CN207473411U - Night watching robot, robot charging depressed place and robot system - Google Patents
Night watching robot, robot charging depressed place and robot system Download PDFInfo
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- CN207473411U CN207473411U CN201721577568.5U CN201721577568U CN207473411U CN 207473411 U CN207473411 U CN 207473411U CN 201721577568 U CN201721577568 U CN 201721577568U CN 207473411 U CN207473411 U CN 207473411U
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Abstract
The utility model discloses a kind of night watching robot, robot charging depressed place and robot system, and the wherein night watching robot includes main control module, path detection module, vehicle monitoring module, environment and itself detecting module, communication module, power supply module and charging sensing receiving module.The utility model passage path detecting module detects walking path, being patrolled by vehicle monitoring module, whether illegal parking, vehicle there is abnormality to vehicle, environmental parameter and robot oneself state parameter are detected by environment and itself detecting module, abnormality alarming signal is sent to back-stage management end by communication module, by power supply module induction charging depressed place, it is autonomous mobile to charging depressed place and is charged and in fully charged rear Automatic-falling charging depressed place.So as to realize night watching robot autonomous, recharging, illegal parking inspection, vehicle window and car light status checkout and the functions such as environment and oneself state parameter detection, really realize that parking lot management is unattended.
Description
Technical field
The utility model is related to technical field of intelligent equipment, more particularly to a kind of night watching robot, robot charging depressed place and
Robot system.
Background technology
Nowadays, the utilization of robot is from factory automation, national security, scientific investigation related field, evolve into
Enter the application market to service type, such as robot application in parking lot management.Autonomous of the robot in parking lot
Using part manual service can be replaced, many human costs are saved.However, existing parking lot intelligent robot passes through spy
Device sense path pattern and barrier are surveyed, it can be in parking lot according to specified path autonomous, avoiding barrier, Jin Jinqi
Acted on to simple patrol, can not to vehicle parking position in parking lot whether in violation of rules and regulations, whether the vehicle window of vehicle and car light do not close
It the situations such as closes and is detected identification, if prosthetic coordinates night watching, the management in parking lot is simultaneously not perfect, is unable to reach parking lot pipe
Manage unattended purpose.
Utility model content
The main purpose of the utility model is to provide a kind of night watching robot, robot charging depressed place and robot system, purport
Realize night watching robot autonomous, recharging, illegal parking inspection, vehicle window and car light status checkout and environment and
The functions such as oneself state parameter detection really realize that parking lot management is unattended.
To achieve the above object, the utility model proposes night watching robot, including main control module, path detection module,
Vehicle monitoring module, environment and itself detecting module, communication module, power supply module and charging sensing receiving module, the master control
Module respectively with the path detection module, vehicle monitoring module, environment and itself detecting module, communication module, power supply module
It is connected with charging sensing receiving module, the communication module is wirelessly communicated with back-stage management end, and the path detection module is used for
Detective path marker, acquisition approach identification image information, and the ID of trace route path image information is exported to the master control mould
Block, to determine walking path, the vehicle monitoring module obtains vehicle position information and vehicle for monitoring parked vehicle
Status information, and the vehicle position information and car status information are exported to the main control module, whether to determine vehicle
Whether illegal parking and vehicle there is abnormality, and pass through the communication when rule-breaking vehicle stops and/or occurs abnormal
Module sends abnormality alarming signal to back-stage management end, the environment and itself detecting module and is used to detect environmental parameter and machine
People's oneself state parameter, and abnormal signal is fed back to the master in environmental parameter and/or robot oneself state abnormal parameters
Module is controlled, to send abnormality alarming signal to back-stage management end by the communication module, the power supply module fills for connecting
Electric depressed place is charged, and the charging sensing receiving module is for receiving the charging positioning inductive signal and fully charged that charging depressed place is sent out
Inductive signal simultaneously feeds back to the main control module, and charging depressed place is charged or be detached from so that robot to be controlled to be moved to charging depressed place.
Preferably, the path detection module includes detection camera, and the detection camera connects with the main control module
It connects, and is set to robot head top, for detecting the ID of trace route path object in parking lot on ceiling, detecting the road
Capture the ID of trace route path object during diameter marker, acquisition approach identification image information, and the ID of trace route path image information is defeated
Go out to the main control module.
