CN106390334A - Geared robot arm - Google Patents

Geared robot arm Download PDF

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Publication number
CN106390334A
CN106390334A CN201610795384.XA CN201610795384A CN106390334A CN 106390334 A CN106390334 A CN 106390334A CN 201610795384 A CN201610795384 A CN 201610795384A CN 106390334 A CN106390334 A CN 106390334A
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CN
China
Prior art keywords
equipment
signal
image
concentration
real
Prior art date
Application number
CN201610795384.XA
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Chinese (zh)
Inventor
张鑫
Original Assignee
宁波力匠机器人科技有限公司
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Application filed by 宁波力匠机器人科技有限公司 filed Critical 宁波力匠机器人科技有限公司
Priority to CN201610795384.XA priority Critical patent/CN106390334A/en
Publication of CN106390334A publication Critical patent/CN106390334A/en

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Classifications

    • AHUMAN NECESSITIES
    • A62LIFE-SAVING; FIRE-FIGHTING
    • A62CFIRE-FIGHTING
    • A62C3/00Fire prevention, containment or extinguishing specially adapted for particular objects or places
    • A62C3/07Fire prevention, containment or extinguishing specially adapted for particular objects or places in vehicles, e.g. in road vehicles
    • AHUMAN NECESSITIES
    • A62LIFE-SAVING; FIRE-FIGHTING
    • A62CFIRE-FIGHTING
    • A62C19/00Hand fire-extinguishers in which the extinguishing substance is expelled by an explosion; Exploding containers thrown into the fire
    • AHUMAN NECESSITIES
    • A62LIFE-SAVING; FIRE-FIGHTING
    • A62CFIRE-FIGHTING
    • A62C37/00Control of fire-fighting equipment
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/72Electric energy management in electromobility

Abstract

The invention relates to a geared robot arm. The geared robot arm comprises a palm which is a base; a motor is fixedly arranged inside the palm and is used for driving a gear to realize each stage of speed reduction; a half gear is connected to four fingers; during rotation, the half gear is capable of driving the four fingers to fold and unfold; the four fingers are connected with a thumb by connecting rods; the four fingers and the thumb are capable of clenching a fire extinguisher; the palm is arranged at the top of a car body.

Description

A kind of gear robot arm
Technical field
The present invention relates to mechanical hand field, more particularly, to a kind of gear robot arm.
Background technology
The origin of public transport at least can trace back to 1826.Retired officer Nan Te in the French northwestward at that time (Nantes) flour milling mill is founded in suburbs, and the hot water that steam engine is discharged is had a bath for people and built public outdoor bathing place, and provides the city that plugs into The carriage service at center.When his discovery people on the way can use his stage carriage, just found shuttle hotel Between passenger vehicle route, allow passenger and mail freely to use on the way.
Paris is the leading city of bus, and London is followed by.On July 4th, 1829, British George The bus (Omnibus) of Shillibeer comes across London street corner, comes and goes Bai Ding along newly-built " new road " (New Road) Paddington and bank area, stop over Yorkshire Yorkshire Stingo, 4 classes of each direction daily.Less than 10 years, this One service France, Britain and the U.S. east each big city of bank (as Paris, Lyons, London, New York) are popularized.
Bus is that the people of trip provide and much facilitate, and is the walking-replacing tool that people commonly use, but he carries for us While for facilitating, also under cover " murderous intention ".Recently, have many with regard to relevant informations such as bus is on fire, spontaneous combustion, blasts Report, this people increasingly pays close attention to the safety problem on bus, except helping bus rider association correctly to escape In addition it is also necessary to transform existing bus arrangement outside self-rescue method, increase more safety protection equipments, improve existing tight First aid protection mechanism, thus save oneself offer more aids and passway for escaping for the escape of passenger.
In prior art, in bus be used for vehicle-state abnormality detection sensor device precision not high, type and Negligible amounts, the safety protection equipment species of bus is few to be set it is impossible to meet passenger under full state to security protection Standby demand, safety protection equipment remains a need for passenger's naked eyes and finds its position, and the operation of safety protection equipment needs completely Passenger is accomplished manually, and its automatization level is low, and work efficiency is low, and when bus meets accident to the requirement reflecting speed very Height, what accident casualty quantity was often depending on safety protection equipment enables speed, and safety protection equipment of the prior art is very bright Aobvious be unable to reach it is intended that work efficiency.
Accordingly, it would be desirable to a kind of design of new vehicle safety equipment, by increasing capacitance it is possible to increase abnormal for vehicle-state The type of sensor device of detection and quantity, increase the type of vehicle safety equipment and quantity simultaneously additionally it is possible to from Dynamic operator scheme substitutes existing artificial operator scheme, accelerates the reflection speed of vehicle safety equipment, thus convenient in-car The fast-escape of passenger.
Content of the invention
In order to solve the above problems, the invention provides a kind of pair of emergency valve bus security protection system, transform existing skill The concrete structure of the security system for vehicles in art, introduces multiple sensors for vehicle-state abnormality detection, improves sensor Accuracy of detection, introduces multiple safety protection equipments and uses for passenger, also existing Security mechanism is optimized meanwhile, Improve the automaticity of security system for vehicles, it is to avoid the generation of great vehicle disaster.
