CN112965520A - Environment intelligent monitoring system and robot with same - Google Patents
Environment intelligent monitoring system and robot with same Download PDFInfo
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- CN112965520A CN112965520A CN202110148633.7A CN202110148633A CN112965520A CN 112965520 A CN112965520 A CN 112965520A CN 202110148633 A CN202110148633 A CN 202110148633A CN 112965520 A CN112965520 A CN 112965520A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 50
- 238000012545 processing Methods 0.000 claims abstract description 27
- 238000004891 communication Methods 0.000 claims abstract description 19
- 238000011156 evaluation Methods 0.000 claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 230000007613 environmental effect Effects 0.000 claims description 21
- 230000005484 gravity Effects 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- 239000000779 smoke Substances 0.000 claims description 5
- 239000002341 toxic gas Substances 0.000 claims description 5
- 238000007405 data analysis Methods 0.000 claims description 4
- 239000002245 particle Substances 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 claims description 3
- 238000011109 contamination Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 15
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 231100000614 poison Toxicity 0.000 description 1
- 230000007096 poisonous effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Automation & Control Theory (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The invention relates to an intelligent environment monitoring system and a robot with the same, wherein the intelligent environment monitoring system comprises a central processing unit, an image acquisition module, an environment monitoring module, a pollution evaluation module and a communication module, and the central processing unit is respectively connected with the image acquisition module, the environment monitoring module, the pollution evaluation module and the communication module; the robot comprises a robot body, a driving device and a propeller, wherein the driving device is carried on the robot and used for driving the robot body to move, and the propeller is in transmission connection with a flying motor. The invention has the advantages of solving the problem of unsafety when environment information is manually detected, reducing labor consumption and improving the precision of detection data.
Description
Technical Field
The invention relates to the technical field of environment monitoring, in particular to an environment intelligent monitoring system and a robot with the same.
Background
This section provides background information related to the present disclosure only and is not necessarily prior art.
The mode of current environmental monitoring is on-the-spot manual sampling usually, but different main parts can release or produce different pollution condition, and for example the petrochemical enterprise can release poisonous and harmful gas, and the building site has the emergence of raise dust problem, to these environmental pollution problems, can only carry out the sounding at the suspected position that appears polluting through the handheld measuring instrument of staff or the mode of on-the-spot manual sampling in situ monitoring at present.
Due to the limitation and passivity of manual detection, workers often are in a polluted environment when detecting surrounding environment information, and certain influence is caused on the physical health of the workers. Moreover, the manual detection mode is also easy to ignore the pollution positions which are difficult to be perceived and the suspected pollution positions which are not reported, so that the precision of the pollution detection data is not high. Meanwhile, the working mode of manual detection also has the defects of large labor consumption, low monitoring efficiency, high cost and the like, and the monitoring requirements of people on more and more environmental parameters cannot be met.
Disclosure of Invention
The invention aims to at least solve the problems of insecurity when environment information is manually detected, labor consumption reduction and data detection precision improvement. The purpose is realized by the following technical scheme:
the invention provides an environment intelligent monitoring system in a first aspect, which comprises
The image acquisition module is used for acquiring image information of a specified place;
the environment monitoring module is used for acquiring data information of parameters of the environment of the specified place;
the pollution evaluation module is connected with the environment monitoring module and used for processing the acquired data information and evaluating the environment condition according to the processed data;
the communication module is carried on the robot and is used for being in communication connection with a ground command center;
and the central processing unit is carried on the robot and used for controlling the state of the robot, and is also respectively connected with the image acquisition module, the environment monitoring module, the pollution evaluation module and the communication module.
According to the intelligent environment monitoring system, a worker of a ground command center issues a work instruction to a central processing unit through a communication module, the central processing unit controls a robot to reach a specified environment probing place, the image acquisition module acquires surrounding image information of the specified place, the environment monitoring module acquires data information of each parameter of surrounding environment, the pollution assessment module processes and assesses the acquired data information, and the communication module sends assessment information to the ground command center for integration. Compared with manual detection, the robot detection solves the problem of unsafety in manual detection of environmental information, improves the detection efficiency, reduces the labor consumption and improves the precision of detection data.
In addition, the intelligent environment monitoring system according to the present invention may further have the following additional technical features:
in some embodiments of the invention, the environmental monitoring module comprises a smoke concentration sensor, a temperature sensor, a humidity sensor, a toxic gas sensor, and an inhalable particulate concentration sensor;
and/or the contamination evaluation module comprises a data analysis unit and an environmental evaluation unit.
In some embodiments of the invention, the robot further comprises a gravity center calculation module for calculating the gravity center of the robot to keep the gravity center of the robot unchanged during the movement.
In some embodiments of the present invention, a distance measuring module for measuring the distance between the robot and the surrounding object is further disposed at the outer side of the robot.
In some embodiments of the invention, the ranging module comprises a laser ranging module or an ultrasonic ranging module.
In some embodiments of the present invention, a location module is further included for locating the monitored location information.
In some embodiments of the invention, the image acquisition module is configured as a camera fixed to the robot.
In another aspect of the present invention, a robot for implementing the above-mentioned environment intelligent monitoring system is provided, which includes
A robot body;
and the driving device is mounted on the robot and used for driving the robot body to move.
In some embodiments of the invention, the drive means comprises
The flying motor is arranged in the robot body and used for providing power for the robot;
the driving power supply is carried on the robot body, connected with the flying motor and the central processing unit and used for supplying power to the flying motor and the central processing unit;
the propeller is in transmission connection with the flight motor.
In some embodiments of the present invention, the number of the propellers is plural, and the plurality of the propellers are arranged at intervals in a circumferential direction of the robot body.
In some embodiments of the invention, a plurality of support legs are further uniformly distributed at intervals at the bottom of the robot body.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like parts are designated by like reference numerals throughout the drawings. In the drawings:
FIG. 1 is a block diagram of an environment intelligent monitoring system according to the present application;
FIG. 2 is a block diagram of the environmental monitoring module and pollution assessment module of the present application;
fig. 3 is a schematic view of the overall structure of the robot of the present application;
fig. 4 is a schematic structural view from another perspective of the robot of the present application.
Reference numerals:
100. a central processing unit; 101. an image acquisition module; 1011. a camera; 102. an environment monitoring module; 103. a pollution assessment module; 104. a center of gravity calculation module; 105. a positioning module; 106. a distance measurement module; 1061. a laser ranging module; 1062. an ultrasonic ranging module; 200. a communication module; 300. a robot body; 400. a drive device; 401. a drive power supply; 500. a propeller; 600. supporting legs; 700. a rubber sleeve.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" can include both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
As shown in fig. 1-2, according to an embodiment of the present invention, an intelligent environment monitoring system is provided, which includes a central processing unit 100, an image obtaining module 101 coupled to the central processing unit 100, an environment monitoring module 102, a pollution assessment module 103, and a communication module 200, wherein the central processing unit 100 is mounted on a robot, and is in wireless communication connection with a ground command center through the communication module 200, and the ground command center can manipulate the motion state of the robot and obtain all information obtained by the robot through the communication module 200.
With reference to fig. 1 and 3, the image acquisition module 101 is configured as a camera 1011 coupled to the central processing unit 100, the camera 1011 is configured on the top surface and the bottom surface of the robot opposite to each other when the robot is in the horizontal direction, and real-time image information above and below the robot can be obtained through the camera 1011, which is beneficial to observation of an operator and operation of the robot, and can avoid collision with obstacles existing around to a great extent during the operation of the robot.
With reference to fig. 1 and 2, the environment monitoring module 102 includes a smoke concentration sensor, a temperature sensor, a humidity sensor, a toxic gas sensor, and an inhalable particle concentration sensor, and implements real-time monitoring of data information of various parameters such as smoke concentration, temperature, humidity, toxic gas, and inhalable particle concentration in the detected environment, wherein the temperature sensor is connected to an IO interface of the central processing unit 100, the humidity sensor is connected to an SPI interface of the central processing unit 100, and the smoke concentration sensor, the toxic gas sensor, and the inhalable particle concentration sensor are connected to an IC interface of the central processing unit 100.
With reference to fig. 1 and fig. 2, the pollution evaluation module 103 is connected to the environment monitoring module 102, and is configured to process the acquired data information and evaluate the environment condition according to the processed data. The pollution evaluation module 103 includes a data analysis unit and an environment evaluation unit, wherein the data analysis unit is configured to compare data with a corresponding data threshold range preset in the central processing unit 100, and if the data exceeds the corresponding preset data threshold range, mark the acquired data information as abnormal data; meanwhile, the environment evaluation unit evaluates the detected environment according to the abnormal data and sends an evaluation result to the ground command center through the communication module 200.
In some embodiments of the present invention, as shown in fig. 1, a distance measuring module 106 for measuring a distance between the robot and a surrounding object is further disposed on an outer circumferential surface of the robot in the horizontal direction, the distance measuring module 106 includes a laser distance measuring module 1061 and an ultrasonic distance measuring module 106, and the laser distance measuring module 1061 and the ultrasonic distance measuring module 1062 are symmetrically disposed along an axial direction of the robot. The laser ranging module 1061 and the ultrasonic ranging module 1062 can measure the distance between the robot body 300 and surrounding objects or obstacles, and the accuracy of the measured distance is higher through two ranging modes, so that the possibility of collision can be more accurately avoided.
