CN107770497A - Battery type movable monitoring robot and its monitoring system and method - Google Patents
Battery type movable monitoring robot and its monitoring system and method Download PDFInfo
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- CN107770497A CN107770497A CN201711072861.0A CN201711072861A CN107770497A CN 107770497 A CN107770497 A CN 107770497A CN 201711072861 A CN201711072861 A CN 201711072861A CN 107770497 A CN107770497 A CN 107770497A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 90
- 238000000034 method Methods 0.000 title claims abstract description 8
- 230000002159 abnormal effect Effects 0.000 claims description 55
- 230000005856 abnormality Effects 0.000 claims description 14
- 230000005611 electricity Effects 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000004397 blinking Effects 0.000 claims description 8
- 238000004458 analytical method Methods 0.000 claims description 6
- 238000007405 data analysis Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 230000000007 visual effect Effects 0.000 abstract description 3
- 230000008859 change Effects 0.000 description 5
- 238000013459 approach Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000036760 body temperature Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
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- 239000011707 mineral Substances 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of battery type movable monitoring robot and its monitoring system and method,Movable monitoring robot includes robot car body,Road wheel and lower road wheel have been rotatably supported in robot car body,The gap for being used for accommodating track is provided between upper road wheel and lower road wheel,Make road wheel,Lower road wheel coordinates with orbit gap,The both sides of robot car body are provided with the via passed through for track,Track runs through robot car body,Make road wheel,Lower road wheel moves along track,It is fixed with robot car body for driving the dynamic motor of upper walking rotation,Motor electrically connects with control system,Robot car body is provided with camera device and cell apparatus,Cell apparatus is used to give camera device respectively,Control system and motor power supply,Cell apparatus is provided with the charging inlet for being used for being connected with the charging plug of charging device.It can be monitored at visual angle entirely, there is provided video image is clear, accurately obtains target point video information.
Description
Technical field
The present invention relates to field of video monitoring, more particularly to a kind of battery type movable monitoring robot and its monitoring system and
Method.
Background technology
With the development of science and technology monitoring system develops to digitlization, intelligent direction.Many supervision control engineerings（Such as side
Anti- patrol, airport security, military protection, environment monitoring etc.）, generally use station stake formula high power pick-up lens to add the side of head operation
Formula, monitor wide area.
Like product in the market, mainly it is made up of outdoor control cabinet, head, floor-mounted camera.It is however, fixed
Dead Core Problems be present in formula monitoring camera-shooting, fixed camera can not perfection realize that 360 ° monitor without dead angle；And prolonging with distance
Long, there is wild effect in video image, picture quality definition reduces, target location error is larger；Monitoring personnel needs at any time
Tens of at least, at most up to a hundred computer screen portraits is stared at, monitoring personnel is no abnormal if monitored picture occurs abnormal
Words, can not play Essential Action, it may appear that largely omit phenomenon.
The content of the invention
The purpose of the present invention is for deficiency corresponding to prior art, there is provided a kind of battery type movable monitoring robot and its
Monitoring system and method, robot operate steadily on guide rail, and its camera device can monitor at visual angle entirely, there is provided video image is clear
Clear, accurate acquisition target point video information, when noting abnormalities, robot is close towards abnormal object and reaffirms exception, if
Confirm true, then alarm is sent to staff and sound flash alarm system staff is sent to abnormal object also can be according to real-time video
Image takes corresponding measure.
The purpose of the present invention is realized using following proposal：A kind of battery type movable monitoring robot, including robot
Car body, road wheel and lower road wheel, the upper road wheel and lower road wheel are rotatably supported in the robot car body
Between be provided with and be used to accommodate the gap of track, track runs through robot car body, and between upper road wheel and lower road wheel, on
Road wheel, lower road wheel and orbit gap coordinate, and road wheel, lower road wheel is moved along track, the robot car body
Both sides be provided with the via passed through for track, motor is fixed with the robot car body, the motor is used to drive
Dynamic upper walking rotation is dynamic, makes Robot walking track travel movement, and the motor electrically connects with control system, the machine
Device people car body is provided with camera device and cell apparatus, and the cell apparatus is used to give camera device, control system and drive respectively
Dynamic motor power supply, the cell apparatus are provided with the charging inlet for being used for being connected with the charging plug of charging device.
