CN104615131B - Self-driven shift unit and its abnormality alarm method - Google Patents
Self-driven shift unit and its abnormality alarm method Download PDFInfo
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- CN104615131B CN104615131B CN201310356694.8A CN201310356694A CN104615131B CN 104615131 B CN104615131 B CN 104615131B CN 201310356694 A CN201310356694 A CN 201310356694A CN 104615131 B CN104615131 B CN 104615131B
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Abstract
The present invention provides a kind of abnormality alarm method of Self-driven shift unit and Self-driven shift unit, by obtaining near the Self-driven shift unit image of environment and sending picture signal, judge whether the Self-driven shift unit is in abnormality according to status signal, if judging, the Self-driven shift unit is in abnormality, the controller controls the communication module that described image signal is sent into communication terminal, so as to realize the function of burglar alarm.
Description
Technical field
The present invention relates to a kind of Self-driven shift unit and its abnormality alarm method.
Background technology
Self-driven shift unit just can realize automatic work, such as automatic mower or automatic dust absorption without manually operating
Device, realizes and is mowed or removed dust the work hours in user, bring great advantage to the user.However, due to
The small volume of Self-driven shift unit and in the course of the work no supervision so that Self-driven shift unit is very easy to quilt
Steal, it is difficult to find thief, this causes great puzzlement to user.
The content of the invention
The present invention provides a kind of Self-driven shift unit, especially provide it is a kind of it is not easy to lose, lose after easily give for change from
Drive mobile device and its abnormality alarm method.
To achieve the above object, the technical scheme is that：A kind of Self-driven shift unit, including：Detecting is described certainly
The status information of driving mobile device concurrently does well the state detecting device of signal；Obtain near the Self-driven shift unit
The image of environment and the image collecting device for sending picture signal；It is all connected with the state detecting device and image collecting device
Controller, the controller receives the status signal and simultaneously judges whether the Self-driven shift unit is in abnormality,
The abnormality represents that Self-driven shift unit has stolen risk；And the communication module being connected with the controller, institute
State controller and judge that the Self-driven shift unit is in after abnormality, control the communication module to send out described image signal
Give the communication terminal of outside.
Preferably, the Self-driven shift unit is walked in predetermined working range, and the state detecting device includes
Detect the position sensor of the Self-driven shift unit present position, the controller is according to the sensing of the position sensor
Signal simultaneously confirms the Self-driven shift unit whether outside working range, if then judging at the Self-driven shift unit
In abnormality.
Preferably, the position sensor includes sensing the border inductor that the border sends border induced signal, institute
State controller to receive the border induced signal and confirm the Self-driven shift unit whether outside working range, if then
Judge that the Self-driven shift unit is in abnormality.
Preferably, the state detecting device, which is lifted and sent for the sensing Self-driven shift unit, lifts sensing letter
Number lift inductor, the controller receives described lift and judges that the Self-driven shift unit is in extremely after induced signal
State.
Preferably, the communication module is cellular mobile network chip, Bluetooth chip or Wi-Fi chips.
Preferably, described image harvester is wide angle cameras, and its visual angle is more than or equal to 120 degree.
Preferably, described image harvester includes camera and rotating device, and the camera is arranged at the rotation
On device, the rotating device is rotatablely installed in the Self-driven shift unit.
Preferably, described image harvester is arranged at the top of the housing of the Self-driven shift unit.
Preferably, the Self-driven shift unit includes the first alarm device being connected with the controller, the control
Device judges to control first alarm device to send the first alarm signal when the Self-driven shift unit is in abnormality.
Preferably, first alarm device includes display device, and first alarm signal is that described image gathers dress
The image of acquisition is put, the display device shows described image.
Preferably, the controller has face identification unit, for recognizing the face part in described image signal, institute
State image of first alarm signal for the had face part.
