CN108262753B - Double-rail self-moving monitoring robot and monitoring method for guardhouses and prisons - Google Patents
Double-rail self-moving monitoring robot and monitoring method for guardhouses and prisons Download PDFInfo
- Publication number
- CN108262753B CN108262753B CN201810248644.0A CN201810248644A CN108262753B CN 108262753 B CN108262753 B CN 108262753B CN 201810248644 A CN201810248644 A CN 201810248644A CN 108262753 B CN108262753 B CN 108262753B
- Authority
- CN
- China
- Prior art keywords
- robot body
- mobile robot
- personnel
- suspicious personnel
- hunter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012544 monitoring process Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims description 9
- 238000004891 communication Methods 0.000 claims abstract description 3
- 230000001360 synchronised effect Effects 0.000 claims description 27
- 230000002265 prevention Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 208000003464 asthenopia Diseases 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The double-rail self-moving monitoring robot comprises a mobile robot body, opposite groove-shaped rails and a power mechanism, wherein the opposite groove-shaped rails are arranged on a wall body of a guardhouse or a prison through rail brackets, driving wheels are respectively arranged on the front side and the rear side of the mobile robot body through bearing seats, a camera and a hunter catcher are also arranged on the mobile robot body, and the power mechanism, the camera and the hunter catcher are respectively in communication connection with a background server of a control center. The mobile robot body is used for tracking suspicious personnel, alarm information can be sent to the control center at the first time, and a scene close-up picture is provided, so that an operator on duty can accurately judge and decide the scene at the first time; the movable robot body is provided with a hunter catcher, so that suspicious personnel can be caught at key time, and the action of frightening is achieved.
Description
Technical Field
The invention relates to a self-moving robot, in particular to a double-rail self-moving monitoring robot for a guard house and a prison and a monitoring method.
Background
The detention of a large number of criminal case criminals in the caretaker and prison will lead to great harm to the life and property safety of the masses once these persons escape during the prison period. At present, the guardhouse and prison mainly monitor the heavy spot area in real time through a fixedly installed camera, and meanwhile, a certain amount of manual patrol inspection is matched, so that a large amount of manpower and material resources are input by the method, the problems of improper angles, blind areas in the field of view and the like still occur frequently, meanwhile, the working intensity of patrol personnel is high, and the problems of regular patrol time, low frequency and the like easily cause the organic multiplication of lawbreakers. With the increase of the arming area, the required camera and personnel duty strength increases rapidly.
For large-scale places such as prisons which need to be tightly controlled, most existing monitoring systems adopt a plurality of fixedly-installed cameras. The mode has a certain limitation on the observation at a remote place, the observation angle is greatly limited, a large number of cameras and monitoring pictures enable a single monitoring picture to be small, the readability of the picture is greatly limited, visual fatigue of security personnel is easily caused, and potential safety hazards are caused. Patrol inside and around prisons requires a lot of manpower and is labor intensive in night and severe weather conditions.
Disclosure of Invention
Aiming at the problems of unreasonable image shooting, multiple personnel and equipment configuration and the like of a fixedly installed camera monitoring system, the invention provides a double-rail self-moving monitoring robot and a monitoring method for a guardhouse and a prison.
The invention adopts the following technical scheme:
the double-rail self-moving monitoring robot comprises a mobile robot body, an opposite groove-shaped rail and a power mechanism, wherein the mobile robot body is used for detecting and tracking personnel on site, the opposite groove-shaped rail is used for providing support and guide for the mobile robot body, the power mechanism is used for driving the mobile robot body to move on the opposite groove-shaped rail, the opposite groove-shaped rail is installed on a wall body of a prison or a guard through a rail bracket, driving wheels are respectively installed on the front side and the rear side of the mobile robot body through bearing seats, a camera and a hunter catcher are also installed on the mobile robot body, and the power mechanism, the camera and the hunter catcher are respectively in communication connection with a background server.
Further, the upper surface of the opposite groove type rail is provided with a rail connecting plate, the lower surface of the rail bracket is provided with a bracket connecting plate, and the rail connecting plate and the bracket connecting plate are correspondingly connected through bolts and nuts.
Specifically, power unit includes a servo motor, a driving synchronous pulley, a hold-in range, two driven synchronous pulleys and a wiping line, servo motor output shaft connects driving synchronous pulley, driving synchronous pulley passes through the hold-in range and connects two driven synchronous pulley, every driven synchronous pulley respectively with drive wheel coaxial coupling, the wiping line passes through wiping line support mounting on the wall body, and with the opposite groove type track keeps parallelism.