The robot car body includes frame and the casing being arranged on outside frame.Motor uses stepper motor.
The camera device is used to the video data of captured in real-time passing to Surveillance center, the prison by wireless WIFI
Control center is used to be read out video data analysis, if analysis result notes abnormalities, Surveillance center is used for abnormal information
The control system of robot is fed back to, and abnormal alarm is sent in Surveillance center, to remind staff to handle anomaly；Institute
The control system for stating robot drives robot to the side that exception occurs according to the abnormal information control motor fed back
Displacement is moved, and sends acousto-optic warning to abnormal object；The Surveillance center is according to the instruction remote command robot of staff
Action, it is close to abnormal object, and send audible alert and blinking light.
The control system of robot is used for the information about power for monitoring its cells device, after electricity is less than setting value, control
Battery is changed in motor driving robot auto-returned charging station charging processed.
The upper road wheel, the cambered surface that the periphery of lower road wheel is indent, are provided with the upper and lower end face of track respectively
Arc surface is engaged.
The robot is provided with two upper road wheels and two lower road wheels, and two upper road wheels paste with track upper surface
Close, be connected with motor one of in two upper road wheels, two lower road wheels are bonded with track lower surface；It is described
Connected between motor and upper road wheel by transmission device, make motor drive walking rotation dynamic, so as to motivation
Device people walks, and the transmission device includes main driving wheel, the transmission belt from drive and connection main driving wheel and from drive,
The motor axis connection of the main driving wheel and motor, make motor drive main driving wheel rotate, it is described from drive with
Upper road wheel connection, make dynamic from walking rotation in drive drive.The upper road wheel being connected with motor is positive transport wheel,
Remaining road wheel is driven road wheel, and main function is that robot car body balance is kept in robot ambulation.Upper walking
Wheel, the both ends of lower road wheel are by bearings on robot car body.
The cell apparatus is locked with robot car body using self-locking device.
A kind of battery type mobile monitoring system, including Surveillance center, charging station and supervisory-controlled robot, the monitoring machine
People's installation is in orbit, and the track is penetrated by between upper road wheel and lower road wheel from the via of robot car body side
Passed behind gap from the via of robot car body opposite side, gap coordinates between the track and upper road wheel, lower road wheel, institute
Track is stated to be supported on support；Each supervisory-controlled robot is communicated with Surveillance center respectively；Described device is used for captured in real-time
Video data Surveillance center is passed to by wireless WIFI, the Surveillance center is used to be read out video data analysis,
If analysis result notes abnormalities, Surveillance center is used for the control system that abnormal information is fed back to robot, and in monitoring
The heart sends abnormal alarm, to remind staff to handle anomaly；The control system of the robot is according to feeding back
Abnormal information control machine people moves to abnormal orientation occurs, and sends acousto-optic warning to abnormal object；The Surveillance center
For the instruction remote command robotic movement according to staff, to abnormal object closer or far from and sending audible alert
And blinking light；The control system of the movable monitoring robot is used for the information about power for monitoring cell apparatus, is supervised when mobile
Man-controlled mobile robot battery electric quantity be less than setting value after, control movable monitoring robot auto-returned charging station charged or battery more
Change.
The supervisory-controlled robot returns cruise shooting in cruise region according to the program of setting according to the cruising speed of setting.
The Surveillance center is used for the video data for receiving supervisory-controlled robot upload, and carries out image recognition to video data, if finding
There are abnormal conditions in target monitoring point, then issues control system of the command signal to supervisory-controlled robot, the control of supervisory-controlled robot
The speed that system is used to control supervisory-controlled robot to set approaches to target；The Surveillance center is used for real time video data again
Secondary carry out image recognition, the automatic triggering alarm if confirming that situation is true, and alarm signal is issued to supervisory-controlled robot, control report
Alarm device is alerted, if situation is not true, control supervisory-controlled robot automatic homing continues according to setting to cruising condition
Cruising speed returns cruise shooting.
The charging station is provided with least two charging devices, and each charging device electrically connects with the control system of charging station,
The charging device includes cradle pusher and cradle, and the expansion link of the cradle pusher is fixed with cradle
Connection, the cradle are provided with the charging plug for being used for being connected with the charging connector of cell apparatus；The control system of charging station
Inductor is provided between the charging station and robot, for whether in place to sense robot；The inductor senses machine
People in place after, the control system of the charging station is used to control cradle pusher flexible up and down, realizes cell apparatus and machine
The self-locking device unblock or locking of device people's car body.
