CN108262753A - For the double rail type in detention house and prison from movable monitoring robot and monitoring method - Google Patents
For the double rail type in detention house and prison from movable monitoring robot and monitoring method Download PDFInfo
- Publication number
- CN108262753A CN108262753A CN201810248644.0A CN201810248644A CN108262753A CN 108262753 A CN108262753 A CN 108262753A CN 201810248644 A CN201810248644 A CN 201810248644A CN 108262753 A CN108262753 A CN 108262753A
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- mobile robot
- prison
- robot ontology
- suspect
- track
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims description 9
- 230000001360 synchronised effect Effects 0.000 claims description 19
- 230000002265 prevention Effects 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 239000004020 conductor Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 208000003464 asthenopia Diseases 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000024703 flight behavior Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
Abstract
For the double rail type in detention house and prison from movable monitoring robot, including mobile robot ontology, opposed grooved track and actuating unit, opposed grooved track is mounted on by track support on the wall in detention house or prison, mobile robot ontology front and rear sides are equipped with driving wheel by bearing block respectively, camera and hunter's catcher are also equipped on the mobile robot ontology, actuating unit, camera and hunter's catcher communicate to connect respectively with the background server of control centre.The present invention by mobile robot ontology to a suspect into line trace, warning information can be sent to control centre in first time and the close shot picture at scene be provided, operator on duty is enable to make accurate judgement and decision to field condition in first time；Hunter's catcher is equipped on mobile robot ontology, a suspect is arrested at crucial moment, while play the role of fright.
Description
Technical field
The present invention relates to a kind of self-movement robots, more specifically refer to a kind of double rail type for detention house and prison
From movable monitoring robot and monitoring method.
Background technology
Being detained in detention house and prison has a large amount of criminal case offender, these personnel once flee during serving a sentence
Social harmony will be stabilized, the security of the lives and property of the common people causes great harm.At present, it is mainly in detention house and prison
Key area is monitored in real time by fixedly mounted camera, while is equipped with certain artificial inspection trips, it is this
Method has put into a large amount of man power and material, and but still frequent angle of arrival is improper, there is the problems such as blind area in the visual field, goes on patrol simultaneously
The problems such as person works' intensity is big, and the patrol time is regular, the frequency is low be easy to cause having an opportunity to take advantage of for criminal.With deploying troops on garrison duty
The increase in region, required camera and personnel's intensity on duty quickly increase.
For a wide range of place of the tight prevention and control of the needs such as prison, most existing monitoring system uses multiple fixed peaces
Fill camera.This mode has certain limitation and viewing angle by very big limit for the observation of distant location
System, a large amount of camera and monitored picture can make single monitored picture become very little, greatly limit the readability of picture, easily
Cause the visual fatigue of security personnel, cause security risk.Inside prison and the patrol on periphery needs to consume a large amount of manpower simultaneously
And personnel labor intensity is larger under night and severe weather conditions.
Invention content
The present invention personnel and is set for fixedly mounted camera monitoring system existing intake image unreasonable problem
It is standby that the problems such as more is configured, propose it is a kind of for the double rail type in detention house and prison from movable monitoring robot and monitoring method.
The present invention adopts the following technical scheme that：
For the double rail type in detention house and prison from movable monitoring robot, including being used for scene into administrative staff's detect and track
Mobile robot ontology, support and guiding are provided for mobile robot ontology opposed grooved track and the mobile machine of driving
The actuating unit that human body moves in opposed grooved track, the opposed grooved track are mounted on detention house by track support
Or on the wall in prison, the mobile robot ontology front and rear sides are equipped with driving wheel by bearing block respectively, the moving machine
Be also equipped with camera and hunter's catcher on device human body, the actuating unit, camera and hunter's catcher respectively with it is rear
Platform server communication connects.
Further, the opposed groove profile track upper surface is equipped with track connecting plate, and the track support lower surface is equipped with
Rack connecting plate, the track connecting plate and rack connecting plate are correspondingly connected with by bolt, nut.
Specifically, the actuating unit include a servo motor, an active synchronization belt wheel, a synchronous belt, two
Driven synchronous pulley and a trolley, the servo motor output shaft connect the active synchronization belt wheel, and the active is same
Belt wheel is walked by the synchronous band connection two driven synchronous pulley, each driven synchronous pulley is coaxial with the driving wheel respectively
Connection, the trolley by trolley conductor bracket be mounted on wall on, and with the opposed grooved track keeping parallelism.
Further, a trolley tensioning stent is separately installed on the wall of the trolley axial direction both sides, each
There are one wiping thread stretching mechanisms for connection between its corresponding trolley axial direction end of trolley tensioning stent.
Further, the front and rear sides of the mobile robot ontology are equipped with lateral limit by position-limited wheel mounting base respectively
Position wheel, the lateral wall of the lateral Displacement wheels of front and rear sides respectively with the opposed grooved track both sides contact.
Further, a pair of of swing arm is arranged on the mobile robot ontology, the lower end of each swing arm passes through one
Shaft is rotatably fixed on mobile robot ontology, and the upper end of each swing arm is respectively equipped with a pair and is pressed under opposed grooved track
The longitudinally tensioned wheel on surface, the middle section position of two swing arms are separately installed with left-handed pull rod and dextrorotation pull rod, the left-handed pull rod
Left hand thread, which is respectively provided with, with dextrorotation drawing rod via two end connects tension with the longitudinally tensioned nut of right-handed thread.
Further, hunter's catcher is fixed on by net rifle pressing plate on mobile robot ontology, which captures
Device is equipped with net bullet.
Further, alarm lamp and alarm speaker are also equipped on the mobile robot ontology.
The above-mentioned double rail type for being used for detention house and prison includes the following steps from the monitoring method of movable monitoring robot：
1）, actuating unit driving mobile robot ontology moved in opposed grooved track, while camera open to scene into
Administrative staff carries out shooting image and is transferred to background server；
2）, background server extract analysis using the image that visual detection algorithm shoots camera, it is suspicious when analyzing
When personnel are appeared in prevention and control region, mobile robot ontology sends out voice warning, and background server is according to the position of the personnel
Confidence breath control mobile robot ontology movement, to carry out real-time tracking to a suspect；
3）When background server detect a suspect appear in prohibited area or escape from prison tendency when, control mobile robot
Ontology closely follows a suspect and hunter's catcher is controlled to aim at it, mobile robot ontology and suspicious people
The relative position and speed of member sends shooting instruction when meeting certain condition, make pre-packed in hunter's catcher arrest
Net high-speed projectile out arrests it.
The specific location setting a suspect that hunter's catcher aims at takes the photograph the expectation coordinate in image in camera,
When camera detects a suspect, the expectation coordinate of a suspect and its currently practical coordinate are made into difference as servo motor
The input of PID control guides mobile robot ontology constantly to can by the actual coordinate for constantly updating a suspect in image
The personnel of doubting movement makes it in the picture constantly to expectation coordinate position movement so as to fulfill the real-time tracking to a suspect.
By the above-mentioned description to structure of the present invention it is found that compared to the prior art, the invention has the advantages that：
The present invention installs opposed grooved track above the high-wall at the prison or around detention house, and mobile robot ontology can replace
Patrol personnel carry out inspection trips in the opposed grooved track of background server control lower edge, can reach very high movement speed,
With higher mobility；Target location can also be moved under the remote control of control centre staff simultaneously, and will
Live video passes back to control centre in real time, can so save the patrol work of patrol personnel, control centre is made at any time can
Close-ups improve the reliability of monitoring system to the concrete condition of interested position.Pass through mobile robot ontology pair
A suspect causes it powerful psychology compressing, upsets its original plan of escaping, effectively prevent suspicious into line trace
The flight behavior of escaping from prison of personnel, the site disposal for armed police troops have striven for more times；The present invention can first time to
Control centre sends warning information and provides the close shot picture at scene, and operator on duty is enable to make in first time to field condition
Go out accurate judgement and decision；The present invention is further provided with strong executing agency-hunter's catcher, at crucial moment to suspicious
Personnel are arrested, while also play good fright effect.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the front view of the present invention.
Fig. 3 is the left view of the present invention.
Specific embodiment
Illustrate the specific embodiment of the present invention with reference to the accompanying drawings.In order to fully understand the present invention, it is described below and is permitted
More details, but to those skilled in the art, the present invention can be also realized without these details.