Further, a trolley wire tensioning support is respectively arranged on the wall bodies on the two sides of the axial direction of the trolley wire, and a trolley wire tensioning mechanism is connected between each trolley wire tensioning support and the corresponding axial end of the trolley wire.
Further, the front side and the rear side of the mobile robot body are respectively provided with lateral limiting wheels through limiting wheel mounting seats, and the lateral limiting wheels on the front side and the rear side are respectively contacted with the outer side walls on the two sides of the opposite groove type track.
Further, a pair of swing arms are symmetrically arranged on the mobile robot body, the lower end of each swing arm is rotatably fixed on the mobile robot body through a rotating shaft, a pair of longitudinal tensioning wheels pressed on the lower surfaces of the opposite groove-type rails are respectively arranged at the upper ends of each swing arm, a left-handed pull rod and a right-handed pull rod are respectively arranged at the middle sections of the two swing arms, and the left-handed pull rod and the right-handed pull rod are connected and tensioned through longitudinal tensioning nuts with left-handed threads and right-handed threads at the two ends.
Further, the hunter trap is fixed to the mobile robot body by a net gun presser plate, and is equipped with net bullets.
Further, the mobile robot body is also provided with an alarm indicator lamp and an alarm loudspeaker.
The monitoring method of the double-rail self-moving monitoring robot for the guardhouses and prisons comprises the following steps:
1) The power mechanism drives the mobile robot body to move on the opposite groove-type track, and meanwhile, the camera is started to shoot images of on-site personnel and transmit the images to the background server;
2) The background server extracts and analyzes the image shot by the camera by utilizing a visual detection algorithm, when the suspicious personnel are analyzed to appear in the prevention and control area, the mobile robot body sends out a voice warning, and the background server controls the mobile robot body to move according to the position information of the personnel so as to track the suspicious personnel in real time;
3) When the background server detects that suspicious personnel appear in a forbidden area or have a jail-break tendency, the mobile robot body is controlled to closely follow the suspicious personnel and the hunter catcher is controlled to aim the suspicious personnel, and a shooting instruction is sent when the relative positions and speeds of the mobile robot body and the suspicious personnel meet certain conditions, so that a capturing net which is pre-installed in the hunter catcher is ejected at a high speed to capture the suspicious personnel.
The specific position aimed by the hunter catcher is set with expected coordinates of suspicious personnel in an image shot by the camera, when the camera detects the suspicious personnel, the expected coordinates of the suspicious personnel and the current actual coordinates of the suspicious personnel are taken as input of PID control of the servo motor, and the actual coordinates of the suspicious personnel in the image are updated continuously to guide the mobile robot body to move continuously to the suspicious personnel, so that the suspicious personnel can be tracked in real time by moving the suspicious robot body continuously to the expected coordinates in the image.
As can be seen from the above description of the structure of the present invention, compared with the prior art, the present invention has the following advantages:
according to the invention, the opposite groove-shaped tracks are arranged above the high wall around the prison or the guard, so that the mobile robot body can replace patrol personnel, patrol inspection is performed along the opposite groove-shaped tracks under the control of the background server, high moving speed can be achieved, and higher maneuverability is realized; meanwhile, the system can also move to a target position under the remote control of a control center worker, and the on-site video is transmitted back to the control center in real time, so that patrol work of patrol workers can be omitted, the control center can observe the specific situation of the concerned position at a short distance at any time, and the reliability of a monitoring system is improved. The suspicious personnel are tracked through the mobile robot body, so that strong psychological stress is caused to the suspicious personnel, the original escape plan of the suspicious personnel is disturbed, the jail-break external escape behavior of the suspicious personnel is effectively prevented, and more time is striven for the on-site disposal of armed police officers and soldiers; the invention can send alarm information to the control center at the first time and provide a near-field picture, so that an attendant can accurately judge and decide the field situation at the first time; the invention is also provided with a powerful executing mechanism, namely a hunter catcher, captures suspicious personnel at key time and plays a good role in frightening.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a left side view of the present invention.
Detailed Description
Specific embodiments of the present invention will be described below with reference to the accompanying drawings. Numerous details are set forth in the following description in order to provide a thorough understanding of the present invention, but it will be apparent to one skilled in the art that the present invention may be practiced without these details.