Preferably, the path detection module further includes ultrasonic sensor, human body sensor and infrared fall preventing and falls
Sensor, the ultrasonic sensor, human body sensor and infrared fall preventing fall sensor and are connect with the main control module,
The ultrasonic sensor is set to the front side and/or the left and right sides of machine human body part, and the human body sensor is set
It is placed in the front side and/or the left and right sides of machine human body part, the infrared fall preventing is fallen before sensor is set to robot base
End and/or bottom.
Preferably, the vehicle monitoring module includes left eye monitoring camera, right eye monitoring camera and illuminance sensing
Device, the left eye monitoring camera, right eye monitoring camera and illuminance sensor are connect with the main control module, the left side
Eye monitoring camera, right eye monitoring camera are respectively arranged at robot head left eye and right eye position, for capturing vehicle institute
It occupies image and license plate image, the vehicle window image of the vehicle, the illuminance sensor is set to machine human body part, use
In the vehicle lamp brightness of sensing vehicle.
Preferably, the environment and itself detecting module include but not limited to photosensitive sensor, sound transducer, exhaust gas biography
Sensor, combustible gas sensor, PM2.5 sensors, flame sensor, smoke sensor device, immersion sensor, temperature and humidity sensing
Device, shock sensor and attitude transducer.
Preferably, the power supply module includes charging interface, lithium battery group, power conversion unit and electrical quantity sensor, institute
It states charging interface, the lithium battery group, the power conversion unit to be sequentially connected, the charging interface is used for the confession with depressed place of charging
Electrical interface connects, to be charged by depressed place of charging to the lithium battery group, the power conversion unit and the main control module
Connection, the power conversion unit are used to be converted to the voltage of the lithium battery group operating voltage of the main control module, institute
It states electrical quantity sensor to connect with the lithium battery group and the main control module respectively, for detecting the electricity of the lithium battery group.
Preferably, the charging interface is provided with anode spring contact and negative spring contact.
Preferably, the charging sensing receiving module includes the first infrared remote receiver and the second infrared remote receiver, and described the
One infrared remote receiver and the second infrared remote receiver are connect with the main control module, and first infrared remote receiver fills for receiving
The charging positioning inductive signal that electric depressed place is sent out, and the charging is positioned into inductive signal and feeds back to the main control module, with control
Robot is moved to charging depressed place and charges, and second infrared remote receiver is believed for receiving the electric induction that is full of that charging depressed place is sent out
Number, and by the fully charged inductive signal and the main control module is fed back to, robot to be controlled to be detached from charging depressed place.
To achieve the above object, the utility model proposes robot charging depressed place include power supply adaptor, charge controller,
Charge touch-switch, normally closed relay, normally opened relay, power supply interface and charging induced emission module, the power supply adaptor
It is connect respectively with the charge controller and charging induced emission module, coil one end and the charging of the normally closed relay
Controller connects, the coil other end ground connection of the normally closed relay, switch one end and the charging of the normally closed relay
Controller connects, and the switch other end of the normally closed relay is connect with one end of the switch of the normally opened relay, described normal
The switch other end of open relay is connect with the power supply interface, coil one end of the normally opened relay via it is described with it is described
Charging touch-switch is connect with the power supply adaptor, the coil other end ground connection of the normally opened relay, the charging sensing
Transmitting module is connect respectively with the power supply adaptor and charge controller, for being filled to the transmitting of the power supply module of night watching robot
Electricity positioning inductive signal and fully charged inductive signal.
Preferably, the charging induced emission module includes the first infrared transmitter and the second infrared transmitter, and described the
One infrared transmitter is connect with the power supply adaptor, should be believed for emitting charging location sense to the power supply module of night watching robot
Number, second infrared transmitter is connect with the charge controller, for described in the transmitting of the power supply module of night watching robot
Fully charged inductive signal.