When the control system of robot detects that its cell apparatus electricity exhausts, control machine people automatically returns to charging
Position without battery on device, after inductor senses robot in place, the control system of charging station is used to control charging dress
The cradle pusher put pushes upwards, the charging plug on cradle is stretched into the charging inlet of the cell apparatus of robot
Interior push cell apparatus upwards, unlocks the self-locking device of cell apparatus and robot car body, then the control system of charging station
Control cradle pusher is retracted downwards, cell apparatus is departed from car body, is fixed on the cradle of charging device and is filled
Electricity；Then, robot is automatically moved to the charging device position that another cell apparatus fills with electricity, when inductor senses machine
Device people in place after, the control system of charging station control cradle pusher pushes upwards, by the cradle of charging device
Cell apparatus is locked with robot car body self-locking device, and then the control system control cradle pusher of charging station contracts downwards
Return, now cell apparatus has been locked on robot car body.Cradle pusher uses electric pushrod.The charging station is set
There is awning.Cradle pusher is arranged in casing, and the expansion link of the cradle pusher stretches out casing upper end upwards
The via that face is provided with is fixedly connected with cradle, for driving cradle to move up and down.The lower surface of cradle is provided with guide rod
Coordinate with box body-sliding.Each casing is both supported upon on base, and awning is provided with above the base.The guide rail is located on casing
Side.
The charging station is arranged on the centre position of every section of track, and a monitoring machine is respectively configured in the both sides of charging station
People, now, charging station set at least three charging devices, and each supervisory-controlled robot is mounted on distance-sensor, to prevent phase
Mutually collision, each supervisory-controlled robot cruise shooting in the region each set.
The supervisory-controlled robot is provided with temperature control system, heater, fan, when temperature up to upper critical point, fan
Operating, it is ensured that case body temperature will not superelevation；When temperature as little as lower change point, heater heating, it is ensured that casing
Interior temperature stabilization is within the scope of normal.
A kind of battery type mobile monitor method, comprises the following steps：
1）Movable monitoring robot startup self-detection：Check signal connection it is whether normal, each camera whether normal work and electricity
Whether amount is sufficient, if movable monitoring robot self-test is qualified, performs step 2）；
2）Motor is started working, and movable monitoring robot is cruised along track with the first cruising speed set, supervised simultaneously
Control camera and carry out video capture, movable monitoring robot passes to the video data of shooting in monitoring by wireless wifi
The heart；
3）Surveillance center receives the video data of movable monitoring robot transmission, and the video data to receiving carries out image knowledge
Not, if finding, there are abnormal conditions in target monitoring point, and control movable monitoring robot is with the second cruising speed for setting to mesh
Mark close, the second cruising speed is more than the first cruising speed；Surveillance center carries out image knowledge to real time video data again simultaneously
Not, automatic triggering is alarmed to remind staff to handle anomaly if confirming that abnormal conditions are true, and controls mobile monitor
Robot sends acousto-optic warning to abnormal object, if situation is not true, control movable monitoring robot automatic homing to cruise
State, continue to return cruise shooting according to the first cruising speed of setting；
4）After movable monitoring robot detects that battery electric quantity is less than setting value, auto-returned charging station is charged or changed
Battery, after having charged or after replacing battery, movable monitoring robot returns and normals cruise state.
Present invention has the advantage that：Due to the robot car in the robot car body of this battery type movable monitoring robot
Road wheel and lower road wheel have been rotatably supported on body, has been provided between the upper road wheel and lower road wheel and is used to accommodate rail
The gap in road, coordinate road wheel, lower road wheel and orbit gap, the both sides of the robot car body are provided with to be passed through for track
Via, being walked and conducted oneself with dignity due to the mode that movable monitoring robot is bonded using upper lower whorl with track has reached 15KG so that
Shake small during work, operate steadily, when wind-force is larger out of doors, still can ensure the stable operation of video camera.Video camera protects
Cover has the performances such as rain-proof, windproof, dust-proof, anticorrosion, ensure that video camera is run steadily in the long term.