A double-rail self-moving monitoring robot for a guard and prison, referring to fig. 1, includes a moving robot body 10 for detecting and tracking persons on site, opposite-grooved rails 20 for supporting and guiding the moving robot body, and a power mechanism for driving the moving robot body 10 to move on the opposite-grooved rails 20.
Referring to fig. 1 and 2, the opposite groove type rail 20 is installed on a wall 1 of a guard or prison through a rail bracket 21, a rail connecting plate 201 is arranged on the upper surface of the opposite groove type rail 20, a bracket connecting plate 211 is arranged on the lower surface of the rail bracket 21, and the rail connecting plate 201 and the bracket connecting plate 211 are correspondingly connected through bolts and nuts. The distance between the opposite groove type rail 20 and the rail bracket 21 can be adjusted through the rail connecting plate 201 and the bracket connecting plate 211, so that good smoothness of the opposite groove type rail 20 is ensured.
Referring to fig. 1 to 3, the mobile robot body 10 is provided with a camera 11 and a hunter catcher 12, the hunter catcher 12 is fixed to the mobile robot 10 body by a net gun presser plate 121, and the hunter catcher 12 is provided with net bullets 122. When the background server detects that suspicious personnel appear in a forbidden area or have a jail-break tendency through the camera 11, the mobile robot body 10 is controlled to closely follow the suspicious personnel and the hunter catcher 12 is controlled to aim the suspicious personnel, and when the relative positions and speeds of the mobile robot body 10 and the suspicious personnel meet certain conditions, a shooting instruction is sent to cast the capturing net which is pre-installed in the net projectile 122 at a high speed to capture the capturing net, so that the jail-break situation which possibly appears is effectively prevented, and the event is controlled in the development stage. The mobile robot body 10 is further provided with an alarm indicator 13 and an alarm speaker 14, and when a background server detects that suspicious personnel appear in a prevention and control area in an image shot by the camera 11, the alarm indicator 13 and the alarm speaker 14 respectively flash and broadcast voice warning.
Referring to fig. 2 and 3, driving wheels 15 are mounted on both front and rear sides of the mobile robot body 10 through bearing blocks 151, respectively. The power mechanism comprises a servo motor 31, a driving synchronous pulley 32, a synchronous belt 33, two driven synchronous pulleys 34 and a trolley line 35, wherein an output shaft of the servo motor 31 is connected with the driving synchronous pulley 32, the driving synchronous pulley 32 is connected with the two driven synchronous pulleys 34 through the synchronous belt 33, each driven synchronous pulley 34 is respectively and coaxially connected with the driving wheel 15, and a tensioning wheel 341 is further arranged between the two driven synchronous pulleys 34 to prevent the belt from loosening due to long-time operation to influence the rotation of the driven synchronous pulleys 34. The background server controls the servo motor 31 to rotate according to the position information of the personnel, and drives the driving wheel to rotate through the driving synchronous pulley 32, the synchronous belt 33 and the driven synchronous pulley 34, so as to drive the mobile robot body 10 to move on the opposite groove type track 20.
Referring to fig. 1, the trolley line 35 is mounted on the wall 1 by a trolley line bracket 351 and is maintained in parallel with the opposite groove-shaped rail 20. The wall bodies on the two axial sides of the trolley line 35 are respectively provided with a trolley line tensioning bracket 361, a trolley line tensioning mechanism 36 is connected between each trolley line tensioning bracket 351 and the corresponding trolley line 35 axial end, and the trolley line tensioning mechanism 36 can enable the trolley line 35 to have good smoothness.
Referring to fig. 1 and 3, the lateral limit wheels 16 are mounted on the front and rear sides of the mobile robot body 10 through the limit wheel mounting seats 161, and when the mobile robot body 10 moves rapidly along the opposite groove type rails 20, the mobile robot body 10 is guided by the contact and rolling between the lateral limit wheels 16 and the outer sides of the opposite groove type rails 20, so as to move along the opposite groove type rails 20 all the time, thereby avoiding the occurrence of deflection of the mobile robot body 10 in the opposite groove type rails 20, resulting in friction and collision between the driving wheels 15 and the inner sides of the opposite groove type rails 20, and affecting the smoothness of the movement of the mobile robot body 10.