For the double rail type in detention house and prison from movable monitoring robot, with reference to Fig. 1, including being used for scene into pedestrian
The mobile robot ontology 10 of member's detect and track, the opposed grooved track 20 that support and guiding are provided for mobile robot ontology
And the actuating unit that driving mobile robot ontology 10 moves in opposed grooved track 20.
Referring to Figures 1 and 2, opposed grooved track 20 is mounted on by track support 21 on the wall 1 in detention house or prison,
Opposed 20 upper surface of grooved track is equipped with track connecting plate 201, and 21 lower surface of track support is equipped with rack connecting plate 211, track
Connecting plate 201 and rack connecting plate 211 are correspondingly connected with by bolt, nut.Between opposed grooved track 20 and track support 21
It can be adjusted by track connecting plate 201 and rack connecting plate 211, it is ensured that opposed grooved track 20 has good smooth-going
Property.
Referring to figs. 1 to Fig. 3, camera 11 and hunter's catcher 12, hunter are installed on above-mentioned mobile robot ontology 10
Catcher 12 is fixed on by net rifle pressing plate 121 on 10 ontology of mobile robot, and hunter's catcher 12 is equipped with net bullet 122.
When background server by camera 11 detect a suspect appear in prohibited area or escape from prison tendency when, shifting can be controlled
Mobile robot ontology 10 closely follows a suspect and hunter's catcher 12 is controlled to aim at it, when mobile machine
Human body 10 and a suspect's relative position and speed send shooting instruction when meeting certain condition will be advance in net bullet 122
The arrest net high-speed projectile installed out arrests it, so as to effectively prevent the situation of escaping from prison being likely to occur, by event
Control is in developing stage.Alarm lamp 13 and alarm speaker 14 are also equipped on the mobile robot ontology 10, when backstage
When detecting that a suspect is appeared in prevention and control region in the image that server is shot by camera 11,13 He of alarm lamp
Alarm speaker 14 into line flicker and can report voice warning respectively.
With reference to Fig. 2 and Fig. 3, above-mentioned 10 front and rear sides of mobile robot ontology are equipped with driving by bearing block 151 respectively
Wheel 15.It is driven that above-mentioned actuating unit includes a synchronous belt 33, two of active synchronization belt wheel 32, one of servo motor 31, one
Synchronous pulley 34 and a trolley 35, the servo motor 31 export axis connection active synchronization belt wheel 32, active synchronization band
Wheel 32 connects two driven synchronous pulleys 34 by synchronous belt 33, and each driven synchronous pulley 34 coaxially connects respectively with driving wheel 15
It connects, a tensioning wheel 341 is additionally provided between two driven synchronous pulleys 34, prevent belt shadow due to long-play generation relaxation
Ring the rotation of driven synchronous pulley 34.Background server controls servo motor 31 to rotate, and pass through according to the location information of personnel
Active synchronization belt wheel 32, synchronous belt 33 and driven synchronous pulley 34 drive driving wheel rotation, and driving mobile robot ontology 10 exists
It is moved in opposed grooved track 20.
With reference to Fig. 1, above-mentioned trolley 35 is mounted on by trolley conductor bracket 351 on wall 1, and with opposed grooved track 20
Keeping parallelism.A trolley tensioning stent 361, each trolley are separately installed on the wall of the axial both sides of trolley 35
There are one wiping thread stretching mechanism 36, trolley tensionings for connection between the 351 axial end of its corresponding trolley 35 of locking bracket
Mechanism 36 can make trolley 35 have good ride comfort.
With reference to Fig. 1 and Fig. 3, the front and rear sides of above-mentioned mobile robot ontology 10 are pacified respectively by position-limited wheel mounting base 161
Equipped with lateral Displacement wheel 16, when mobile robot ontology 10 is quickly moved along opposed grooved track 20, pass through side
Mobile robot ontology 10 is oriented to the contact with opposed 20 outside of grooved track of position-limited wheel 16 and rolling, makes it always
It is moved along opposed grooved track 20, avoids mobile robot ontology 10 that beat occurs in opposed grooved track 20, lead
It causes driving wheel 15 that friction and collision occurs with opposed 20 inside of grooved track, influences the smooth-going of the movement of mobile robot ontology 10
Property.