The present invention also provides a kind of abnormality alarm method of Self-driven shift unit, comprises the following steps：State detecting is filled
Put and detect the status information of the Self-driven shift unit and concurrently do well signal；Image collecting device obtains the self-driven shifting
The image of the dynamic neighbouring environment of device simultaneously sends picture signal；Controller receives the status signal and judges the self-driven movement
Whether device is in abnormality, and the abnormality represents that Self-driven shift unit has stolen risk；If described in judging certainly
Mobile device is driven to be in abnormality, the controller controls the communication module that described image signal is sent into communication eventually
End.
Preferably, the Self-driven shift unit is walked in predetermined working range, and the state detecting device is to detect
The position sensor of the Self-driven shift unit present position is surveyed, the controller is believed according to the sensing of the position sensor
Number and confirm the Self-driven shift unit whether outside the working range, if then judging that the Self-driven shift unit is in
Abnormality.
Preferably, the position sensor is described to sense the border inductor that the border sends border induced signal
Controller receives the border induced signal and confirms the Self-driven shift unit whether outside working range, if then sentencing
The Self-driven shift unit of breaking is in abnormality.
Preferably, the Self-driven shift unit, which is lifted and sent with the sensing Self-driven shift unit, lifts sense
Induction signal lifts inductor, the controller receive described in lift and judge that the Self-driven shift unit is in after induced signal
Abnormality.
Preferably, the communication module is cellular mobile network chip, Bluetooth chip or Wi-Fi chips.
Preferably, described image harvester is wide angle cameras, and its visual angle is more than or equal to 120 degree.
Preferably, described image harvester includes camera and rotating device, and the camera is arranged at the rotation
On device, the rotating device is rotatablely installed in the Self-driven shift unit.
Preferably, the step of abnormality alarm method of the Self-driven shift unit also includes storage described image signal,
The communication terminal includes reception device and memory, and the reception device receives described image signal, the memory storage
Described image signal.
Preferably, the abnormality alarm method of the Self-driven shift unit is additionally included in what the communication terminal was alarmed
Step, the communication terminal also includes the second alarm device, and second alarm device receives image in the reception device
The second alarm signal is sent during signal.
Preferably, it is the step of abnormality alarm method of the Self-driven shift unit also includes display image signals, described
Communication terminal also includes the display unit of display described image signal.
Compared with prior art, Self-driven shift unit of the present invention and its abnormality alarm method are described self-driven by obtaining
The image of the neighbouring environment of mobile device simultaneously sends picture signal, judges whether the Self-driven shift unit is located according to status signal
In abnormality, if judging, the Self-driven shift unit is in abnormality, and the controller controls the communication module will
Described image signal is sent to communication terminal, so as to realize the function of burglar alarm.
Brief description of the drawings
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the schematic diagram that the Self-driven shift unit that embodiment of the present invention is provided is located at working range.
Fig. 2 is the side schematic view for the Self-driven shift unit that embodiment of the present invention is provided.
Fig. 3 is the block diagram for the Self-driven shift unit that embodiment of the present invention is provided.
Fig. 4 is the schematic flow sheet of the abnormality alarm method of Self-driven shift unit of the present invention.
Wherein,
100. Self-driven shift unit；140. controller；300. communication terminal；
10. boundary line；12. working range；170. lift inductor；
130. image collecting device；120. wheel；
200. base station；150. communication module；180. first alarm devices；
110. housing；160. border inductors；
Embodiment
Fig. 1 is refer to, embodiments of the present invention provide a kind of Self-driven shift unit 100, and it is in default working range
Worked in 12.Default working range 12 is the moving range of Self-driven shift unit 100, and it can be by by electric wire, obstacle
The boundary line 10 of thing or dummy line formation is surrounded.Base station 200 is arranged at the boundary of working range 12.
Self-driven shift unit 100 can be automatic cleaner or automatic mower, and in the present embodiment, it is automatic
Hay mover.
Fig. 2 and Fig. 3 is refer to, if Self-driven shift unit of the present invention 100 includes housing 110, is placed in the bottom of housing 110
Dry wheel 120, it is arranged at the inside of housing 110 and is used to drive the movable motor (not shown) of some wheels 120, state detecting dress
The image collecting device 130 put, being arranged on housing 110, the controller 140 being arranged inside housing 110, and and controller
The communication module 150 of 140 connections.