Referring to fig. 2, the mobile robot body 10 is symmetrically provided with a pair of swing arms 17, the lower end of each swing arm 17 is rotatably fixed on the mobile robot body 10 through a rotating shaft 171, a pair of longitudinal tensioning wheels 18 pressed on the lower surfaces of the opposite groove-type rails 20 are respectively installed at the upper ends of each swing arm 17, a left-handed pull rod 172 and a right-handed pull rod 173 are respectively installed at the middle sections of the two swing arms 17, and the left-handed pull rod 172 and the right-handed pull rod 173 are connected and tensioned through longitudinal tensioning nuts 174 with left-handed threads and right-handed threads at two ends respectively. Through the tensioning effect of the longitudinal tensioning nut 174, the positive pressure of the lower surfaces of the longitudinal tensioning wheel 18 and the opposite groove type track 20 can be increased, meanwhile, the positive pressure between the driving wheel 15 and the opposite groove type track 20 can be effectively increased, so that the mobile robot body 10 has larger maximum static friction force when performing acceleration and deceleration movements along the opposite groove type track 20, the slipping phenomenon is avoided, and the mobility of the mobile robot body is effectively improved.
Referring to fig. 1 to 3, the monitoring method of the double-rail self-moving monitoring robot for the prison and the guard includes the following steps:
1) The power mechanism drives the mobile robot body 10 to move on the opposite groove type track 20, and meanwhile, the camera 11 is started to shoot images of on-site personnel and transmit the images to the background server;
2) The background server extracts and analyzes the image shot by the camera 11 by utilizing a visual detection algorithm, when the suspicious personnel are analyzed to appear in the prevention and control area, the alarm indicator 13 and the alarm loudspeaker 14 respectively flash and broadcast voice warning, and the background server controls the mobile robot body 10 to move according to the position information of the personnel so as to track the suspicious personnel in real time;
3) When the background server detects that suspicious personnel are in a forbidden area or have a tendency to break a prison, the mobile robot body 10 is controlled to closely follow the suspicious personnel and the hunter catcher 12 is controlled to aim the suspicious personnel, and a shooting instruction is sent when the relative positions and speeds of the mobile robot body 10 and the suspicious personnel meet certain conditions, so that a capturing net which is pre-installed in the hunter catcher 12 is ejected at a high speed to capture the suspicious personnel.
The specific position aimed by the hunter catcher 12 sets the expected coordinate of the suspicious person in the image shot by the camera 11, when the camera 11 detects the suspicious person, the expected coordinate of the suspicious person and the current actual coordinate of the suspicious person are taken as the input of the PID control of the servo motor 31, and the actual coordinate of the suspicious person in the image is updated continuously to guide the mobile robot body 10 to move continuously to the suspicious person, so that the suspicious person moves to the expected coordinate continuously in the image, thereby realizing real-time tracking of the suspicious person.
The foregoing is merely illustrative of specific embodiments of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modification of the present invention by using the design concept shall fall within the scope of the present invention.
Claims (7)
1. A double track formula is from mobile monitoring robot for guard house and prison, its characterized in that: the intelligent robot comprises a mobile robot body for detecting and tracking personnel on site, an opposite groove-shaped rail for providing support and guide for the mobile robot body and a power mechanism for driving the mobile robot body to move on the opposite groove-shaped rail, wherein the opposite groove-shaped rail is arranged on a wall body of a guard or prison through a rail bracket, the power mechanism comprises a servo motor, a driving synchronous pulley, a synchronous belt, two driven synchronous pulleys and a trolley wire, an output shaft of the servo motor is connected with the driving synchronous pulley, the driving synchronous pulley is connected with the two driven synchronous pulleys through the synchronous belt, each driven synchronous pulley is respectively and coaxially connected with a driving wheel, and the trolley wire is arranged on the wall body through a trolley wire bracket and is kept parallel with the opposite groove-shaped rail; the upper ends of the swing arms are respectively provided with a pair of longitudinal tensioning wheels pressed on the lower surfaces of the opposite groove-type tracks, the middle sections of the two swing arms are respectively provided with a left-handed pull rod and a right-handed pull rod, and the left-handed pull rod and the right-handed pull rod are connected and tensioned through longitudinal tensioning nuts with left-handed threads and right-handed threads at the two ends respectively; the front side and the rear side of the mobile robot body are respectively provided with a driving wheel through bearing blocks, the mobile robot body is also provided with a camera and a hunter catcher, the hunter catcher is fixed on the mobile robot body through a net gun pressing plate, and the hunter catcher is provided with net bullets; the power mechanism, the camera and the hunter catcher are respectively connected with a background server of the control center in a communication way.