With reference to Fig. 2, a pair of of swing arm 17 is arranged on above-mentioned mobile robot ontology 10, the lower end of each swing arm 17 is logical
It crosses a shaft 171 to be rotatably fixed on mobile robot ontology 10, the upper end of each swing arm 17 is respectively equipped with a pair and is pressed in pair
The longitudinally tensioned wheel 18 of 20 lower surface of grooved track is put, the middle section position of two swing arms 17 is separately installed with left-handed 172 He of pull rod
Dextrorotation pull rod 173, left-handed pull rod 172 and dextrorotation pull rod 173 are respectively provided with the longitudinal direction of left hand thread and right-handed thread by both ends
The connection of tensioning nut 174 tenses.By the tensioning function of longitudinally tensioned nut 174, longitudinally tensioned wheel 18 and opposed grooves can be increased
The normal pressure of 20 lower surface of type track, while also can effectively increase the positive pressure between driving wheel 15 and opposed grooved track 20
Power makes mobile robot ontology 10 along the maximum static friction with bigger when opposed grooved track 20 progress acceleration and deceleration motion
Power, avoids the appearance of slipping phenomenon, effectively improves the mobility of mobile robot ontology.
Referring to figs. 1 to Fig. 3, the above-mentioned double rail type for detention house and prison from the monitoring method of movable monitoring robot,
Include the following steps：
1）, actuating unit driving mobile robot ontology 10 moves, while camera 11 is opened pair in opposed grooved track 20
Scene carries out shooting image into administrative staff and is transferred to background server；
2）, background server extract analysis using the image that visual detection algorithm shoots camera 11, can when analyzing
When doubtful personnel are appeared in prevention and control region, alarm lamp 13 and alarm speaker 14 into line flicker and report voice police respectively
It accuses, and background server controls mobile robot ontology 10 to move according to the location information of the personnel, to be carried out to a suspect
Real-time tracking；
3）When background server detect a suspect appear in prohibited area or escape from prison tendency when, control mobile robot
Ontology 10 closely follows a suspect and hunter's catcher 12 is controlled to aim at it, 10 He of mobile robot ontology
The relative position and speed of a suspect sends shooting instruction when meeting certain condition, make to fill in advance in hunter's catcher 12
Good arrest net high-speed projectile out arrests it.
The specific location setting a suspect that above-mentioned hunter's catcher 12 aims at takes the photograph the expectation in image in camera 11
Coordinate, when camera 11 detects a suspect, using the expectation coordinate of a suspect and its currently practical coordinate make difference as
The input of servo motor 31PID controls guides mobile robot sheet by the actual coordinate for constantly updating a suspect in image
Body 10 is constantly moved to a suspect, makes it in the picture constantly to expectation coordinate position movement so as to fulfill to a suspect's
Real-time tracking.
The specific embodiment of the present invention is above are only, but the design concept of the present invention is not limited thereto, it is all to utilize this
Conceive the change that unsubstantiality is carried out to the present invention, the behavior for invading the scope of the present invention should all be belonged to.
Claims (10)
1. for detention house and prison double rail type from movable monitoring robot, it is characterised in that：Including being used to carry out scene
The mobile robot ontology of personnel's detect and track, provided for mobile robot ontology the opposed grooved track of support and guiding with
And the actuating unit that driving mobile robot ontology moves in opposed grooved track, the opposed grooved track pass through track branch
Frame is mounted on the wall in detention house or prison, and the mobile robot ontology front and rear sides are equipped with drive by bearing block respectively
Driving wheel is also equipped with camera and hunter's catcher on the mobile robot ontology, and the actuating unit, camera and hunter catch
Device is caught to communicate to connect with the background server of control centre respectively.
2. as described in claim 1 for detention house and prison double rail type from movable monitoring robot, it is characterised in that：Institute
Opposed groove profile track upper surface is stated equipped with track connecting plate, the track support lower surface is equipped with rack connecting plate, the track
Connecting plate and rack connecting plate are correspondingly connected with by bolt, nut.
3. as described in claim 1 for detention house and prison double rail type from movable monitoring robot, it is characterised in that：Institute
It states actuating unit and includes a servo motor, an active synchronization belt wheel, a synchronous belt, two driven synchronous pulleys and one
A trolley, the servo motor output shaft connect the active synchronization belt wheel, and the active synchronization belt wheel is connected by synchronous belt
Two driven synchronous pulleys are connect, each driven synchronous pulley is coaxially connected with the driving wheel respectively, and the trolley leads to
Trolley conductor bracket is crossed on the wall, and with the opposed grooved track keeping parallelism.