6 monitoring cameras are set on the supervisory-controlled robot of the present invention.This 6 monitoring cameras are fixed on robot car body
Different angle orientation, 360 ° of regions, no shooting blind angle amount can be covered.After motor operation, monitoring camera regards shooting is started
Frequently, and by video passing Surveillance center back, Surveillance center carries out image recognition to the vision signal of receiving, once find target monitoring
There are abnormal conditions in point, then camera lens lock onto target, robot car body approach to target, due to the removable shooting of CCTV camera with
Improve video image quality, again carry out image recognition can reaffirm abnormal conditions, if confirm situation it is true if system from
Dynamic triggering alarm, situation is not true, then system automatic homing to cruising condition, continues to carry out video capture by normal condition；Move
It is 6m/S that dynamic supervisory-controlled robot, which normals cruise speed, and speed can be promoted to 10m/S after noting abnormalities.After triggering alarm, mobile prison
Man-controlled mobile robot sends voice warning to abnormal object and blinking light makes it away from the region.Staff can be according to captured in real-time
Video image take corresponding measure, such as：Drive in a vehicle to the site of the accident, eliminate abnormality alarm（Abnormal object, which leaves, makes an inspection tour region）
Etc..
Brief description of the drawings
Fig. 1 is the surface structure schematic diagram of the battery type movable monitoring robot of the present invention；
Fig. 2 is Fig. 1 side view；
Fig. 3 is the internal structure schematic diagram of the battery type movable monitoring robot of the present invention；
Fig. 4 is Fig. 3 side view；
Fig. 5 is the structural representation of the charging station of the present invention；
Fig. 6 is Fig. 5 side view；
Fig. 7 is Fig. 6 P portions enlarged drawing；
Fig. 8 is the schematic diagram of the charging device of the present invention.
In accompanying drawing, 1 is robot car body, and 1a is via, and 1b is opening, and 2 be camera device, and 3 be upper road wheel, under 4 are
Road wheel, 5 be transmission device, and 6 be motor, and 7 be track, and 71 be upper rail, and 72 be lower railway, and 8 be support, and 81 be track
Support frame, 82 be track fixed mount, and 9 be cell apparatus, and 10 be charging device, and 101 be cradle pusher, and 102 be charging
Seat, 103 be charging plug, and 104 be guide rod, and 11 be awning.
Embodiment
Referring to Fig. 1 to Fig. 8, a kind of battery type movable monitoring robot, including robot car body 1, the robot car body
Road wheel 3 and lower road wheel 4 have inside been rotatably supported, has been provided between the upper road wheel and lower road wheel and is used to accommodate rail
The gap in road, coordinate road wheel, lower road wheel and orbit gap, the both sides of the robot car body are provided with to be passed through for track
Via 1a, track runs through robot car body, road wheel, lower road wheel is moved along track 7, solid on the robot car body
Surely have for driving the dynamic motor 6 of upper walking rotation, the motor electrically connects with control system, the robot car
Body is provided with camera device 2 and cell apparatus 9, and the cell apparatus is used for respectively to camera device, control system and driving electricity
Machine is powered, and the cell apparatus is provided with the charging inlet for being used for being connected with the charging plug 103 of charging device 10.The present embodiment
Motor uses stepper motor, is advanced by belt transmission control machine people car body.Accurately control robot car body walking
Speed and distance.The robot car body includes frame and the casing being arranged on outside frame.The track of the present embodiment includes upper
Track 71 and lower railway 72, the upper rail 71 are fixedly connected with lower railway 72.Upper rail 71 and lower railway 72 are cylinder
Track.The robot car body is provided with the opening 1b for being used for stepping down for track fixed mount 8.The support 8 includes track support frame
81 and track fixed mount 82.One end of the track fixed mount is fixedly connected with track, the other end and track of track fixed mount
Support frame is fixedly connected.
The camera device is used to the video data of captured in real-time passing to Surveillance center, the prison by wireless WIFI
Control center is used to be read out video data analysis, if analysis result notes abnormalities, Surveillance center is used for abnormal information
The control system of robot is fed back to, and abnormal alarm is sent in Surveillance center, to remind staff to handle anomaly；Institute
The control system for stating robot drives robot to the side that exception occurs according to the abnormal information control motor fed back
Displacement is moved, and sends acousto-optic warning to abnormal object；The Surveillance center is according to the instruction remote command robot of staff
Action, it is close to abnormal object, and send the various audible alerts edited in advance, blinking light.