In some embodiments of the present invention, as shown in fig. 1, a center-of-gravity calculation module 104 is further integrated in the central processing unit 100, the center-of-gravity calculation module 104 records mass information of each part on the robot and obtains a center-of-gravity of the robot through calculation, and the center-of-gravity of the robot coincides with an axis of the robot body 300 of the robot through arrangement of devices of each part of the robot. When the robot performs a tilting action in the air or is impacted by birds or is suddenly blown by strong wind, the gravity center calculation module 104 still works, and the gravity center line in the vertical direction after the robot tilts is recalculated to keep the robot balanced, so that the possibility of gravity center unbalance of the robot due to various subjective or objective factors is reduced.
In some embodiments of the present invention, as shown in fig. 1, the environment intelligent monitoring system further includes a positioning module 105, the positioning module 105 is coupled to the central processing unit 100, the positioning module 105 is configured to position the monitored position information, and the positioning module 105 is configured to embody a specific position of the robot in the probing area when the robot probes the environment parameter information. And the types of sounding location information include, but are not limited to: and the position coordinates and the longitude and latitude coordinates of the robot in the survey area. The monitoring position information at the time of detecting the environmental parameter information is located by the locating module 105.
As shown in fig. 3, further, the camera 1011 can be a dome camera capable of rotating 360 °, the dome camera generally has a built-in integrated machine and a decoder, and is an integrated whole, which is sensitive and comfortable in stability and controllability. And the spherical camera can also achieve the waterproof effect, and is more suitable for monitoring an open area.
Further, the communication module 200 is a wireless wifi communication module, and is configured to implement wireless data transmission between the central processing unit 100 and the ground command center.
Another aspect of the present invention is directed to a robot, as shown in FIGS. 3-4, comprising
A robot body 300;
the driving device 400 is mounted on the robot and drives the robot main body 300 to move.
The driving device 400 comprises a flight motor, a driving power source 401 and a propeller 500, and the propeller 500 is in transmission connection with the flight motor.
And a flying motor disposed in the robot body 300 for providing power to the robot. And a driving power source 401 mounted on the robot body 300, connected to the flying motor and the central processor 100, and configured to supply power to the flying motor and the central processor 100. When the robot is operated, the driving power source 401 is firstly turned on, the driving power source 401 supplies power, and the flying click and the central processing unit 100 start to operate. The staff through the ground command center sends a work instruction to the central processing unit 100 through the communication module 200, and the central processing unit 100 controls the robot to arrive at the specified environment probing place to acquire data information of each parameter.
As shown in fig. 3 to 4, a plurality of propellers 500 are provided at intervals in the circumferential direction of the robot body 300, and in the present embodiment, four propellers 500 are provided, and four propellers 500 are provided on the top surface of the robot body 300. The propeller 500 can enable the robot body 300 to fly off from the ground to the air, and even to operate in the air, so that the environmental monitoring is more convenient.
In some embodiments of the present invention, as shown in fig. 3 to 4, a plurality of support legs 600 are further provided at intervals and evenly distributed on the bottom of the robot body 300 around the dome camera. In this embodiment, the support leg 600 is provided with four, the support leg 600 is rod-shaped, one end of the support leg 600 is connected with the bottom surface of the robot body 300, and the other end is disposed toward the ground.
Further, as shown in fig. 3-4, one end of each support leg 600 facing the ground is further covered with a rubber sleeve 700. The rubber sleeve 700 improves the damping effect of the robot body 300 when falling to the ground on the whole, and can protect the internal structure of the robot body 300 to a certain extent.
In this embodiment, the robot is used for detecting in the detection area, in the working process of the robot, the environmental monitoring module 102 arranged on the robot is used for monitoring the environmental parameter information, and the positioning module 105 is used for positioning the monitoring position information when the robot monitors the environmental parameter information, so that the environmental parameter information and the monitoring position information correspond to each other, the ground command center can draw an environmental parameter distribution diagram according to the environmental parameter information and the monitoring position information which correspond to each other, and the working personnel can clearly know the environmental information of the detection area in the distribution diagram.