2. The double track self-moving monitoring robot for gatekeeper and prison of claim 1, wherein: the rail connecting plate is arranged on the upper surface of the opposite groove type rail, the support connecting plate is arranged on the lower surface of the rail support, and the rail connecting plate and the support connecting plate are correspondingly connected through bolts and nuts.
3. The double track self-moving monitoring robot for gatekeeper and prison of claim 1, wherein: and a sliding contact wire tensioning bracket is respectively arranged on the wall bodies on the two axial sides of the sliding contact wire, and a sliding contact wire tensioning mechanism is connected between each sliding contact wire tensioning bracket and the corresponding sliding contact wire axial end head.
4. The double track self-moving monitoring robot for gatekeeper and prison of claim 1, wherein: the front side and the rear side of the mobile robot body are respectively provided with lateral limiting wheels through limiting wheel mounting seats, and the lateral limiting wheels on the front side and the rear side are respectively contacted with the outer side walls on the two sides of the opposite groove type track.
5. The double track self-moving monitoring robot for gatekeeper and prison of claim 1, wherein: and the mobile robot body is also provided with an alarm indicator lamp and an alarm loudspeaker.
6. The method for monitoring a double track self-moving monitoring robot for a prison and a guard as claimed in any one of claims 1 to 5, comprising the steps of:
1) The power mechanism drives the mobile robot body to move on the opposite groove-type track, and meanwhile, the camera is started to shoot images of on-site personnel and transmit the images to the background server;
2) The background server extracts and analyzes the image shot by the camera by utilizing a visual detection algorithm, when the suspicious personnel are analyzed to appear in the prevention and control area, the mobile robot body sends out a voice warning, and the background server controls the mobile robot body to move according to the position information of the personnel so as to track the suspicious personnel in real time;
3) When the background server detects that suspicious personnel appear in a forbidden area or have a jail-break tendency, the mobile robot body is controlled to closely follow the suspicious personnel and the hunter catcher is controlled to aim the suspicious personnel, and a shooting instruction is sent when the relative positions and speeds of the mobile robot body and the suspicious personnel meet certain conditions, so that a capturing net which is pre-installed in the hunter catcher is ejected at a high speed to capture the suspicious personnel.
7. The method for monitoring a double-track self-moving monitoring robot for a prison and a guard as claimed in claim 6, wherein: the specific position aimed by the hunter catcher is set with expected coordinates of suspicious personnel in an image shot by the camera, when the camera detects the suspicious personnel, the expected coordinates of the suspicious personnel and the current actual coordinates of the suspicious personnel are taken as input of PID control of the servo motor, and the actual coordinates of the suspicious personnel in the image are updated continuously to guide the mobile robot body to move continuously to the suspicious personnel, so that the suspicious personnel can be tracked in real time by moving the suspicious robot body continuously to the expected coordinates in the image.
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 CN108262753A (en) | 2018-07-10 |
| CN108262753B true CN108262753B (en) | 2023-12-19 |
Family
ID=62777403
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810248644.0A Active CN108262753B (en) | 2018-03-24 | 2018-03-24 | Double-rail self-moving monitoring robot and monitoring method for guardhouses and prisons |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108262753B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111028483B (en) * | 2019-12-09 | 2021-08-06 | 万翼科技有限公司 | Intelligent danger source warning method and related device |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007202314A (en) * | 2006-01-27 | 2007-08-09 | Toshiba Mach Co Ltd | Moving device for axis of orthogonal axis type robot using linear motor |
| CN101697586A (en) * | 2009-10-23 | 2010-04-21 | 中兴通讯股份有限公司 | Monitor, method and charger for realizing standing patrol |
| KR100997497B1 (en) * | 2010-04-29 | 2010-11-30 | (주)동아이앤씨 | Observation system and method having auto-sensing/filming function |