The status information of state detecting device detecting Self-driven shift unit 100 concurrently does well signal.State detecting is filled
It is set to position sensor, lifts the combination of inductor 170 or both, position sensor detecting Self-driven shift unit 100 is worked as
It is the location of preceding, lift whether the detecting of inductor 170 Self-driven shift unit 100 is lifted.
Described image harvester 130 obtains the image of the surrounding environment of Self-driven shift unit 100 and sends image
Signal.
The reception state signal of controller 140 simultaneously judges whether Self-driven shift unit 100 is in abnormality, abnormality
Represent that Self-driven shift unit 100 has stolen risk, such as status signal represents that Self-driven shift unit 100 is in working range
Outside 12, or/and represent that Self-driven shift unit 100 is lifted, controller 140 is then judged at Self-driven shift unit 100
In abnormality, there is stolen risk.The figure that now control of controller 140 communication module 150 obtains image collecting device 130
As signal is sent to the communication terminal 300 of outside.
In the first better embodiment of the present invention, it is located at when position sensor detects Self-driven shift unit 100
When outside working region, controller 140 judges that Self-driven shift unit 100 is in abnormality, controls communication module 150 will afterwards
Picture signal is sent to the communication terminal 300 of outside.
Specifically, boundary line 10 is electric wire, and electric wire produces magnetic line of force magnetic field in opposite direction in its both sides, and electric wire is by being located at
Base station 200 at boundary line 10 provides boundary line signal.Position sensor is border inductor 160, the magnetic that detecting electric wire is produced
The magnetic line of force direction of field, and according to magnetic line of force walking direction Self-driven shift unit 100 whether in working range 12.Border
Inductor 160, which is sent, represents that Self-driven shift unit 100 is in the state letter in working range 12 or outside working range 12
Number.Working range 12 can be also bound by way of virtual settings, such as by setting predetermined gps coordinate range set.This
When border inductor 160 receive the current GPS coordinate information of Self-driven shift unit 100 of satellite transmission, and judge self-driven
Whether mobile device 100 is in working range 12.Self-driven shift unit 100 also can be by video identification working region, such as
Judge whether to be located in working range 12 by color reaction and texture recognition.
In the second better embodiment of the present invention, the quilt of Self-driven shift unit 100 is detected when lifting inductor 170
When lifting, controller 140 judges that Self-driven shift unit 100 is in abnormality, controls communication module 150 to believe image afterwards
Number it is sent to the communication terminal 300 of outside.
Specifically, housing 110 includes inner housing (not shown) and the shell body (not shown) outside inner housing, lifts
Inductor 170 is the hall sensor being arranged between inner housing and shell body, for detecting between inner housing and shell body
The relative displacement of vertical direction.Represented if generation relative displacement between inner housing and shell body or relative displacement exceed preset value
Self-driven shift unit 100 is lifted.Lift inductor 170 and send the shape for representing whether Self-driven shift unit 100 is lifted
State signal.Inductor 170 or gravity sensor (not shown) or gyroscope (not shown) are lifted, for perceiving self-driven shifting
Whether dynamic device 100 is lifted.
In the 3rd better embodiment of the present invention, state detecting device is position sensor and lifts inductor 170
Combination, be in when position sensor detects Self-driven shift unit 100 outside working range 12, and lift inductor 170 and detect
Measure Self-driven shift unit 100 to be lifted, controller 140 then judges that Self-driven shift unit 100 is in abnormality, afterwards
Picture signal is sent to the communication terminal 300 of outside by control communication module 150.
In other embodiment, state detecting device is alternatively infrared inductor (not shown), by detecting surrounding objects
Temperature sense Self-driven shift unit 100 whether there is thief.
In present embodiment, communication module is known cellular mobile network chip, Bluetooth chip or Wi-Fi chips.
Preferably, image collecting device 130 is wide angle cameras, and its visual angle is more than or equal to 120 degree, so with larger
Monitoring scope.In other embodiment, image collecting device 130 may include camera (not shown) and rotating device, and (figure is not
Show), camera is installed on rotating device, and rotating device is rotatablely installed on the housing 110 of Self-driven shift unit, rotating dress
Drive camera rotation is put, the effect of increase monitoring scope is so also can reach.
Preferably, image collecting device 130 is arranged at the top of the housing 110 of Self-driven shift unit 100, shoots self-powered
The dynamic front of mobile device 100 or the image of surrounding, so further increase the field range of image collecting device 130.
Fig. 3 is refer to, Self-driven shift unit 100 also includes the first alarm device 180 being connected with controller 140, control
Device 140 processed judges to control the first alarm device 180 to send the first alarm signal when Self-driven shift unit 100 is in abnormality
Number.First alarm signal can be one or more in sound, flash of light or figure signal, so as to warn thief.Wherein sound
Alarm signal can be voice alarm or alert song；Figure signal can be that alert icon or image collecting device 130 are clapped
The picture signal taken the photograph.
Preferably, the first alarm device 180 has display device (not shown), for display image.Controller 140 has
Face identification unit (not shown), for recognizing the face part in picture signal, the first alarm signal is is had face
The picture signal divided.So when judging that Self-driven shift unit 100 is in abnormality, controller 140 controls the first alarm
Device 180 also shows the image with face while audible alarm is sent, and greatly frightens thief.
Communication terminal 300 includes reception device (not shown), memory (not shown) and display (not shown), receives dress
Reception picture signal is put, memory storage picture signal, display is used for display image signals.
Communication terminal 300 also includes the second alarm device (not shown), and the second alarm device receives figure in reception device
The second alarm signal is sent during as signal.Second alarm signal can be sound, flash of light or figure signal.
Fig. 4 is refer to, the present invention also provides a kind of abnormality alarm method of Self-driven shift unit 100, described self-driven
Mobile device 100 includes housing 110, is placed in some wheels 120 of the bottom of housing 110, is arranged at the inside of housing 110 for driving
The movable motor (not shown) of some wheels 120, state detecting device, the image collecting device 130 being arranged on housing 110,
It is arranged at the controller 140 inside housing 110, and the communication module 150 being connected with controller 140.
The abnormality alarm method of the Self-driven shift unit 100 comprises the following steps：
Step S1：The status information of state detecting device detecting Self-driven shift unit 100 concurrently does well signal.
State detecting device is position sensor, lifts the combination of inductor 170 or both, and position sensor detecting is certainly
Lift inductor 170 whether outside working range 12 and detect self-driven movement in the position that driving mobile device 100 is presently in
Whether device 100 is lifted.
Step S2：Image collecting device 130 obtains the image of the neighbouring environment of Self-driven shift unit 100 and sends image letter
Number.
Step S3：The reception state signal of controller 140 simultaneously judges whether Self-driven shift unit 100 is in abnormality,
Abnormality represents that Self-driven shift unit 100 has stolen risk.Enter if Self-driven shift unit 100 is in abnormality
Enter step S4, otherwise return to step S1.
Step S4：Picture signal is sent to communication terminal 300 by the control of controller 140 communication module 150.Communication module is
Known cellular mobile network chip, Bluetooth chip or Wi-Fi chips.
Preferably, the step of methods described also includes storage image signal, communication terminal 300 includes reception device and storage
Device, reception device receives picture signal, memory storage picture signal.
Preferably, the step of methods described also includes display image signals, communication terminal 300 also includes display unit, with
Display image signals so that user learns the complexion of thief.
Preferably, methods described is additionally included in the step of communication terminal 300 is alarmed, and communication terminal 300 also includes the
Two alarm devices, the second alarm device sends the second alarm signal when reception device receives picture signal.Second alarm signal
Number can be sound, flash of light or figure signal.
