball and the second ball are located across one of the hollow ball centre of sphere
Diametrically；
The drive mechanism is fixed on inside the hollow ball, is connected with first ball, for driving first rolling
Pearl rolls；
The bindiny mechanism includes hemisphere support frame and support bar, and the hemisphere support frame includes the hemisphere face of closing connection
And rounded face, first ball is rollably fastened on the hemispherical summit, and one end of the support bar is fixed vertically
On the center of circle of the rounded face, second ball is rollably fastened on the other end of the support bar.
2. movable ball-type supervising device according to claim 1, it is characterised in that the drive mechanism includes control
Device, motor and roller, the output end of the controller and the motor connection, for controlling the motor to rotate, the motor
Rotor connect the fixing axle of the roller, the roller is close to first ball.
3. movable ball-type supervising device according to claim 2, it is characterised in that including two driving machines
The contact point of structure, the roller of one of them drive mechanism and first ball is with the first ball centre of sphere formation first
Line, the contact point of the roller of another drive mechanism and first ball connects with first ball formation second
Line, first line is 90 degree with the angle of second line.
4. movable ball-type supervising device according to claim 3, it is characterised in that the controller, which is used to export, to be driven
Dynamic signal, controls the rotating speed and rotation direction of the motor.
5. movable ball-type supervising device according to claim 3, it is characterised in that also including image acquisition device, nothing
Line transport module and central processing module, described image collector, wireless transport module and central processing module are fixed on described
On hollow ball inwall or in the bindiny mechanism；The controller, described image collector and wireless transport module difference
With central processing module connection.
6. movable ball-type supervising device according to claim 5, it is characterised in that also including being handled with the center
The power supply module of module connection, the power supply module is fixed on the hollow ball inwall or in the bindiny mechanism.
7. a kind of environmental monitoring system, including the movable ball-type supervising device as described in any one of claim 1 to 6, also
Including receiving end control system, the reception end control system by wireless network and the movable ball-type supervising device without
Line is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410189201.0A CN104104908B (en) | 2014-05-06 | 2014-05-06 | Movable ball-type supervising device and environmental monitoring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410189201.0A CN104104908B (en) | 2014-05-06 | 2014-05-06 | Movable ball-type supervising device and environmental monitoring system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104104908A CN104104908A (en) | 2014-10-15 |
| CN104104908B true CN104104908B (en) | 2017-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410189201.0A Expired - Fee Related CN104104908B (en) | 2014-05-06 | 2014-05-06 | Movable ball-type supervising device and environmental monitoring system |
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| Country | Link |
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| CN (1) | CN104104908B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104735319B (en) * | 2015-03-09 | 2018-03-13 | 广州杰赛科技股份有限公司 | One kind detecting ball and detecting system |
| CN104991467B (en) * | 2015-05-15 | 2018-07-31 | 广州杰赛科技股份有限公司 | Environmental detection device and its target identification tracking, emergent monitoring system |
| CN104850124B (en) * | 2015-05-22 | 2020-02-14 | 广州杰赛科技股份有限公司 | Adaptive motion device and adaptive motion system |
| CN105068490A (en) * | 2015-07-17 | 2015-11-18 | 江西洪都航空工业集团有限责任公司 | Magnetic levitation household monitoring service robot capable of automatic rotation |
| CN105141892B (en) * | 2015-08-03 | 2018-11-06 | 广州杰赛科技股份有限公司 | A kind of environment arrangement for detecting and its distance measuring method, detecting system |
| CN105118255B (en) * | 2015-08-06 | 2018-12-21 | 广州杰赛科技股份有限公司 | The collecting method and system of the spherical Sensors & Application sensor |
| CN105182972A (en) * | 2015-09-01 | 2015-12-23 | 广州杰赛科技股份有限公司 | Environment detection apparatus and wireless charging method thereof, and emergency monitoring system |
| CN105278426A (en) * | 2015-11-11 | 2016-01-27 | 深圳大学 | Intelligent-surveying-ball-based fire situation investigation method and system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101229832A (en) * | 2008-02-28 | 2008-07-30 | 南京航空航天大学 | Omnidirectional moving spherical robot |
| CN103199766A (en) * | 2013-04-23 | 2013-07-10 | 罗阳军 | Omnidirectional freely-moving device |
| CN103341865A (en) * | 2013-07-05 | 2013-10-09 | 大连理工大学 | Three-freedom-degree constant speed decoupling space robot active spherical wrist and universal compliant control method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8446467B2 (en) * | 2006-05-05 | 2013-05-21 | Scott K. Tilton | Combined speed detection, video and timing apparatus |
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2014
- 2014-05-06 CN CN201410189201.0A patent/CN104104908B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101229832A (en) * | 2008-02-28 | 2008-07-30 | 南京航空航天大学 | Omnidirectional moving spherical robot |
| CN103199766A (en) * | 2013-04-23 | 2013-07-10 | 罗阳军 | Omnidirectional freely-moving device |
| CN103341865A (en) * | 2013-07-05 | 2013-10-09 | 大连理工大学 | Three-freedom-degree constant speed decoupling space robot active spherical wrist and universal compliant control method |
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| CN104104908A (en) | 2014-10-15 |
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