| CN102340651A (en) * | 2011-07-28 | 2012-02-01 | 上海高位安全网络管理有限公司 | Mobile patrol monitoring system |
| CN103176463A (en) * | 2013-03-20 | 2013-06-26 | 天津市鑫悦消防工程有限公司 | Intelligent security and protection and fire extinguishing system |
| KR101321505B1 (en) * | 2012-12-13 | 2013-10-28 | (주)현준에프에이 | Linear robot equipped with dustproof band |
| CN106708038A (en) * | 2016-12-06 | 2017-05-24 | 山东康威通信技术股份有限公司 | Prison perimeter patrol alert robot system and method thereof |
| CN107300923A (en) * | 2017-08-15 | 2017-10-27 | 湖州佳创自动化科技有限公司 | A kind of track detecting robot |
| CN206609625U (en) * | 2017-01-09 | 2017-11-03 | 杭州威衡科技有限公司 | Industrial robot dynamical property test system |
| CN207971960U (en) * | 2018-03-24 | 2018-10-16 | 福建（泉州）哈工大工程技术研究院 | For the double rail type in detention house and prison from movable monitoring robot |
-
2018
- 2018-03-24 CN CN201810248644.0A patent/CN108262753B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007202314A (en) * | 2006-01-27 | 2007-08-09 | Toshiba Mach Co Ltd | Moving device for axis of orthogonal axis type robot using linear motor |
| CN101697586A (en) * | 2009-10-23 | 2010-04-21 | 中兴通讯股份有限公司 | Monitor, method and charger for realizing standing patrol |
| KR100997497B1 (en) * | 2010-04-29 | 2010-11-30 | (주)동아이앤씨 | Observation system and method having auto-sensing/filming function |
| CN102340651A (en) * | 2011-07-28 | 2012-02-01 | 上海高位安全网络管理有限公司 | Mobile patrol monitoring system |
| KR101321505B1 (en) * | 2012-12-13 | 2013-10-28 | (주)현준에프에이 | Linear robot equipped with dustproof band |
| CN103176463A (en) * | 2013-03-20 | 2013-06-26 | 天津市鑫悦消防工程有限公司 | Intelligent security and protection and fire extinguishing system |
| CN106708038A (en) * | 2016-12-06 | 2017-05-24 | 山东康威通信技术股份有限公司 | Prison perimeter patrol alert robot system and method thereof |
| CN206609625U (en) * | 2017-01-09 | 2017-11-03 | 杭州威衡科技有限公司 | Industrial robot dynamical property test system |
| CN107300923A (en) * | 2017-08-15 | 2017-10-27 | 湖州佳创自动化科技有限公司 | A kind of track detecting robot |
| CN207971960U (en) * | 2018-03-24 | 2018-10-16 | 福建（泉州）哈工大工程技术研究院 | For the double rail type in detention house and prison from movable monitoring robot |
Non-Patent Citations (2)
| Title |
|---|
| 基于Arduino的移动机器人载体设计与实现;张剑;云南大学(第2期);第1-67页 * |
| 基于内容的智能视频监控关键技术及在公共安防中的应用研究;张剑;浙江大学(第6期);第1-159页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108262753A (en) | 2018-07-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101425212A (en) | Safety guard system | |
| CN112043991B (en) | Tunnel guide rail traveling fire-fighting robot system and use method | |
| CN108262753B (en) | Double-rail self-moving monitoring robot and monitoring method for guardhouses and prisons | |
| CN102880179A (en) | Multifunctional intelligent routing inspection robot used in power tunnel | |
| CN111706765A (en) | Composite track steel wire rope traction coal mine inspection robot | |
| CN207971960U (en) | For the double rail type in detention house and prison from movable monitoring robot | |
| CN102385389A (en) | Patrol robot, early warning system and monitoring method of patrol robot | |
| CN205327431U (en) | Novel unmanned aerial vehicle | |
| CN212569979U (en) | Tunnel guide rail traveling fire-fighting robot system | |
| CN213083143U (en) | Shield construction tunnel inspection robot | |
| KR20190086836A (en) | Unmanned inspection device for road facility | |
| CN109339851A (en) | A kind of vcehicular tunnel movable type water is sprayed heat-insulated fire extinguishing water curtain system | |
| CN110854998B (en) | Unattended inspection system of substation | |
| CN113790629B (en) | Full-automatic gun rack system | |
| CN104506796A (en) | 360-degree all-intelligent visual processing capturing device | |
| CN109483571A (en) | A kind of crusing robot system and control method | |
| CN2737402Y (en) | Railway locomotive fire detecting monitoring apparatus | |
| CN211649698U (en) | Movable camera with annular guide rail | |
| US10891841B2 (en) | Apparatus and system for capturing criminals | |
| CN102853721B (en) | System used for avoiding accidentally injuring hostage and automatically tracking and sniping criminal offenders | |
| CN209065221U (en) | A kind of monitoring device based on Intelligent elevator | |
| CN218138036U (en) | Industrial production inspection system | |
| CN220872682U (en) | Animal monitoring system based on machine vision | |
| CN110753185A (en) | Intelligent detection monitoring alarm and warning emission device and control method | |
| CN205159931U (en) | Robot is patrolled and examined on line to railway contact net |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |