CN105759793A - Monitoring robot - Google Patents
Monitoring robot Download PDFInfo
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- CN105759793A CN105759793A CN201410782606.5A CN201410782606A CN105759793A CN 105759793 A CN105759793 A CN 105759793A CN 201410782606 A CN201410782606 A CN 201410782606A CN 105759793 A CN105759793 A CN 105759793A
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- mobile phone
- supervisory
- robot
- robot platform
- smart mobile
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Abstract
The invention provides a monitoring robot. The monitoring robot comprises an intelligent mobile phone and a robot platform. The intelligent mobile phone comprises a communication module, a camera, a man-machine interaction module, a processing module and a signal transmission module. The robot platform comprises a motion assembly driving the robot platform to move, a fixing device used for fixing the intelligent mobile phone, a control device controlling work of the robot platform, a signal transmission apparatus carrying out handshaking with the intelligent mobile phone, and a carrying device carrying the motion assembly, the fixing device, the control device and the signal transmission apparatus. The intelligent mobile phone and the robot platform transmit information with the signal transmission apparatus through the signal transmission module. The man-machine interaction module and the communication module receive a control signal. The processing module processes the control signal so as to control work of the camera and the signal transmission module is used to control work of the robot platform. Through a mode of combining the intelligent mobile phone and the robot platform, the monitoring robot possesses advantages that man-machine interactivity is good and cost is low.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of supervisory-controlled robot using smart mobile phone as core.
Background technology
At family's safety-security area, presently the most common scheme is to install fixing CCTV camera, and this scheme is maximum has the drawback that underaction, there is blind area.And for omnibearing monitoring, it usually needs a lot of photographic head, the expense needed for photographic head and the expense installing photographic head can increase cost, cause relatively costly.It addition, fixing photographic head is inconvenient alternately, also friendly not to people's sensation.
At present, more existing family's supervisory-controlled robots emerge.This kind of family supervisory-controlled robot is typically all complete machine, and producer directly provides the product of encapsulation one.It generally comprises the parts such as signals collecting sensing, wireless telecommunications, data process and mechanical movement control, and its function is also generally fixed to monitoring or amusement when dispatching from the factory.It is little that this kind of robot complete machine is typically due to volume of production and marketing, comprised multi-part, and causes that cost is difficult to reduce.
Summary of the invention
Based on this, it is necessary to providing a kind of supervisory-controlled robot, it is good that it has man-machine interaction, lower-cost advantage.
nullPlant supervisory-controlled robot，Including smart mobile phone and robot platform，Described smart mobile phone includes communication module、Photographic head、Human-computer interaction module、Processing module and signal transmission module，Described robot platform includes the moving parts driving described robot platform to move、The fixing device of fixing described smart mobile phone、Control the control device of described robot platform work、Carry out the signal transmitting apparatus of signal exchange with described smart mobile phone and carry described moving parts、Fixing device、Control the bogey of device and signal transmitting apparatus，Described smart mobile phone transmits information by described signal transmission module with described signal transmitting apparatus with described robot platform，Described human-computer interaction module receives control signal with described communication module，Control signal is processed control the work of described photographic head and controlled the work of described robot platform by signal transmission module by described processing module.
Wherein in an embodiment, described robot platform also includes the mike of collected sound signal.
Wherein in an embodiment, described robot platform also includes the battery providing energy for described robot platform and described smart mobile phone.
Wherein in an embodiment, described robot platform also includes the microphone producing sound.
Wherein in an embodiment, described robot platform also includes the ultrasonic detector of object position detection.
Wherein in an embodiment, described robot platform also includes the Infrared Detectors of detection invader.
Wherein in an embodiment, described moving parts includes driving the driving wheel of robot platform motion and the universal wheel with multiple direction of motion.
Wherein in an embodiment, described signal transmitting apparatus includes bluetooth module and WIFI module.
Wherein in an embodiment, described fixing device is the fixed support of adjustable angle.