In other embodiment, before step S2, the temperature of surrounding objects is detected by infrared inductor, to sense certainly
Mobile device 100 is driven to whether there is thief, the starting step S2 if it there is thief, so as to save electric energy.
The abnormality alarm method of Self-driven shift unit 100 and Self-driven shift unit of the present invention is by obtaining self-driven shifting
The image of the dynamic neighbouring environment of device simultaneously sends picture signal, judges whether Self-driven shift unit 100 is according to status signal
Abnormality, if judging, Self-driven shift unit 100 is in abnormality, and the control of controller 140 communication module 150 believes image
Number communication terminal 300 is sent to, so as to realize the function of burglar alarm.
It may occur to persons skilled in the art that, the present invention can also have other implementations, but as long as it is used
Technical spirit and the present invention it is same or like seemingly, or it is any based on the variations and alternatives made of the present invention all the present invention's
Within protection domain.
Claims (19)
1. a kind of Self-driven shift unit, it is characterised in that the Self-driven shift unit includes：
The status information for detecting the Self-driven shift unit concurrently does well the state detecting device of signal；
Obtain the image of the neighbouring environment of the Self-driven shift unit and send the image collecting device of picture signal；
The controller being all connected with the state detecting device and image collecting device, the controller receives the status signal
And judging whether the Self-driven shift unit is in abnormality, the abnormality represents that Self-driven shift unit has mistake
Surreptitiously risk；And
The communication module being connected with the controller, the controller judges that the Self-driven shift unit is in abnormality
Afterwards, control the communication module that described image signal is sent to the communication terminal of outside.
2. Self-driven shift unit according to claim 1, it is characterised in that：The Self-driven shift unit is predetermined
Walked in working range, the state detecting device includes the location sensitive for detecting the Self-driven shift unit present position
Device, the controller is according to the induced signal of the position sensor and confirms whether the Self-driven shift unit is in work
Outside scope, if then judging that the Self-driven shift unit is in abnormality.
3. Self-driven shift unit according to claim 1, it is characterised in that：The state detecting device includes sensing institute
State Self-driven shift unit and be lifted and send the inductor that lifts for lifting induced signal, the controller receive described in lift sense
Judge that the Self-driven shift unit is in abnormality after induction signal.
4. Self-driven shift unit according to claim 1, it is characterised in that：The state detecting device includes detecting institute
The position sensor and the sensing Self-driven shift unit for stating Self-driven shift unit present position are lifted and sent and lift
Induced signal lifts inductor, is in outside predetermined working range and is lifted when detecting the Self-driven shift unit
When, the controller then judges that the Self-driven shift unit is in abnormality.
5. Self-driven shift unit according to claim 1, it is characterised in that：Described image harvester is wide-angle imaging
Machine, its visual angle is more than or equal to 120 degree.
6. Self-driven shift unit according to claim 1, it is characterised in that：Described image harvester includes camera
And rotating device, the camera is arranged on the rotating device, and the rotating device is rotatablely installed self-driven to be moved in described
On dynamic device.
7. the Self-driven shift unit according to claim 5 or 6, it is characterised in that：Described image harvester is arranged at
The top of the housing of the Self-driven shift unit.
8. Self-driven shift unit according to claim 1, it is characterised in that：The Self-driven shift unit includes and institute
The first alarm device of controller connection is stated, the controller judges to control when the Self-driven shift unit is in abnormality
First alarm device sends the first alarm signal.
9. Self-driven shift unit according to claim 8, it is characterised in that：First alarm device includes display and filled
Put, first alarm signal is the image that described image harvester is obtained, the display device is used to show described image.
10. Self-driven shift unit according to claim 9, it is characterised in that：The controller has recognition of face list
Member, for recognizing the face part in described image signal, first alarm signal for the had face part figure
Picture.
11. a kind of abnormality alarm method of Self-driven shift unit, it is characterised in that：It the described method comprises the following steps：
The status information that state detecting device detects the Self-driven shift unit concurrently does well signal；
Image collecting device obtains the image of the neighbouring environment of the Self-driven shift unit and sends picture signal；
Controller receives the status signal and judges whether the Self-driven shift unit is in abnormality, the abnormal shape
State represents that Self-driven shift unit has stolen risk；
If judging, the Self-driven shift unit is in abnormality, and the controller controls connected communication module by institute
State picture signal and be sent to communication terminal.
12. the abnormality alarm method of Self-driven shift unit according to claim 11, it is characterised in that：It is described self-driven
Mobile device is walked in predetermined working range, state detecting device position residing for the detecting Self-driven shift unit
The position sensor put, the controller is according to the induced signal of the position sensor and confirms the Self-driven shift unit
Whether outside working range, if then judging that the Self-driven shift unit is in abnormality.
13. the abnormality alarm method of Self-driven shift unit according to claim 11, it is characterised in that：It is described self-driven
There is mobile device the sensing Self-driven shift unit to be lifted and send the inductor that lifts for lifting induced signal, the control
Lifted described in device reception processed and judge that the Self-driven shift unit is in abnormality after induced signal.
14. the abnormality alarm method of Self-driven shift unit according to claim 11, it is characterised in that：The state letter
The signal and the Self-driven shift unit for number including the Self-driven shift unit present position lift induced signal, work as institute
State status signal and represent the Self-driven shift unit outside predetermined working range and when being lifted, the controller is then sentenced
The Self-driven shift unit of breaking is in abnormality.
15. the abnormality alarm method of Self-driven shift unit according to claim 11, it is characterised in that：Described image is adopted
Packaging is set to wide angle cameras, and its visual angle is more than or equal to 120 degree.
16. the abnormality alarm method of Self-driven shift unit according to claim 11, it is characterised in that：Described image is adopted
Acquisition means include camera and rotating device, and the camera is arranged on the rotating device, and the rotating device rotates peace
Loaded in the Self-driven shift unit.
17. the abnormality alarm method of Self-driven shift unit according to claim 11, it is characterised in that：It is described self-driven
The abnormality alarm method of mobile device also include storage described image signal the step of, the communication terminal include reception device and
Memory, the reception device receives described image signal, the memory storage described image signal.
18. the abnormality alarm method of Self-driven shift unit according to claim 17, it is characterised in that：It is described self-driven
The abnormality alarm method of mobile device is additionally included in the step of communication terminal is alarmed, and the communication terminal also includes the
Two alarm devices, second alarm device sends the second alarm signal when the reception device receives picture signal.
19. the abnormality alarm method of Self-driven shift unit according to claim 17, it is characterised in that：It is described self-driven
The step of abnormality alarm method of mobile device also includes display image signals, the communication terminal also includes display described image
The display unit of signal.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310356694.8A CN104615131B (en) | 2013-08-16 | 2013-08-16 | Self-driven shift unit and its abnormality alarm method |
| PCT/CN2014/083930 WO2015018355A1 (en) | 2013-08-07 | 2014-08-07 | Automatic work system, automatic walking device, and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310356694.8A CN104615131B (en) | 2013-08-16 | 2013-08-16 | Self-driven shift unit and its abnormality alarm method |
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| CN104615131A CN104615131A (en) | 2015-05-13 |
| CN104615131B true CN104615131B (en) | 2017-10-17 |
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| JP4973342B2 (en) * | 2007-07-04 | 2012-07-11 | 株式会社豊田自動織機 | Information transmission method in automatic guided vehicle system |
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| CN201725213U (en) * | 2010-07-09 | 2011-01-26 | 八达机电有限公司 | Wireless remote automatic control safety system for intelligent mowers |
| CN102169602A (en) * | 2011-01-07 | 2011-08-31 | 东北电网有限公司沈阳超高压局 | Structural design of inspection robot of transformer substation |
| CN102880175A (en) * | 2011-07-16 | 2013-01-16 | 苏州宝时得电动工具有限公司 | Automatic walking equipment |
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