4. as claimed in claim 3 for detention house and prison double rail type from movable monitoring robot, it is characterised in that：Institute
It states and a trolley tensioning stent, each trolley tensioning stent and its phase is separately installed on the wall of trolley axial direction both sides
There are one wiping thread stretching mechanisms for connection between the trolley axial direction end answered.
5. as described in claim 1 for detention house and prison double rail type from movable monitoring robot, it is characterised in that：Institute
State the front and rear sides of mobile robot ontology and lateral Displacement wheel be equipped with by position-limited wheel mounting base respectively, front and rear sides it is described
Lateral wall of the lateral Displacement wheel respectively with the opposed grooved track both sides contacts.
6. as described in claim 1 for detention house and prison double rail type from movable monitoring robot, it is characterised in that：Institute
It states and a pair of of swing arm is arranged on mobile robot ontology, the lower end of each swing arm is rotatably fixed on movement by a shaft
On robot body, the upper end of each swing arm is respectively equipped with a pair of longitudinally tensioned wheel for being pressed in opposed grooved track lower surface, and two
The middle section position of a swing arm is separately installed with left-handed pull rod and dextrorotation pull rod, the left-handed pull rod and dextrorotation drawing rod via two end point
Not Dai You left hand thread connect tension with the longitudinally tensioned nut of right-handed thread.
7. as described in claim 1 for detention house and prison double rail type from movable monitoring robot, it is characterised in that：Institute
It states hunter's catcher to be fixed on mobile robot ontology by net rifle pressing plate, hunter's catcher is equipped with net bullet.
8. as described in claim 1 for detention house and prison double rail type from movable monitoring robot, it is characterised in that：Institute
It states and is also equipped with alarm lamp and alarm speaker on mobile robot ontology.
9. as described in claim 1-8 is any for detention house and prison double rail type from the monitoring side of movable monitoring robot
Method, which is characterized in that include the following steps：
1）, actuating unit driving mobile robot ontology moved in opposed grooved track, while camera open to scene into
Administrative staff carries out shooting image and is transferred to background server；
2）, background server extract analysis using the image that visual detection algorithm shoots camera, it is suspicious when analyzing
When personnel are appeared in prevention and control region, mobile robot ontology sends out voice warning, and background server is according to the position of the personnel
Confidence breath control mobile robot ontology movement, to carry out real-time tracking to a suspect；
3）When background server detect a suspect appear in prohibited area or escape from prison tendency when, control mobile robot
Ontology closely follows a suspect and hunter's catcher is controlled to aim at it, mobile robot ontology and suspicious people
The relative position and speed of member sends shooting instruction when meeting certain condition, make pre-packed in hunter's catcher arrest
Net high-speed projectile out arrests it.
10. it is as claimed in claim 9 it is a kind of for the double rail type in detention house and prison from the monitoring side of movable monitoring robot
Method, it is characterised in that：The specific location setting a suspect that hunter's catcher aims at takes the photograph the phase in image in camera
Hope coordinate, when camera detects a suspect, using the expectation coordinate of a suspect and its currently practical coordinate make difference as
The input of servo motor PID control guides mobile robot ontology by the actual coordinate for constantly updating a suspect in image
It is constantly moved to a suspect, makes it in the picture constantly to expectation coordinate position movement so as to fulfill to the real-time of a suspect
Tracking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810248644.0A CN108262753B (en) | 2018-03-24 | 2018-03-24 | Double-rail self-moving monitoring robot and monitoring method for guardhouses and prisons |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810248644.0A CN108262753B (en) | 2018-03-24 | 2018-03-24 | Double-rail self-moving monitoring robot and monitoring method for guardhouses and prisons |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108262753A true CN108262753A (en) | 2018-07-10 |
| CN108262753B CN108262753B (en) | 2023-12-19 |
Family
ID=62777403
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810248644.0A Active CN108262753B (en) | 2018-03-24 | 2018-03-24 | Double-rail self-moving monitoring robot and monitoring method for guardhouses and prisons |
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Cited By (1)
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|---|---|---|---|---|
| CN111028483A (en) * | 2019-12-09 | 2020-04-17 | 万翼科技有限公司 | Intelligent danger source warning method and related device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108262753B (en) | 2023-12-19 |
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