Wherein in an embodiment, being equipped with earphone interface and power interface on described robot platform and described smart mobile phone, described supervisory-controlled robot is provided with the earphone cord and power line that are connected with power interface with the earphone interface of robot platform respectively by the earphone interface of smart mobile phone with power interface.
Above-mentioned supervisory-controlled robot adopts the mode that smart mobile phone combines with robot platform to realize the function of monitoring, owing to adopting smart mobile phone, and the man-machine interaction of smart mobile phone is good, therefore the man-machine interaction of this supervisory-controlled robot is better, additionally the price of smart mobile phone is in continuous reduction, and superseded smart mobile phone can be adopted herein, therefore this supervisory-controlled robot is less costly.Therefore this supervisory-controlled robot to have man-machine interaction good, the advantage that cost is low.
Accompanying drawing explanation
Fig. 1 is the high-level schematic functional block diagram of the supervisory-controlled robot of an embodiment；
Fig. 2 is the structural representation of supervisory-controlled robot shown in Fig. 1；
Fig. 3 is the intelligent monitoring flow chart of supervisory-controlled robot shown in Fig. 1；
Fig. 4 is remote human-machine's interactive controlling flow chart of supervisory-controlled robot shown in Fig. 1.
Detailed description of the invention
Refer to Fig. 1, an embodiment provides a kind of supervisory-controlled robot.This supervisory-controlled robot includes smart mobile phone 100 and robot platform 200.Wherein, smart mobile phone 100 is smart mobile phone conventional in life, and this smart mobile phone 100 has the function that general intelligence mobile phone has, the function etc. of software as suitable in communication function, camera function, installation and operation.This smart mobile phone 100 includes communication module 110, photographic head 120, human-computer interaction module 140, processing module 160 and signal transmission module 180.The robot platform 200 of this supervisory-controlled robot includes the moving parts 220 driving this robot platform 200 to move, the fixing device 240 of fixing smart mobile phone 100, the control device 260 controlling robot platform 200 work and smart mobile phone 100 and carries out signal transmitting apparatus 280 and carrying moving parts 220, the fixing device 240 of signal exchange, controls the device 260 bogey 210 with signal transmitting apparatus 280.
Smart mobile phone 100 transmits information with robot platform 200 by signal transmission module 180 and signal transmitting apparatus 280, human-computer interaction module 140 and the communication module 110 of this smart mobile phone 100 receive control signal, and control signal is processed control the work of photographic head 120 and controlled the work of robot platform 200 by signal transmission module 180 by the processing module 160 of this smart mobile phone 100.
Smart mobile phone 100 can control the work of robot platform by the signal transmitting apparatus 280 on robot platform 200 and control device 260.User has only to control smart mobile phone 100 just can control the work of whole supervisory-controlled robot, and smart mobile phone 100 has good man-machine interaction.Therefore, this supervisory-controlled robot has the advantage that man-machine interaction is good.Further, since the large-scale production of smart mobile phone 100, the price of smart mobile phone 100 is in rapid reduction, and the cost therefore adopting the supervisory-controlled robot of smart mobile phone 100 will be relatively low.And, superseded smart mobile phone 100 can also be adopted, so that the cost of this supervisory-controlled robot reduces further herein.
Refer to Fig. 2, concrete, the bogey 210 of the robot platform 200 of this supervisory-controlled robot is car body 212.Car body 212 in Fig. 2 is rectangle, does not limit the shape of car body 212 herein, and it can be any suitable shape.The carrier functioning as other assembly of robot platform 200 of car body 212.
The car body 212 of this robot platform 200 is provided with moving parts 220.This moving parts 220 includes driving the driving wheel 222 of robot platform 200 motion and the universal wheel 224 with multiple direction of motion.Driving wheel 222 can adopt motor to be driven.Control device 260 and control the operation of motor, thus controlling the motion of robot platform 200.
The fixed support 242 that fixing device 240 is adjustable angle of this robot platform 200.This fixed support 242 is fixed on the top of car body 212, and smart mobile phone 100 is fixed on this robot platform 200 by this fixed support 242.Owing to this fixed support 242 is adjustable angle, smart mobile phone 100 fixed thereon just can change angle of inclination, and the photographic head above such mobile phone just can better gather the image of surrounding, thus the convenient monitoring to surrounding.
It is internal that the signal transmitting apparatus 280 of this robot platform 200 can be arranged on car body 212.This signal transmitting apparatus 280 includes bluetooth module and WIFI module.The signal transmission module 180 of smart mobile phone 100 can be bluetooth module or WIFI module.Just can be realized the transmission smart mobile phone 100 control to robot platform 200 of data by bluetooth module or WIFI module between such robot platform 200 and smart mobile phone 100.
The robot platform 200 of this supervisory-controlled robot also includes the mike 216 of collected sound signal and the microphone 218 producing sound.The owner that can facilitate user or supervisory-controlled robot that arranges of mike 216 and microphone 218 carries out conversing or giving a warning with invader.
The robot platform 200 of this supervisory-controlled robot also includes the battery 212 providing energy for robot platform 200 and smart mobile phone 100.This battery 212 adopts chargeable high capacity cell to ensure that this supervisory-controlled robot has the longer working time.
The robot platform 200 of this supervisory-controlled robot also includes the ultrasonic detector 214 of object position detection.Arranging of ultrasonic detector 214 can make this supervisory-controlled robot cut-through thing in the process of walking, so that the automaticity of this supervisory-controlled robot is higher.
The robot platform 200 of this supervisory-controlled robot also includes the Infrared Detectors of detection invader.When there being invader, this Infrared Detectors can be quickly detected, and this supervisory-controlled robot so can be facilitated to make next step action, for instance reports to the police.
The robot platform 200 of this supervisory-controlled robot and described smart mobile phone 100 are equipped with earphone interface and power interface.This supervisory-controlled robot is provided with the earphone cord 211 and power line 213 that are connected with power interface with the earphone interface of robot platform 200 respectively by the earphone interface of smart mobile phone 100 with power interface.Thus the sound of smart mobile phone 100 can be amplified by the microphone 218 on robot platform 200, and the electric energy in the battery 212 of robot platform 200 is supplied to smart mobile phone 100.
The communication module 110 of the smart mobile phone 100 of this supervisory-controlled robot can realize call function, video capability and network function.The human-computer interaction module 140 of this smart mobile phone 100 can be cell phone keyboard, touch screen etc..The process device 160 of this smart mobile phone is image processor and central processing unit.The signal transmission module 180 of this smart mobile phone can be Bluetooth transmission or WIFI transmission.Certainly this smart mobile phone 100 also has the structure that some other smart mobile phone is generally of, not illustrated here.
The smart mobile phone 100 of this supervisory-controlled robot both can customize as desired, it is also possible to directly adopts smart mobile phone conventional on the market at present to substitute.It is also preferred that the left this smart mobile phone 100 can possess 3G communication function, mobile phone operating system is android system.For ensureing that this supervisory-controlled robot can smooth use, the running memory of this smart mobile phone 100 is no less than 512MB, and dominant frequency is not less than 800MHz.
Below point two parts are introduced the work process of this supervisory-controlled robot.This two parts respectively intelligent monitoring flow process and remote human-machine's interactive controlling flow process.
First, the intelligent monitoring flow process of this supervisory-controlled robot is explained below.
When owner leaves home, this supervisory-controlled robot can be placed on the position that can see house entrance (such as door, window etc.), open the intelligent monitoring pattern of supervisory-controlled robot.At this moment, this supervisory-controlled robot relies on the photographic head 120 on the smart mobile phone 100 of its lift-launch and the mike 216 on robot platform 200 to gather image and acoustical signal.This supervisory-controlled robot accesses the Internet by the communication module 110 of smart mobile phone 100, so that the image collected and acoustical signal are uploaded to network.
The intelligent monitoring flow process of this supervisory-controlled robot is as shown in Figure 3.It comprises the steps.
Step S110, enters intelligent monitoring pattern, opens the photographic head of smart mobile phone 100 and the wheat of robot platform 200
Gram wind.
Step S120, photographic head starts to shoot image and mike starts to gather sound.
Step S130, judges that captured image and the sound gathered have without exception.Then return step S120 without abnormal, then carry out next step, i.e. step S140 if it find that abnormal.
In this step S130, image and sound to collecting are analyzed respectively, to determine whether exception.Wherein, for the image collected, adopt the method for mixed Gauss model to carry out background modeling, then use the method detection moving region of background subtraction, when the moving region detected is more than threshold value (as: moving region area is more than 200 pixels), it is believed that note abnormalities motion.
For the acoustical signal collected, adopt the method for moving average to calculate the meansigma methods of background volume, when the volume detected more than meansigma methods to a certain degree time (as: more than 3 times of background volume), it is believed that note abnormalities sound.
Step S140, record audio frequency and video are also uploaded to the Internet.When noting abnormalities motion or during abnormal sound, smart mobile phone 100 by the audio frequency and video that recorded simultaneously with format compression H.264, can be uploaded to the network storage space of user, give over to clue by communication module 110.
Step S150, human detection and recognition of face.This supervisory-controlled robot runs human detection and recognition of face program, and the video collected is analyzed.Wherein, the method that realizes of human detection is: based on gradient orientation histogram feature, trains human body grader by support vector machine, to each frame abnormal image, carries out human detection.When time human body being detected be in default owner go out the time time, it is judged that for there being stranger to invade.The method that realizes of recognition of face is: extract face to be identified by method for detecting human face, then adopts the method for eigenface identification and matching to judge, when the face detected does not mate with owner household, it is judged that for there being stranger to invade.
Step S160, determines whether that stranger invades.Then return step S120 without stranger's invasion, if it is confirmed that there is stranger to invade, carry out next step, i.e. step S170.
Step S170, contact owner or warning.When system judges have stranger to invade, notify owner by the smart mobile phone 100 installed on supervisory-controlled robot to send note or the form called.Owner's mode real time inspection camera picture by remote human-machine's interactive controlling, it is possible to select to control robot and carry out conversing or warning with invader.This supervisory-controlled robot can also directly be reported to the police.
Robot accesses mobile Internet by the 3G wireless communication module of the smart mobile phone of its lift-launch, and user is remotely accessing the Internet by mobile phone/PC, and then realizes long-range connection and access.Remote human-machine's interactive program is mainly made up of two large divisions: robot serve end program and long-distance user's client-side program.
The remote human-machine interactive controlling flow process of this supervisory-controlled robot is explained below.
Remote human-machine's interactive controlling of this supervisory-controlled robot has two kinds of Starting mode.The first is that user is remotely using mobile phone or PC to open client-side program, and input password addressing machine device people's service end, both sides set up point-to-point connection.The second is that this supervisory-controlled robot finds have stranger to invade when monitoring, actively calls to user mobile phone, and user connects, and client-side program starts automatically, and both sides set up point-to-point connection.
After both sides set up connection, the video-audio signal that the service end of supervisory-controlled robot collects to subscription client real-time Transmission photographic head and mike；User receives viewing video at Terminal Server Client, and by the key-press input control instruction in program；Command signal, through mobile Internet, is received by the smart mobile phone 100 on supervisory-controlled robot, and is transferred to robot platform 200 and performs motor control.The manipulable order of user includes: adjust the angle of the fixed support 242 fixing smart mobile phone 100 on supervisory-controlled robot, and then the angle of adjustment photographic head 120 and control supervisory-controlled robot front, rear, left and right are moved.
When user's end of input order, when exiting client-side program, both sides disconnect.Remote human-machine's interactive controlling terminates.
This supervisory-controlled robot utilizes the advantage that smart mobile phone volume is little, integrated level is high, CPU disposal ability is strong, smart mobile phone is combined with movable machine people's platform, robot platform and smart mobile phone is made to collectively form a set of robot system, it is achieved the functions such as family monitoring service, amusement.This supervisory-controlled robot adopts photographic head that smart mobile phone carries, display screen, WIFI, the equipment such as bluetooth, realize the functions such as basic man-machine interaction, video acquisition by running corresponding software on mobile phone, realize the functions such as remote control, intelligent monitoring, remote video communication by the mobile Internet communication equipment on mobile phone.Meanwhile, the robot platform of this supervisory-controlled robot provides mounting bracket, power supply interface, sound collection and amplification interface, the bluetooth communication interface dock with smart mobile phone and arranges ultrasonic detector, Infrared Detectors, moving parts, battery etc. and assist smart mobile phone realization to monitor the functions such as service, amusement.
This supervisory-controlled robot uses smart mobile phone and robot platform to build household monitoring system.This supervisory-controlled robot can realize the function such as intelligent monitoring, remote human-machine's interactive controlling, greatly facilitates life.Compared with traditional monitoring system, have and use advantage flexible, that man-machine interaction is good, with low cost (smart mobile phone can use the second-hand mobile phone being about to eliminate).Meanwhile, by changing application software, this supervisory-controlled robot can also realize the function such as amusement game, family's information.Therefore this supervisory-controlled robot has the advantages such as man-machine interaction good, cost is low, feature richness.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that, for the person of ordinary skill of the art, without departing from the inventive concept of the premise, it is also possible to making some deformation and improvement, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
- null1. a supervisory-controlled robot，It is characterized in that，Including smart mobile phone and robot platform，Described smart mobile phone includes communication module、Photographic head、Human-computer interaction module、Processing module and signal transmission module，Described robot platform includes the moving parts driving described robot platform to move、The fixing device of fixing described smart mobile phone、Control the control device of described robot platform work、Carry out the signal transmitting apparatus of signal exchange with described smart mobile phone and carry described moving parts、Fixing device、Control the bogey of device and signal transmitting apparatus，Described smart mobile phone transmits information by described signal transmission module with described signal transmitting apparatus with described robot platform，Described human-computer interaction module receives control signal with described communication module，Control signal is processed control the work of described photographic head and controlled the work of described robot platform by signal transmission module by described processing module.
- 2. supervisory-controlled robot according to claim 1, it is characterised in that described robot platform also includes the mike of collected sound signal.
- 3. supervisory-controlled robot according to claim 1, it is characterised in that described robot platform also includes the battery providing energy for described robot platform and described smart mobile phone.
- 4. supervisory-controlled robot according to claim 1, it is characterised in that described robot platform also includes the microphone producing sound.
- 5. supervisory-controlled robot according to claim 1, it is characterised in that described robot platform also includes the ultrasonic detector of object position detection.
- 6. supervisory-controlled robot according to claim 1, it is characterised in that described robot platform also includes the Infrared Detectors of detection invader.
- 7. supervisory-controlled robot according to claim 1, it is characterised in that described moving parts includes driving the driving wheel of robot platform motion and the universal wheel with multiple direction of motion.
- 8. supervisory-controlled robot according to claim 1, it is characterised in that described signal transmitting apparatus includes bluetooth module and WIFI module.
- 9. supervisory-controlled robot according to claim 1, it is characterised in that described fixing device is the fixed support of adjustable angle.
- 10. supervisory-controlled robot according to claim 1, it is characterized in that, being equipped with earphone interface and power interface on described robot platform and described smart mobile phone, described supervisory-controlled robot is provided with the earphone cord and power line that are connected with power interface with the earphone interface of robot platform respectively by the earphone interface of smart mobile phone with power interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410782606.5A CN105759793A (en) | 2014-12-16 | 2014-12-16 | Monitoring robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410782606.5A CN105759793A (en) | 2014-12-16 | 2014-12-16 | Monitoring robot |
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| CN105759793A true CN105759793A (en) | 2016-07-13 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112826367A (en) * | 2020-12-26 | 2021-05-25 | 齐鲁工业大学 | Intelligent control robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112826367A (en) * | 2020-12-26 | 2021-05-25 | 齐鲁工业大学 | Intelligent control robot |
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Application publication date: 20160713 |