Meanwhile, the robot is used for replacing workers to conduct sounding in a sounding area, the working safety of the workers is improved, the labor cost is reduced, and the labor consumption is reduced. Meanwhile, the coverage area of the detection environment area is larger, and even if the pollution position which is not easy to be perceived is easy to ignore, the pollution position can be monitored in the detection process of the robot, so that the accuracy of the monitoring data is improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides an environment intelligent monitoring system which characterized in that: comprises that
The image acquisition module is used for acquiring image information of a specified place;
the environment monitoring module is used for acquiring data information of parameters of the environment of the specified place;
the pollution evaluation module is connected with the environment monitoring module and used for processing the acquired data information and evaluating the environment condition according to the processed data;
the communication module is carried on the robot and is used for being in communication connection with a ground command center;
and the central processing unit is carried on the robot and used for controlling the state of the robot, and is also respectively connected with the image acquisition module, the environment monitoring module, the pollution evaluation module and the communication module.
2. The environmental intelligent monitoring system of claim 1, wherein: the environment monitoring module comprises a smoke concentration sensor, a temperature sensor, a humidity sensor, a toxic gas sensor and an inhalable particle concentration sensor;
and/or the contamination evaluation module comprises a data analysis unit and an environmental evaluation unit.
3. The environmental intelligent monitoring system of claim 1, wherein: the robot center of gravity calculation module is used for calculating the center of gravity of the robot to keep the center of gravity of the robot unchanged in the motion process.
4. The environmental intelligent monitoring system of claim 1, wherein: still include the ranging module, the ranging module sets up the outside of robot just is used for surveing the distance between robot and the object around.
5. The environmental intelligent monitoring system of claim 4, wherein: the distance measuring module comprises a laser distance measuring module or an ultrasonic distance measuring module.
6. The environmental intelligent monitoring system of claim 1, wherein: the system also comprises a positioning module, wherein the positioning module is used for positioning the monitored position information.
7. A robot for implementing the intelligent environment monitoring system according to any one of claims 1 to 6, characterized in that: comprises that
A robot body;
and the driving device is mounted on the robot and used for driving the robot body to move.
8. The robot of claim 7, wherein: the driving device comprises
The flying motor is arranged in the robot body and used for providing power for the robot;
the driving power supply is carried on the robot body, connected with the flying motor and the central processing unit and used for supplying power to the flying motor and the central processing unit;
the propeller is in transmission connection with the flight motor.
9. The robot of claim 8, wherein: the number of screw is a plurality of, and is a plurality of the screw is followed the circumference interval setting of robot body.
10. The robot of claim 9, wherein: the bottom of the robot body is also evenly distributed with a plurality of supporting legs at intervals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110148633.7A CN112965520A (en) | 2021-02-02 | 2021-02-02 | Environment intelligent monitoring system and robot with same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110148633.7A CN112965520A (en) | 2021-02-02 | 2021-02-02 | Environment intelligent monitoring system and robot with same |
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| CN112965520A true CN112965520A (en) | 2021-06-15 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108453738A (en) * | 2018-03-30 | 2018-08-28 | 东南大学 | A kind of quadrotor based on Opencv image procossings independently captures the control method of operation in the air |
| CN109298135A (en) * | 2018-09-04 | 2019-02-01 | 中国科学院大气物理研究所 | A kind of unmanned vehicle system for omnidirection circumstance monitoring |
| CN110406678A (en) * | 2019-08-07 | 2019-11-05 | 北京凌天世纪控股股份有限公司 | Explosion flying robot |
| CN111258334A (en) * | 2020-03-23 | 2020-06-09 | 安徽工业大学 | Automatic environmental pollution source searching method |
| CN111524247A (en) * | 2020-04-20 | 2020-08-11 | 北京海益同展信息科技有限公司 | Environment monitoring method, device, equipment and storage medium |
-
2021
- 2021-02-02 CN CN202110148633.7A patent/CN112965520A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108453738A (en) * | 2018-03-30 | 2018-08-28 | 东南大学 | A kind of quadrotor based on Opencv image procossings independently captures the control method of operation in the air |
| CN109298135A (en) * | 2018-09-04 | 2019-02-01 | 中国科学院大气物理研究所 | A kind of unmanned vehicle system for omnidirection circumstance monitoring |
| CN110406678A (en) * | 2019-08-07 | 2019-11-05 | 北京凌天世纪控股股份有限公司 | Explosion flying robot |
| CN111258334A (en) * | 2020-03-23 | 2020-06-09 | 安徽工业大学 | Automatic environmental pollution source searching method |
| CN111524247A (en) * | 2020-04-20 | 2020-08-11 | 北京海益同展信息科技有限公司 | Environment monitoring method, device, equipment and storage medium |
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Application publication date: 20210615 |