According to an aspect of the present invention, there is provided a kind of gear robot arm, including:Palm is pedestal, and motor is fixed on handss In the palm, band moving gear realizes individual stage reduction, and half tooth is connected on four fingers, drives four finger opening and closing when half tooth rotates, four refer to and thumb Refer to be connected by connecting rod, four refer to and thumb is held with a firm grip fire extinguisher, and described palm is arranged on car body top.Described car body includes a kind of pair should Anxious valve bus security protection system, described system includes passenger's emergency valve and the outer emergency valve of car, and passenger's emergency valve is arranged on car body Inner side is simultaneously located near safety door, and the outer emergency valve of car is arranged on outside car body and is located near safety door.
More specifically, in described pair of emergency valve bus security protection system, including:Passenger's emergency valve, is arranged on car body Inner side is simultaneously located near safety door, and the upper surface apart from floor is 1.5 meters, and the horizontal range to corresponding safety door is less than 0.5 meter; The outer emergency valve of car, is arranged on outside car body and is located near safety door, be 1.8 meters apart from ground, to the level of corresponding safety door Distance is less than 0.5 meter;Speed electric motor control device, is arranged in the instrumental panel of front end, is connected with Freescale IMX6 processing equipment, For receiving vehicle abnormality signal or vehicle normal signal, and send speed electric motor control extremely when receiving vehicle abnormality signal Signal processed;Speed electric motor driving equipment, is arranged on above driving moment, connects respectively with speed electric motor control device and speed electric motor Connect, for receiving speed electric motor abnormal control signal, and determine that speed electric motor drives extremely based on speed electric motor abnormal control signal Dynamic signal;Speed electric motor, is arranged on above driving moment, is connected respectively with speed electric motor driving equipment and driving moment, is used for Receive speed electric motor exception drive signal, and control the rotating speed of itself progressively to decline based on speed electric motor exception drive signal, with The gait of march controlling the driving moment of electric motor car gradually reduces;Fire extinguisher bomb storage case, is arranged on underbody, for accommodating fire extinguishing Bullet;Ejecting mechanism, is connected with fire extinguisher bomb storage case, is also connected with Freescale IMX6 processing equipment, for receiving vehicle During abnormal signal, eject fire extinguisher bomb and triggering fire extinguishing bomb switchs to automatically open up fire extinguisher bomb;High definition collecting device, is arranged on safety Near door, including high-definition camera, support, head, protective cover, flash lamp, photoflash controller and ambient brightness detector, high Clear photographic head is arranged on head to carry out packaged type shooting on head, obtains HD video, head and protective cover are fixed On support, ambient brightness detector is used for detecting the brightness of surrounding, ambient brightness detector carries out bright to surrounding To obtain real time environment brightness, photoflash controller is connected with ambient brightness detector and flash lamp respectively, for base for degree detection Opening and closing in real time environment brilliance control flash lamp;Displacement detection device, is arranged on the head of high definition collecting device, for working as High-definition camera carries out the amount of movement of accumulative high-definition camera when packaged type shoots on head, when the movement of high-definition camera When amount is more than preset displacement threshold value, send scanning shoot signal, when the amount of movement of high-definition camera is less than or equal to preset displacement threshold During value, send establishing shot signal;Fixed reference frame extraction equipment, is connected with high definition collecting device and displacement detection device respectively Connect, for when receiving establishing shot signal, returning to normal mode of operation from energy-saving mode, and select from HD video Select the reference picture fixing a two field picture as all successive images, when receiving scanning shoot signal, from normal work mould Formula enters into energy-saving mode;Sequence reference frame extraction equipment, is connected with high definition collecting device and displacement detection device respectively, is used for When receiving establishing shot signal, enter into energy-saving mode from normal mode of operation, when receiving scanning shoot signal, from Return to normal mode of operation in energy-saving mode, and select the previous frame image of present image to scheme as current from HD video The reference picture of picture;Vector detection equipment, be connected with fixed reference frame extraction equipment and sequence reference frame extraction equipment respectively with Obtain the reference picture of present image, reference picture and present image are all divided into 8 × 8 subimage block, by reference picture The subimage block in the upper left corner and the subimage block in the upper right corner respectively as left with reference to subimage block and right with reference to subimage block, pin To left with reference to subimage block, search from present image with the left subimage block mating with reference to subimage block as left target Image block, calculates motion vector therebetween and as left movement arrow based on left with reference to subimage block and left target subimage block Amount, for right with reference to subimage block, searches with the right subimage block mating with reference to subimage block as the right side from present image Target subimage block, based on the right motion vector simultaneously conduct right side calculating with reference to subimage block and right target subimage block therebetween Motion vector, determines overall motion vector based on the right motion vector of left movement vector;Device for image stabilization, is set with vector detection Standby connection, is processed for present image being carried out with steady picture based on overall motion vector to obtain current steady image;Based on overall Motion vector carries out steady picture process and is included with obtaining current steady image to present image:By present image along overall motion vector The pixel of reverse movement equivalent is to obtain current steady image;Distortion correction equipment is steady with high definition collecting device and image respectively Locking equipment connects, for detecting high-definition camera optical axis and the angle of horizontal direction using as correcting angle, based on correction angle Current steady image is carried out with trapezoidal distortion correct to obtain current remedial frames;Number testing equipment, with distortion correction equipment Connect, for current remedial frames is carried out successively with edge enhancement process, wavelet filtering processes and gray processing is processed to obtain ash Degreeization image, by pixel value in gray level image fall default humanoid gray scale upper limit threshold and preset humanoid gray scale lower threshold it Between pixel be defined as humanoid pixel, the quantity of the humanoid pattern of everyone image element composition in gray level image is defined as reality When car door number exporting;Gas concentration lwevel testing equipment, positioned at roof location, examines to in-car gas concentration lwevel Survey, export real-time gas concentration lwevel;Gas concentration lwevel warning device, positioned at roof location, with gas concentration lwevel detection Equipment connects, and for receiving real-time gas concentration lwevel, and is more than or equal to default dense carbon dioxide in real-time gas concentration lwevel During degree threshold value, send gas concentration lwevel alarm signal, be less than default gas concentration lwevel threshold value in real-time gas concentration lwevel When, send gas concentration lwevel normal signal;Nitric oxide concentration testing equipment, positioned at roof location, to an in-car oxidation Nitrogen concentration is detected, exports real-time nitric oxide concentration;Nitric oxide concentration warning device, positioned at roof location, with an oxygen Change nitrogen concentration testing equipment to connect, for receiving real-time nitric oxide concentration, and be more than or equal in real-time nitric oxide concentration pre- If during nitric oxide concentration threshold value, send nitric oxide concentration alarm signal, be less than a default oxygen in real-time nitric oxide concentration When changing nitrogen concentration threshold value, send nitric oxide concentration normal signal;Hydrogen cloride concentration testing equipment, positioned at roof location, to car Interior hydrogen cloride concentration is detected, exports real-time hydrogen cloride concentration;Hydrogen cloride concentration warning device, positioned at roof location, with Hydrogen cloride concentration testing equipment connects, and for receiving real-time hydrogen cloride concentration, and is more than or equal to default in real-time hydrogen cloride concentration During hydrogen cloride concentration threshold value, send hydrogen cloride concentration alarm signal, be less than default hydrogen cloride concentration threshold in real-time hydrogen cloride concentration During value, send hydrogen cloride concentration normal signal;Freescale IMX6 processing equipment, dense with number testing equipment, hydrogen chloride respectively Degree warning device, gas concentration lwevel warning device and nitric oxide concentration warning device connect, for receiving real-time car door people Number, and also receive while real-time car door number is more than or equal to default number threshold value gas concentration lwevel alarm signal, one When nitric oxide concentration alarm signal or hydrogen cloride concentration alarm signal, send vehicle abnormality signal, otherwise, send vehicle and normally believe Number;Emergency speech playback equipment, is arranged on roof, is connected with Freescale IMX6 processing equipment, for receive vehicle different During regular signal, play emergency speech file;Door pump control apparatus, near the door pump of safety door, at Freescale IMX6 Reason equipment connects, for when receiving vehicle abnormality signal, the door pump controlling safety door is to automatically open up safety door;Circuit every From equipment, including cooling system, extension type closure, stand-by power supply and microcontroller, positioned at Freescale IMX6 process Near equipment, microcontroller opens equipment with Freescale IMX6 processing equipment, cooling system, stand-by power supply respectively and shell drives Dynamic equipment connects, for when receiving vehicle abnormality signal, controlling shell driving equipment to shrink extension type closure To protect Freescale IMX6 processing equipment in extension type closure, cooling system is controlled to carry out extension type closing The cooling in inside the shell space, controlling stand-by power supply to open equipment is provided with opening stand-by power supply for Freescale IMX6 processing equipment Emergency service;Wherein, extension type closure is made up of fire proofing material.
More specifically, in described pair of emergency valve bus security protection system:It is bright that photoflash controller is based on real time environment Degree controls the opening and closing of flash lamp to include:When real time environment brightness is less than or equal to predetermined luminance threshold value, open flash lamp.
More specifically, in described pair of emergency valve bus security protection system:It is bright that photoflash controller is based on real time environment Degree controls the opening and closing of flash lamp to include:When real time environment brightness is more than predetermined luminance threshold value, close flash lamp.
More specifically, in described pair of emergency valve bus security protection system:It is bright that photoflash controller is based on real time environment Degree controls the opening and closing of flash lamp to include:When real time environment brightness is less than or equal to predetermined luminance threshold value, open flash lamp basis The flash luminance of real time environment brightness adjustment flash lamp, real time environment brightness is lower, and the flash luminance of flash lamp is higher.
More specifically, in described pair of emergency valve bus security protection system, also including:GPS location equipment, is arranged on car External side, for providing current GPS location.
More specifically, in described pair of emergency valve bus security protection system:Alternatively, using the Big Dipper navigator Replace GPS location equipment.
Brief description
Below with reference to accompanying drawing, embodiment of the present invention is described, wherein:
Fig. 1 is the block diagram of the double emergency valve bus security protection systems according to embodiment of the present invention.
Reference:1 passenger's emergency valve;The outer emergency valve of 2 cars
Specific embodiment
Below with reference to accompanying drawings the embodiment of double emergency valve bus security protection systems of the present invention is carried out specifically Bright.
Sunroofs can be used for emergency escape.After buses are on fire, the natural reaction of passenger is from car door escape, but accident Occurring tail gate to be likely to cannot be normally-open, and sunroofs are the another important channel of passenger's escape.
Public transport in-car is furnished with fire extinguisher, and position is typically in the middle of driver's seat rear portion and vehicle body.When buses are on fire, be first See condition of a fire size.If degree on fire is very low, driver and conductor should be extinguished the blaze using vehicle-mounted fire extinguisher immediately.If the intensity of a fire is relatively Greatly, when driver and conductor can not solve, PLEASE CALL US IMMEDIATELY ON the emergency of fire-fighting rescue platform phone.
There is manual rotary switch, after general bus door is fastened, driver does not open the door, passenger cannot get off near car door, Running into fire occurs the rotary valve of twisting " door bag manual rotary switch ", and when driver cannot open the door, passenger is rotatable to open Close, firmly push and can open car door.
Each car has emergency button, and, by driver's seat,, at car door top, shape is mostly as the shelves of electric fan for some for some Bit switch, this switch is mainly turned off gas circuit.And the mode opened is also different, concrete operations are typically by emergency button It is illustrated.
General buses roof has two emergency exits, and a lot of people are easily considered vent its mistake.Escape window There is button above, vehicle window entirely toward extrapolation after rotation.Especially when vehicle rollover, this escape window is highly useful.
However, for being loaded with the bus of full passenger, existing vehicle sensory equipment and emergency reaction equipment Quantity and type can not meet the demand of passenger, current emergency reaction equipment remains a need for excessive artificial participation process, no Method is voluntarily reacted according to vehicle concrete condition, this substantially prolongs the emergency reaction time of passenger, causes the safety of vehicle The significantly decline of degree of protection, easily causes the generation of major casualties.
Currently do not have the solution of the problems referred to above, in order to overcome above-mentioned deficiency, the present invention has built a kind of double emergent Valve bus security protection system, transforms to existing vehicle structure, carries out automatization's liter to existing emergency reaction equipment Level, is also increased such that it is able in time detection is to fire to the number of sensors and species of vehicle abnormality state-detection simultaneously Make a response etc. abnormality and rapidly.
A kind of gear robot arm is it is characterised in that include:Palm is pedestal, and motor is fixed in palm, and band moving gear is real Existing individual stage reduction, half tooth is connected on four fingers, drives four finger opening and closing, four fingers and thumb to be connected by connecting rod when half tooth rotates, and four Refer to and thumb is held with a firm grip fire extinguisher, described palm is arranged on car body top.It is anti-safely that described car body includes a kind of pair of emergency valve bus Protecting system, described system includes passenger's emergency valve and the outer emergency valve of car, and passenger's emergency valve is arranged on body inner side and is located at safety Near door, the outer emergency valve of car is arranged on outside car body and is located near safety door.
Fig. 1 is the block diagram of the double emergency valve bus security protection systems according to embodiment of the present invention.
Then, continue the concrete structure of double emergency valve bus security protection systems of the present invention is carried out further Bright.
Described system includes:Passenger's emergency valve, is arranged on body inner side and is located near safety door, apart from the upper table on floor Face is 1.5 meters, and the horizontal range to corresponding safety door is less than 0.5 meter;The outer emergency valve of car, is arranged on outside car body and is located at safety Near door, it is 1.8 meters apart from ground, the horizontal range to corresponding safety door is less than 0.5 meter.
Described system includes:Speed electric motor control device, is arranged in the instrumental panel of front end, sets with Freescale IMX6 process Standby connection, for receiving vehicle abnormality signal or vehicle normal signal, and sends speed electricity when receiving vehicle abnormality signal Machine abnormal control signal.
Described system includes:Speed electric motor driving equipment, is arranged on above driving moment, with speed electric motor control device and Speed electric motor connects respectively, for receiving speed electric motor abnormal control signal, and is determined based on speed electric motor abnormal control signal Speed electric motor exception drive signal.
Described system includes:Speed electric motor, is arranged on above driving moment, with speed electric motor driving equipment and driving moment Connect respectively, for receiving speed electric motor exception drive signal, and turning of itself is controlled based on speed electric motor exception drive signal Speed progressively declines, and is gradually reduced with the gait of march controlling the driving moment of electric motor car.
Described system includes:Fire extinguisher bomb storage case, is arranged on underbody, for accommodating fire extinguisher bomb;Ejecting mechanism, with fire extinguisher bomb Storage case connects, and is also connected with Freescale IMX6 processing equipment, for when receiving vehicle abnormality signal, ejecting fire extinguisher bomb And triggering fire extinguishing bomb switchs to automatically open up fire extinguisher bomb.
Described system includes:High definition collecting device, is arranged near safety door, including high-definition camera, support, head, Protective cover, flash lamp, photoflash controller and ambient brightness detector, high-definition camera is arranged on head with enterprising in head Row packaged type shoots, and obtains HD video, and head and protective cover are fixed on support, and ambient brightness detector is used for detecting week The brightness in collarette border, ambient brightness detector carries out brightness and detects to obtain real time environment brightness, flash lamp control to surrounding Device processed is connected with ambient brightness detector and flash lamp respectively, for the opening and closing based on real time environment brilliance control flash lamp.
Described system includes:Displacement detection device, is arranged on the head of high definition collecting device, for working as high-definition camera The amount of movement of accumulative high-definition camera when packaged type shoots is carried out on head, presets when the amount of movement of high-definition camera is more than During displacement threshold value, send scanning shoot signal, when the amount of movement of high-definition camera is less than or equal to preset displacement threshold value, send solid Surely shoot signal.
Described system includes:Fixed reference frame extraction equipment, is connected with high definition collecting device and displacement detection device respectively, For when receiving establishing shot signal, returning to normal mode of operation from energy-saving mode, and select from HD video Fix a two field picture as the reference picture of all successive images, when receiving scanning shoot signal, from normal mode of operation Enter into energy-saving mode.
Described system includes:Sequence reference frame extraction equipment, is connected with high definition collecting device and displacement detection device respectively, For when receiving establishing shot signal, entering into energy-saving mode from normal mode of operation, when receiving scanning shoot signal When, return to normal mode of operation from energy-saving mode, and select the previous frame image conduct of present image from HD video The reference picture of present image.
Described system includes:Vector detection equipment, is extracted with fixed reference frame extraction equipment and sequence reference frame respectively and sets Standby connection, to obtain the reference picture of present image, reference picture and present image is all divided into 8 × 8 subimage block, will join Examine the subimage block in the upper left corner in image and the subimage block in the upper right corner respectively as left with reference to subimage block and right with reference to son Image block, for left with reference to subimage block, searched from present image and is made with reference to the subimage block that subimage block mates with left For left target subimage block, calculate motion vector therebetween and make with reference to subimage block and left target subimage block based on left For left movement vector, for right with reference to subimage block, search from present image and the right subgraph mating with reference to subimage block As block is as right target subimage block, based on the right motion arrow calculating with reference to subimage block and right target subimage block therebetween Measure and as right motion vector, overall motion vector is determined based on the right motion vector of left movement vector.
Described system includes:Device for image stabilization, is connected with vector detection equipment, for based on overall motion vector to work as Front image carries out steady picture and processes to obtain current steady image;Based on overall motion vector present image is carried out steady as process with Obtain current steady image to include:Present image is moved backward the pixel of equivalent to obtain current steady along overall motion vector Image.
Described system includes:Distortion correction equipment, is connected with high definition collecting device and device for image stabilization, respectively for examining The angle surveying high-definition camera optical axis with horizontal direction is as correcting angle, to be carried out to current steady image based on correcting angle Trapezoidal distortion is corrected to obtain current remedial frames.
Described system includes:Number testing equipment, is connected with distortion correction equipment, for entering successively to current remedial frames Row edge enhancement process, wavelet filtering are processed and gray processing is processed to obtain gray level image, by pixel value in gray level image The pixel falling between default humanoid gray scale upper limit threshold and default humanoid gray scale lower threshold is defined as humanoid pixel, by gray scale The quantity changing the humanoid pattern of everyone image element composition in image is defined as real-time car door number and exports.
Described system includes:Gas concentration lwevel testing equipment, positioned at roof location, enters to in-car gas concentration lwevel Row detection, exports real-time gas concentration lwevel;Gas concentration lwevel warning device, positioned at roof location, with gas concentration lwevel Testing equipment connects, and for receiving real-time gas concentration lwevel, and is more than or equal to default titanium dioxide in real-time gas concentration lwevel During carbon concentration threshold, send gas concentration lwevel alarm signal, be less than default gas concentration lwevel in real-time gas concentration lwevel During threshold value, send gas concentration lwevel normal signal.
Described system includes:Nitric oxide concentration testing equipment, positioned at roof location, enters to in-car nitric oxide concentration Row detection, exports real-time nitric oxide concentration.
Described system includes:Nitric oxide concentration warning device, positioned at roof location, with nitric oxide concentration testing equipment Connect, for receiving real-time nitric oxide concentration, and be more than or equal to default nitric oxide concentration threshold in real-time nitric oxide concentration During value, send nitric oxide concentration alarm signal, when real-time nitric oxide concentration is less than default nitric oxide concentration threshold value, send out Go out nitric oxide concentration normal signal.
Described system includes:Hydrogen cloride concentration testing equipment, positioned at roof location, examines to in-car hydrogen cloride concentration Survey, export real-time hydrogen cloride concentration.
Described system includes:Hydrogen cloride concentration warning device, positioned at roof location, is connected with hydrogen cloride concentration testing equipment Connect, for receiving real-time hydrogen cloride concentration, and when real-time hydrogen cloride concentration is more than or equal to default hydrogen cloride concentration threshold value, send Hydrogen cloride concentration alarm signal, when real-time hydrogen cloride concentration is less than default hydrogen cloride concentration threshold value, is just sending hydrogen cloride concentration Regular signal.
Described system includes:Freescale IMX6 processing equipment, reports to the police and sets with number testing equipment, hydrogen cloride concentration respectively Standby, gas concentration lwevel warning device and nitric oxide concentration warning device connect, for receiving real-time car door number, and in reality When car door number also receive gas concentration lwevel alarm signal, nitric oxide concentration while be more than or equal to default number threshold value When alarm signal or hydrogen cloride concentration alarm signal, send vehicle abnormality signal, otherwise, send vehicle normal signal.
Described system includes:Emergency speech playback equipment, is arranged on roof, is connected with Freescale IMX6 processing equipment, For when receiving vehicle abnormality signal, playing emergency speech file.
Described system includes:Door pump control apparatus, near the door pump of safety door, with Freescale IMX6 processing equipment Connect, for when receiving vehicle abnormality signal, the door pump controlling safety door is to automatically open up safety door.
Described system includes:Circuit xegregating unit, including cooling system, extension type closure, stand-by power supply and micro- Controller, near Freescale IMX6 processing equipment, microcontroller is set with Freescale IMX6 processing equipment, cooling respectively Equipment opened by standby, stand-by power supply and shell driving equipment connects, for when receiving vehicle abnormality signal, controlling shell to drive Extension type closure is shunk to protect in extension type closure Freescale IMX6 processing equipment by equipment, control Cooling system processed carries out the cooling in space in extension type closure, controls stand-by power supply to open equipment to open stand-by power supply There is provided emergency service for Freescale IMX6 processing equipment;Wherein, extension type closure is made up of fire proofing material.
Alternatively, in described control platform:The opening and closing based on real time environment brilliance control flash lamp for the photoflash controller Including:When real time environment brightness is less than or equal to predetermined luminance threshold value, open flash lamp;Photoflash controller is based on real time environment The opening and closing of brilliance control flash lamp includes:When real time environment brightness is more than predetermined luminance threshold value, close flash lamp;Flash lamp control Device processed is included based on the opening and closing of real time environment brilliance control flash lamp:When real time environment brightness is less than or equal to predetermined luminance threshold value When, open flash lamp the flash luminance according to real time environment brightness adjustment flash lamp, real time environment brightness is lower, flash lamp Flash luminance is higher;GPS location equipment, is arranged on outside car body, for providing current GPS location;And alternatively, adopt Replace GPS location equipment with the Big Dipper navigator.
In addition, the global positioning satellite that Beidou satellite navigation system is China voluntarily to be developed and communication system (BDS), it is to continue 3rd ripe satellite navigation system after U.S. global positioning system (GPS) and Russia GLONASS.System is by vacant terminal, ground End and user side composition, round-the-clock in the world, round-the-clock can provide high accuracy, highly reliable positioning, lead for all types of user Boat, time service service, and have short message communication capacity, tentatively possess area navigation, positioning and time service ability, positioning precision is excellent In 20m, time service precision is better than 100ns.On December 27th, 2012, the formal version of dipper system spacing wave ICD is formal Announce, Beidou navigation business formally provides passive location, navigation, time service service to the Asian-Pacific area.
Using double emergency valve bus security protection systems of the present invention, anti-to vehicle abnormality state for prior art bus Answer slow-footed technical problem, by internal structure transformation is carried out to existing vehicle, increase some environmental sensors with quick Detection vehicle abnormality state, increases more safety protection equipments and uses for passenger, existing Security mechanism is risen Level and optimization, thus improving the response speed of passenger, improve the class of safety protection of vehicle, are the person peace of the passenger in vehicle Complete and operator economic interests provide effective guarantee.
Although it is understood that the present invention is disclosed as above with preferred embodiment, but above-described embodiment being not used to Limit the present invention.For any those of ordinary skill in the art, without departing under technical solution of the present invention ambit, The technology contents that the disclosure above all can be utilized are made many possible variations and modification, or are revised as to technical solution of the present invention Equivalent embodiments with change.Therefore, every content without departing from technical solution of the present invention, according to the technical spirit pair of the present invention Any simple modification made for any of the above embodiments, equivalent variations and modification, all still fall within the scope of technical solution of the present invention protection Interior.

Claims (4)

1. a kind of gear robot arm is it is characterised in that include:Palm is pedestal, and motor is fixed in palm, and band moving gear is realized Individual stage reduction, half tooth is connected on four fingers, drives four finger opening and closing when half tooth rotates, and four refer to be connected by connecting rod with thumb, four fingers Hold with a firm grip fire extinguisher with thumb, described palm is arranged on car body top.
2. gear robot arm as claimed in claim 1 is it is characterised in that described car body includes a kind of pair of emergency valve bus safety Guard system, described system includes passenger's emergency valve and the outer emergency valve of car, and passenger's emergency valve is arranged on body inner side and is located at peace Near air cock, the outer emergency valve of car is arranged on outside car body and is located near safety door.
3. gear robot arm as claimed in claim 2 is it is characterised in that described system includes:
Passenger's emergency valve, is arranged on body inner side and is located near safety door, the upper surface apart from floor is 1.5 meters, to correspondence The horizontal range of safety door is less than 0.5 meter;
The outer emergency valve of car, is arranged on outside car body and is located near safety door, be 1.8 meters apart from ground, to corresponding safety door Horizontal range is less than 0.5 meter;
Speed electric motor control device, is arranged in the instrumental panel of front end, is connected with Freescale IMX6 processing equipment, for receiving car Abnormal signal or vehicle normal signal, and speed electric motor abnormal control signal is sent when receiving vehicle abnormality signal;
Speed electric motor driving equipment, is arranged on above driving moment, is connected respectively with speed electric motor control device and speed electric motor, For receiving speed electric motor abnormal control signal, and determine that speed electric motor drives letter extremely based on speed electric motor abnormal control signal Number;
Speed electric motor, is arranged on above driving moment, is connected respectively with speed electric motor driving equipment and driving moment, for receiving Speed electric motor exception drive signal, and control the rotating speed of itself progressively to decline based on speed electric motor exception drive signal, to control The gait of march of the driving moment of electric motor car gradually reduces;
Fire extinguisher bomb storage case, is arranged on underbody, for accommodating fire extinguisher bomb;
Ejecting mechanism, is connected with fire extinguisher bomb storage case, is also connected with Freescale IMX6 processing equipment, for receiving vehicle During abnormal signal, eject fire extinguisher bomb and triggering fire extinguishing bomb switchs to automatically open up fire extinguisher bomb;
High definition collecting device, is arranged near safety door, including high-definition camera, support, head, protective cover, flash lamp, flash of light Lamp controller and ambient brightness detector, high-definition camera is arranged on head to carry out packaged type shooting on head, obtains Obtain HD video, head and protective cover are fixed on support, ambient brightness detector is used for detecting the brightness of surrounding, environment Brightness detector surrounding is carried out brightness detect to obtain real time environment brightness, photoflash controller respectively with ambient brightness Detector and flash lamp connect, for the opening and closing based on real time environment brilliance control flash lamp;
Displacement detection device, is arranged on the head of high definition collecting device, for when high-definition camera carry out on head removable The amount of movement of accumulative high-definition camera when dynamic formula shoots, when the amount of movement of high-definition camera is more than preset displacement threshold value, sends Scanning shoot signal, when the amount of movement of high-definition camera is less than or equal to preset displacement threshold value, sends establishing shot signal;
Fixed reference frame extraction equipment, is connected with high definition collecting device and displacement detection device respectively, receives fixation for working as When shooting signal, from energy-saving mode, return to normal mode of operation, and select to fix a two field picture conduct from HD video The reference picture of all successive images, when receiving scanning shoot signal, enters into energy-saving mode from normal mode of operation;
Sequence reference frame extraction equipment, is connected with high definition collecting device and displacement detection device respectively, receives fixation for working as When shooting signal, enter into energy-saving mode from normal mode of operation, when receiving scanning shoot signal, extensive from energy-saving mode Arrive normal mode of operation again, and select the previous frame image of present image as present image with reference to figure from HD video Picture;
Vector detection equipment, is connected with fixed reference frame extraction equipment and sequence reference frame extraction equipment respectively to obtain current figure The reference picture of picture, reference picture and present image is all divided into 8 × 8 subimage block, by the upper left corner in reference picture The subimage block in subimage block and the upper right corner is respectively as left with reference to subimage block and right with reference to subimage block, sub for left reference Image block, searches with the left subimage block mating with reference to subimage block as left target subimage block, base from present image Calculate motion vector therebetween in left with reference to subimage block and left target subimage block and as left movement vector, for the right side With reference to subimage block, search from present image with the right subimage block mating with reference to subimage block as right target subimage Block, calculates motion vector therebetween and as right motion vector based on right with reference to subimage block and right target subimage block, Overall motion vector is determined based on the right motion vector of left movement vector;
Device for image stabilization, is connected with vector detection equipment, for being carried out to present image at steady picture based on overall motion vector Reason is to obtain current steady image;Based on overall motion vector, present image is carried out with steady picture to process to obtain current steady image Including:Present image is moved backward the pixel of equivalent to obtain current steady image along overall motion vector;
Distortion correction equipment, is connected with high definition collecting device and device for image stabilization respectively, for detecting high-definition camera optical axis With the angle of horizontal direction using as correcting angle, corrected based on correcting angle current steady image being carried out with trapezoidal distortion to obtain Obtain current remedial frames;
Number testing equipment, is connected with distortion correction equipment, for current remedial frames is carried out successively with edge enhancement process, little Ripple Filtering Processing and gray processing are processed to obtain gray level image, and pixel value in gray level image is fallen to presetting in humanoid gray scale Limit threshold value and the pixel preset between humanoid gray scale lower threshold are defined as humanoid pixel, by everyone image in gray level image The quantity of the humanoid pattern of element composition is defined as real-time car door number and exports;
Gas concentration lwevel testing equipment, positioned at roof location, detects to in-car gas concentration lwevel, exports real-time two Oxidation concentration of carbon;
Gas concentration lwevel warning device, positioned at roof location, is connected with gas concentration lwevel testing equipment, for receiving in real time Gas concentration lwevel, and when real-time gas concentration lwevel is more than or equal to default gas concentration lwevel threshold value, send carbon dioxide Concentration alarm signal, when real-time gas concentration lwevel is less than default gas concentration lwevel threshold value, is just sending gas concentration lwevel Regular signal;
Nitric oxide concentration testing equipment, positioned at roof location, detects to in-car nitric oxide concentration, exports real-time one Nitric oxide concentration;
Nitric oxide concentration warning device, positioned at roof location, is connected with nitric oxide concentration testing equipment, for receiving in real time Nitric oxide concentration, and when real-time nitric oxide concentration is more than or equal to default nitric oxide concentration threshold value, send nitric oxide Concentration alarm signal, when real-time nitric oxide concentration is less than default nitric oxide concentration threshold value, is just sending nitric oxide concentration Regular signal;
Hydrogen cloride concentration testing equipment, positioned at roof location, detects to in-car hydrogen cloride concentration, exports real-time hydrogen chloride Concentration;
Hydrogen cloride concentration warning device, positioned at roof location, is connected with hydrogen cloride concentration testing equipment, for receiving real-time chlorination Hydrogen concentration, and when real-time hydrogen cloride concentration is more than or equal to default hydrogen cloride concentration threshold value, send hydrogen cloride concentration alarm signal, When real-time hydrogen cloride concentration is less than default hydrogen cloride concentration threshold value, send hydrogen cloride concentration normal signal;
Freescale IMX6 processing equipment, respectively with number testing equipment, hydrogen cloride concentration warning device, gas concentration lwevel report Alert equipment and nitric oxide concentration warning device connect, for receiving real-time car door number, and be more than in real-time car door number etc. Gas concentration lwevel alarm signal, nitric oxide concentration alarm signal or hydrogen chloride is also received while default number threshold value During concentration alarm signal, send vehicle abnormality signal, otherwise, send vehicle normal signal;
Emergency speech playback equipment, is arranged on roof, is connected with Freescale IMX6 processing equipment, for receive vehicle different During regular signal, play emergency speech file;
Door pump control apparatus, near the door pump of safety door, are connected with Freescale IMX6 processing equipment, for receiving During vehicle abnormality signal, the door pump controlling safety door is to automatically open up safety door;
Circuit xegregating unit, including cooling system, extension type closure, stand-by power supply and microcontroller, thinks card positioned at winged Near your IMX6 processing equipment, microcontroller is opened and is set with Freescale IMX6 processing equipment, cooling system, stand-by power supply respectively Standby and shell driving equipment connects, for when receiving vehicle abnormality signal, controlling shell driving equipment to seal extension type Close shell to shrink to protect in extension type closure Freescale IMX6 processing equipment, controlling cooling system to carry out can The cooling in space in telescopic closure, controls stand-by power supply to open equipment to open stand-by power supply at Freescale IMX6 Reason equipment provides emergency service;Wherein, extension type closure is made up of fire proofing material.
4. gear robot arm as claimed in claim 3 it is characterised in that:
Photoflash controller is included based on the opening and closing of real time environment brilliance control flash lamp:When real time environment brightness is bright more than default During degree threshold value, close flash lamp.
CN201610795384.XA 2016-08-31 2016-08-31 Geared robot arm CN106390334A (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101927727A (en) * 2009-06-22 2010-12-29 张鹏 Intelligent safety device of bus
DE102010053145A1 (en) * 2010-12-01 2012-06-06 Daimler Ag Gripper for gripping mask and for positioning mask on component, has two gripping jaws, where gripping of mask takes place by movement of gripping jaws against each other
CN203092579U (en) * 2012-12-05 2013-07-31 长春工业大学 Gear manipulator
CN205297134U (en) * 2016-01-25 2016-06-08 中国重汽集团济南动力有限公司 Passenger train door opening system
CN205363931U (en) * 2016-02-02 2016-07-06 淄博纽氏达特机器人系统技术有限公司 Gypsum mould shifts manipulator

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101927727A (en) * 2009-06-22 2010-12-29 张鹏 Intelligent safety device of bus
DE102010053145A1 (en) * 2010-12-01 2012-06-06 Daimler Ag Gripper for gripping mask and for positioning mask on component, has two gripping jaws, where gripping of mask takes place by movement of gripping jaws against each other
CN203092579U (en) * 2012-12-05 2013-07-31 长春工业大学 Gear manipulator
CN205297134U (en) * 2016-01-25 2016-06-08 中国重汽集团济南动力有限公司 Passenger train door opening system
CN205363931U (en) * 2016-02-02 2016-07-06 淄博纽氏达特机器人系统技术有限公司 Gypsum mould shifts manipulator

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