The control system of robot is used for the information about power for monitoring its cells device, after electricity is less than setting value, control
Battery is changed in motor driving robot auto-returned charging station charging processed.
The upper road wheel, the cambered surface that the periphery of lower road wheel is indent, are provided with the upper and lower end face of track respectively
Arc surface is engaged.
The robot is provided with two upper road wheels and two lower road wheels, and two upper road wheels paste with track upper surface
Close, be connected with motor one of in two upper road wheels, two lower road wheels are bonded with track lower surface；It is described
Connected between motor and upper road wheel by transmission device 5, make motor drive walking rotation dynamic, so as to motivation
Device people walks, and the transmission device 5 includes main driving wheel, the transmission from drive and connection main driving wheel and from drive
Band, the motor axis connection of the main driving wheel and motor, motor is set to drive main driving wheel to rotate, it is described from drive
It is connected, makes dynamic from walking rotation in drive drive with upper road wheel.The upper road wheel being connected with motor is actively walking
Wheel, remaining road wheel are driven road wheel, and main function is that robot car body balance is kept in robot ambulation.It is up
Walk wheel, the both ends of lower road wheel by bearings on robot car body.
The cell apparatus is locked with robot car body using self-locking device.
A kind of battery type mobile monitoring system, including Surveillance center, charging station and supervisory-controlled robot, the monitoring machine
People's installation is in orbit, and the track is penetrated by between upper road wheel and lower road wheel from the via 1a of robot car body side
Gap after passed from the via 1a of robot car body opposite side, gap is matched somebody with somebody between the track and upper road wheel, lower road wheel
Close, the track is supported on support 8；Each supervisory-controlled robot is communicated with Surveillance center respectively；Described device is used for will be real
When the video data that shoots Surveillance center is passed to by wireless WIFI, the Surveillance center is used to be read out video data
Analysis, if analysis result notes abnormalities, Surveillance center is used for the control system that abnormal information is fed back to robot, and is supervising
Control center sends abnormal alarm, to remind staff to handle anomaly；The control system of the robot is according to feeding back to
The abnormal information control motor come drives robot to be moved to abnormal orientation occurs, and acousto-optic police is sent to abnormal object
Show；The Surveillance center is close to abnormal object according to the instruction remote command robotic movement of staff, and sends in advance
The various audible alerts of editor, blinking light；The control system of the supervisory-controlled robot is used for the electricity letter for monitoring cell apparatus
Breath, after supervisory-controlled robot battery electric quantity is less than setting value, supervisory-controlled robot auto-returned charging station charged or battery more
Change.
The supervisory-controlled robot returns cruise shooting in cruise region according to the program of setting according to the cruising speed of setting.
The Surveillance center is used for the video data for receiving supervisory-controlled robot upload, and carries out image recognition to video data, if finding
There are abnormal conditions in target monitoring point, then issues control system of the command signal to supervisory-controlled robot, the control of supervisory-controlled robot
The speed that system is used to control supervisory-controlled robot to set approaches to target；The Surveillance center is used for real time video data again
Secondary carry out image recognition, the automatic triggering alarm if confirming that situation is true, and alarm signal is issued to supervisory-controlled robot, control report
Alarm device is alerted, if situation is not true, control supervisory-controlled robot automatic homing continues according to setting to cruising condition
Cruising speed returns cruise shooting.
The charging station is provided with least two charging devices 10, and control system of each charging device 10 with charging station is electrically connected
Connect, the charging device 10 includes cradle pusher 101 and cradle 102, and the cradle pusher 101 stretches
Bar is fixedly connected with cradle 102, and the cradle 102 is provided with the charging for being used for being connected with the charging connector of cell apparatus and inserted
First 103；Inductor is provided with described in the control system of charging station between charging station and robot, for sensing whether robot arrives
Position；After the inductor senses robot in place, the control system of the charging station is used to control cradle pusher 101
It is flexible up and down, realize the self-locking device unblock or locking of cell apparatus and robot car body.
When the control system of robot detects that its cell apparatus electricity exhausts, control machine people automatically returns to charging
Position without battery on device 10, after inductor senses robot in place, the control system of charging station, which is used to control, to charge
The cradle pusher 101 of device 10 pushes upwards, the charging plug 103 on cradle 102 is stretched into the battery of robot
Cell apparatus is pushed in the charging inlet of device upwards, unlocks the self-locking device of cell apparatus and robot car body, Ran Houchong
The control system control cradle pusher 101 in power station is retracted downwards, cell apparatus is departed from car body, is fixed on charging device
Charged on 10 cradle 102；Then, robot is automatically moved to the charging device that another cell apparatus fills with electricity
10 positions, after inductor senses robot in place, the control system control cradle pusher 101 of charging station pushes up
Send, the cell apparatus on the cradle 102 of charging device 10 and robot car body self-locking device are locked, the then control of charging station
System control cradle pusher 101 processed is retracted downwards, and now cell apparatus has been locked on robot car body.Cradle
Pusher 101 uses electric pushrod.The charging station is provided with awning 11.Cradle pusher 101 is arranged in casing, institute
The expansion link for stating cradle pusher 101 stretches out the via 1a that casing upper surface is provided with and is fixedly connected with cradle 102 upwards,
For driving cradle 102 to move up and down.The lower surface of cradle 102 is provided with guide rod 104 and coordinated with box body-sliding.Each casing
It is both supported upon on base, awning 11 is provided with above the base.The guide rail is located above casing.
The charging station is arranged on the centre position of every section of track, and a monitoring machine is respectively configured in the both sides of charging station
People, now, charging station set at least three charging devices 10, and each supervisory-controlled robot is mounted on distance-sensor, to prevent
Mutually collision, each supervisory-controlled robot come to return cruise shooting according to the cruising speed of setting in the cruise region of setting.
6 monitoring cameras are set on the present embodiment supervisory-controlled robot.This 6 monitoring cameras are fixed on robot car body
Different angle orientation, 360 ° of regions, no shooting blind angle amount can be covered.After motor operation, monitoring camera regards shooting is started
Frequently, and by video passing Surveillance center back, Surveillance center carries out image recognition to the vision signal of receiving, once find target monitoring
There are abnormal conditions in point, then camera lens lock onto target, robot car body approach to target, carry out image recognition again, if situation category
Actually system triggers alarm automatically, and situation is not true, then system automatic homing to cruising condition, continues to be regarded by normal condition
Frequency is shot；It is 6m/S that movable monitoring robot, which normals cruise speed, and speed can be promoted to 10m/S after noting abnormalities.Triggering alarm
Afterwards, movable monitoring robot sends voice warning and blinking light to abnormal object.Charging station staff can clap according to real-time
The video image taken the photograph takes corresponding measure, such as：Drive in a vehicle to the site of the accident, eliminate abnormality alarm（Abnormal object, which leaves, makes an inspection tour area
Domain）Etc..
The supervisory-controlled robot is provided with temperature control system, heater, fan, when temperature up to upper critical point, fan
Operating, it is ensured that case body temperature will not superelevation；When temperature as little as lower change point, heater heating, it is ensured that casing
Interior temperature stabilization is within the scope of normal.
The track of the present embodiment is fixedly connected to form by cylindrical guide side by side up and down, and every section of track length is set as needed
Put.Every section of track length of the present embodiment is 2000m, multistage track can be used to make an inspection tour region and fences up.Each mobile monitor
Robot cruise region is track end 1000m, in this section of region cruise shooting back and forth.The present invention is pressed using upper lower whorl and track
Mode, it is ensured that will not acutely be rocked because of external factor such as winds when robot cruises in orbit, can during quick walking
Ensure the steady of car body.Movable monitoring robot road wheel tightly presses with alloy track.During work, stepper motor drives walking
Wheel rotation, so as to alloy track it is up walk.
Movable monitoring robot battery is 48V15A lithium batteries, and charging interval 7H, the up time is about 7H.Three are filled
Current potential can meet the electric energy supply of two movable monitoring robots completely.
The step of monitoring and control method of movable monitoring robot, is as follows：
A. startup self-detection.Whether detection signal connection normal, each camera whether normal work and electricity whether abundance etc.,
If self-test is unqualified, just alarm.
B. stepper motor is started working, and movable monitoring robot is cruised with the First Speed such as 6m/S set along track.
6 monitoring cameras carry out video capture simultaneously.
C. the image/video shot passes Surveillance center back by wireless wifi.
D. Surveillance center carries out image recognition to the vision signal of receiving, once find that abnormal feelings occurs in target monitoring point
Condition, camera lens lock onto target, robot car body is approached with the second speed such as 10m/S set to target, while Surveillance center is again
Image recognition is carried out, system triggers alarm automatically if abnormal conditions are true；If situation is not true, system automatic homing is to just
Normal state, continue to cruise along track.
If e. triggering alarm, movable monitoring robot sends voice warning and blinking light to abnormal object.Staff
Corresponding measure can be taken according to the video image of captured in real-time, such as：Drive in a vehicle to the site of the accident, eliminate abnormality alarm（Abnormal mesh
Mark, which leaves, makes an inspection tour region）Etc..
F. after movable monitoring robot battery electric quantity is less than setting value, auto-returned charging station carries out battery altering, changes
Under battery automatic charging, movable monitoring robot return normal cruise state.
Using the invention has the advantages that：
A. shooting visual angle is wide.Movable monitoring robot can 360 ° without dead angle shoot；
B. it is fast make it that it stablizes mobile speed in orbit for the structure of robot of the invention, can be with normal condition
360m/min speed cruise, after noting abnormalities, it can be moved with 600m/min speed；
C. it is intelligent.Abnormality alarm is sent to staff after confirming exception, and voice warning and flicker are sent to abnormal object
Light, staff can Remote operation robot away from or close to target；
D. it is adaptable.It is suitable for -20 DEG C ~ 50 DEG C of temperature environment；It is suitable for the weather such as heavy rain and strong wind
E. input cost is low.Early investment cost as little as 230,000 RMB/ kilometers, contrast traditional monitor control mechanism, cost declines to a great extent.
F. lithium battery power supply is used, securely and reliably.
The present invention can be used for various field of monitoring devices, such as airport, prison, frontier defense, high ferro, needs along highway
The occasion of monitoring personnel contact at any time；Large-scale industrial and mineral, chemical enterprise, power station etc. are can also be used for, equipment safety can be worked and run
Situation is understood at any time.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, it is clear that those skilled in the art
Member can carry out various changes and modification without departing from the spirit and scope of the present invention to the present invention.So, if the present invention
These modifications and variations belong within the scope of the claims in the present invention and its equivalent technologies, then the present invention is also intended to include these
Including change and modification.
Claims (10)
- A kind of 1. battery type movable monitoring robot, it is characterised in that：Including robot car body, can turn in the robot car body Road wheel and lower road wheel are supported by dynamicly, are provided between the upper road wheel and lower road wheel and are used to accommodate between track Gap, track run through robot car body, and between upper road wheel and lower road wheel, upper road wheel, lower road wheel and interorbital Gap coordinates, and road wheel, lower road wheel is moved along track, and the both sides of the robot car body are provided with the mistake passed through for track Hole, motor is fixed with the robot car body, the motor is used to drive walking rotation dynamic, makes Robot Walk track travel movement, the motor electrically connect with control system, the robot car body provided with camera device with Cell apparatus, the cell apparatus are used to set to camera device, control system and motor power supply, the cell apparatus respectively There is the charging inlet being connected for the charging plug with charging device.
- 2. supervisory-controlled robot according to claim 1, it is characterised in that：The camera device is used for regarding captured in real-time According to by being wirelessly transmitted to Surveillance center, the Surveillance center is used to be read out video data analysis frequency, if analysis knot Fruit notes abnormalities, then Surveillance center is used to feeding back to abnormal information into the control system of robot, and sends in Surveillance center different Often alarm, to remind staff to handle anomaly；The control system of the robot is according to the abnormal information fed back Control machine people moves to abnormal orientation occurs, and sends acousto-optic warning to abnormal object；The Surveillance center is used for basis The instruction remote command robotic movement of staff, to abnormal object closer or far from and sending audible alert and flicker Light.
- 3. supervisory-controlled robot according to claim 1, it is characterised in that：The control system of robot is used to monitor itself electricity The information about power of pool device, after electricity is less than setting value, the charging of control machine people's auto-returned charging station or replacing battery.
- 4. supervisory-controlled robot according to claim 1, it is characterised in that：The upper road wheel, the periphery of lower road wheel For the cambered surface of indent, the arc surface being provided with respectively with the upper and lower end face of track is engaged.
- 5. supervisory-controlled robot according to claim 1, it is characterised in that：The robot is provided with two upper road wheels and two Individual lower road wheel, two upper road wheels be bondeds with track upper surface, and two one of are gone up in road wheels and motor Connection, two lower road wheels are bonded with track lower surface；Connected between the motor and upper road wheel by transmission device Connect, make motor drive walking rotation dynamic, so as to drive robot ambulation.
- 6. supervisory-controlled robot according to claim 1, it is characterised in that：The cell apparatus uses certainly with robot car body Locking device is locked.
- A kind of 7. battery type mobile monitoring system, it is characterised in that：Including Surveillance center, charging station and such as claim 1 to 6 Any described supervisory-controlled robot, the supervisory-controlled robot installation is in orbit, mistake of the track from robot car body side Hole penetrates to be passed behind the gap between upper road wheel and lower road wheel from the via of robot car body opposite side, the track Gap coordinates between upper road wheel, lower road wheel, and the track is supported on support；Each supervisory-controlled robot respectively with monitoring The heart is communicated；Described device is used to the video data of captured in real-time passing to Surveillance center, the prison by wireless WIFI Control center is used to be read out video data analysis, if analysis result notes abnormalities, Surveillance center is used for abnormal information The control system of robot is fed back to, and abnormal alarm is sent in Surveillance center, to remind staff to handle anomaly；Institute The control system for stating robot moves according to the abnormal information control machine people fed back to abnormal orientation occurs, and to different Normal target sends acousto-optic warning；The Surveillance center is used for the instruction remote command robotic movement according to staff, Xiang Yi Normal gtoal setting or remote, and send audible alert and blinking light；The control system of the movable monitoring robot is used for The information about power of cell apparatus is monitored, after movable monitoring robot battery electric quantity is less than setting value, controls mobile monitor machine People's auto-returned charging station is charged or battery altering.
- 8. monitoring system according to claim 7, it is characterised in that：The charging station is provided with least two charging devices, Each charging device electrically connects with the control system of charging station, and the charging device includes cradle pusher and cradle, The expansion link of the cradle pusher is fixedly connected with cradle, and the cradle, which is provided with, to be used to fill with cell apparatus The charging plug of electric connection connection；Inductor is provided with described in the control system of charging station between charging station and robot, for feeling Whether in place to answer robot；After the inductor senses robot in place, the control system of the charging station is filled for control Electric seat pusher is flexible up and down, realizes the self-locking device unblock or locking of cell apparatus and robot car body.
- 9. monitoring system according to claim 7, it is characterised in that：The charging station is arranged on the interposition of every section of track Put, a supervisory-controlled robot is respectively configured in the both sides of charging station, and now, charging station sets at least three charging devices, Mei Gejian Man-controlled mobile robot is mounted on distance-sensor, and to prevent from mutually colliding, each supervisory-controlled robot patrols in the region each set Take photo by plane and take the photograph.
- A kind of 10. battery type mobile monitor method, it is characterised in that comprise the following steps：1）Movable monitoring robot startup self-detection：Check signal connection it is whether normal, each camera whether normal work and electricity Whether amount is sufficient, if movable monitoring robot self-test is qualified, performs step 2）；2）Motor is started working, and movable monitoring robot is cruised along track with the first cruising speed set, supervised simultaneously Control camera and carry out video capture, movable monitoring robot passes to the video data of shooting in monitoring by wireless wifi The heart；3）Surveillance center receives the video data of movable monitoring robot transmission, and the video data to receiving carries out image knowledge Not, if finding, there are abnormal conditions in target monitoring point, and control movable monitoring robot is with the second cruising speed for setting to mesh Mark close, the second cruising speed is more than the first cruising speed；Surveillance center carries out image knowledge to real time video data again simultaneously Not, automatic triggering is alarmed to remind staff to handle anomaly if confirming that abnormal conditions are true, and controls mobile monitor Robot sends acousto-optic warning to abnormal object, if situation is not true, control movable monitoring robot automatic homing to cruise State, continue to return cruise shooting according to the first cruising speed of setting；4）After movable monitoring robot detects that battery electric quantity is less than setting value, auto-returned charging station is charged or changed Battery, after having charged or after replacing battery, movable monitoring robot returns and normals cruise state.
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| CN201711072861.0A CN107770497A (en) | 2017-11-03 | 2017-11-03 | Battery type movable monitoring robot and its monitoring system and method |
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