To achieve the above object, the utility model proposes robot system include night watching robot charging and robot fill
Electric depressed place, the night watching robot include main control module, path detection module, vehicle monitoring module, environment and itself detecting module,
Communication module, power supply module and charging sensing receiving module, the main control module are supervised respectively with the path detection module, vehicle
Control module, environment and itself detecting module, communication module, power supply module are connected with charging sensing receiving module, the communication mould
Block is wirelessly communicated with back-stage management end, and the path detection module is used for detective path marker, acquisition approach identification image letter
Breath, and the ID of trace route path image information is exported to the main control module, to determine walking path, the vehicle monitoring module
For monitoring parked vehicle, vehicle position information and car status information are obtained, and by the vehicle position information and vehicle
Status information is exported to the main control module, to determine whether illegal parking and vehicle abnormality occur to vehicle,
And abnormality alarming signal is sent to back-stage management end by the communication module when rule-breaking vehicle stops and/or occurs abnormal,
The environment and itself detecting module for detecting environmental parameter and robot oneself state parameter, and in environmental parameter and/or
Abnormal signal is fed back during robot oneself state abnormal parameters to the main control module, it is abnormal to be sent by the communication module
To back-stage management end, the power supply module charges alarm signal for connecting charging depressed place, the charging sensing receiving module
Inductive signal and fully charged inductive signal are positioned for the charging that reception charging depressed place is sent out and feeds back to the main control module, with control
Robot processed is moved to charging depressed place and is charged or be detached from charging depressed place, and the robot charging depressed place includes power supply adaptor, charging
Controller, charging touch-switch, normally closed relay, normally opened relay, power supply interface and charging induced emission module, the power supply
Adapter is connect respectively with the charge controller, charging touch-switch and charging induced emission module, the charging sensing hair
It penetrates module to connect with the power supply adaptor and charge controller respectively, charge for emitting to the power supply module of night watching robot
Position inductive signal and fully charged inductive signal.
Technical solutions of the utility model pass through the path detection module detective path marker of night watching robot, acquisition approach
Identification image information identifies walking path, passes through vehicle monitoring module monitors parked vehicles, obtains vehicle position information
And come vehicle of patrolling, whether illegal parking and vehicle there is abnormality and stop in rule-breaking vehicle car status information
And/or abnormality alarming signal is sent to back-stage management end by communication module when occurring abnormal, pass through environment and itself detection mould
Block detects environmental parameter and robot oneself state parameter, and in environmental parameter and/or robot oneself state abnormal parameters
It feeds back abnormal signal and abnormality alarming signal is sent to back-stage management end by communication module, pass through the power supply module of night watching robot
The position in induction charging depressed place, and charge with docked touch of charging, the Automatic-falling charging depressed place after fully charged.So as to realize
Night watching robot autonomous, recharging, illegal parking inspection, vehicle window and car light status checkout and environment and itself shape
The functions such as state parameter detection really realize that parking lot management is unattended.
Description of the drawings
Fig. 1 is the structure diagram of one embodiment of the utility model night watching robot.
Fig. 2 is the structure diagram of a specific embodiment in Fig. 1.
Fig. 3 is the structure diagram of the utility model robot charging one embodiment of depressed place.
In figure：11- main control modules, 12- path detections module, 13- vehicle monitorings module, 14- environment and itself detection mould
Block, 15- communication modules, 16- power supply modules, 17- charging sensings receiving module, 121- detections camera, 122- supersonic sensings
Device, 123- human body sensors, 124- infrared fall preventings fall sensor, 131- left eyes monitoring camera, 132- right eyes and monitor and take the photograph
Picture head, 133- illuminance sensors, 1401- photosensitive sensors, 1402- sound transducers, 1403- Abgassensors, 1404- can
Combustion gas body sensor, 1405-PM2.5 sensors, 1406- flame sensors, 1407- smoke sensor devices, 1408- immersion sensings
Device, 1409- Temperature Humidity Sensors, 1410- shock sensors, 1411- attitude transducers, 161- charging interfaces, 162- lithium batteries
Group, 163- power conversion units, 164- electrical quantity sensors, 26- power supply interfaces, the first infrared remote receivers of 171-, 172- second are red
Outer receiver, 21- power supply adaptors, 22- charge controllers, 23- chargings touch-switch, 24- normally closed relays, 25- it is normally opened after
Electric appliance, 26- power supply interfaces, 27- charging induced emissions module, the first infrared transmitters of 271-, the second infrared transmitters of 272-.
The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment is described further with regard to the technical solution of the utility model.It should manage
Solution, specific embodiment described herein are only used to explain the utility model, are not used to limit the utility model.In addition,
Technical solution between each embodiment can be combined with each other, but must can be implemented as with those of ordinary skill in the art
Basis will be understood that the combination of this technical solution is not deposited when the combination appearance of technical solution is conflicting or can not realize
Also not within the protection domain of the requires of the utility model.
The utility model proposes a kind of night watching robot, which is charged by depressed place of charging.
Referring to Figures 1 and 2, Fig. 1 is the structure diagram of one embodiment of the utility model night watching robot, and Fig. 2 is in Fig. 1
The structure diagram of one specific embodiment.
In one embodiment of the utility model, as shown in Figure 1, night watching robot includes main control module 11, path detection mould
Block 12, vehicle monitoring module 13, environment and itself detecting module 14, communication module 15, power supply module 16 and charging sensing receive
Module 17, the main control module 11 respectively with the path detection module 12, vehicle monitoring module 13, environment and itself detection mould
Block 14, communication module 15, power supply module 16 and charging sensing receiving module 17 connect, and communication module 15 and back-stage management end are wireless
Communication.Communication module 15 be preferably wireless communication module, such as 433MHz wireless communication modules, WiFi wireless communication modules and/
Or 4G wireless communication modules.
The path detection module 12 is used for detective path marker, acquisition approach identification image information, and by the road
Diameter identification image information is exported to the main control module 11, to determine walking path.
The vehicle monitoring module 13 obtains vehicle position information and vehicle-state letter for monitoring parked vehicle
Breath, and the vehicle position information and car status information are exported to the main control module 11, to determine vehicle whether in violation of rules and regulations
Whether parking and vehicle there is abnormality, and pass through the communication module when rule-breaking vehicle stops and/or occurs abnormal
15 send abnormality alarming signal to back-stage management end, to be alerted to backstage management end.
The environment and itself detecting module 14 are used to detect environmental parameter and robot oneself state parameter, and in environment
Abnormal signal is fed back when parameter and/or robot oneself state abnormal parameters to the main control module 11, to pass through the communication
Module 15 sends abnormality alarming signal to back-stage management end, to be alerted to backstage management end.
The power supply module 16 charges for connecting charging depressed place, and the charging sensing receiving module 17 fills for receiving
The charging that electric depressed place is sent out positions inductive signal and fully charged inductive signal and feeds back to the main control module 11, to control robot
It is moved to charging depressed place and is charged or be detached from charging depressed place.
In the present embodiment, 12 detective path marker of night watching robot passage path detecting module is detecting the road
During diameter marker, the corresponding ID of trace route path image information of the ID of trace route path object is obtained, and the ID of trace route path image information is exported
To main control module 11, main control module 11 determines the path that night watching robot can walk according to the ID of trace route path image information.So as to
Night watching robot can plan walking path, autonomous according to the ID of trace route path object in parking lot.
Specifically, as shown in Fig. 2, path detection module 12 include detection camera 121, it is described detection camera 121 with
The main control module 11 connects, and is set to robot head top, for detecting the ID of trace route path in parking lot on ceiling
Object, captures the ID of trace route path object when detecting the ID of trace route path object, acquisition approach identification image information, and by the road
Diameter identification image information is exported to the main control module 11.
It should be noted that be spaced in advance on the ceiling in parking lot or be continuously sticked or be coated with ID of trace route path object,
Detection camera 121 is high pixel high-definition camera, and for example, 200 pixel camera heads detect infrared light filling in camera 121
Lamp, the camera lens of detection camera 121 are provided with infrared fileter, and detection camera 121 is preferably embedded on robot head top
End, the camera lens of detection camera 121 are directed toward the ceiling in parking lot, and the visual field of detection camera 121 is preferably 120 °.In night watching
During robot ambulation, the ID of trace route path object in detection camera 121 constantly detection parking lot on ceiling is detecting this
The ID of trace route path object is captured during ID of trace route path object, obtains the corresponding ID of trace route path image information of the ID of trace route path object.Detection camera shooting
First 121 export the ID of trace route path image information got to main control module 11, and main control module 11 is according to the ID of trace route path image
Information determines the walking path of night watching robot, is formed so as to the motion platform for controlling night watching robot along ID of trace route path object
Path is walked, and realizes night watching robot autonomous in parking lot.
Further, as shown in Fig. 2, the path detection module 12 further includes ultrasonic sensor 122, human body sensing passes
Sensor 123 and infrared fall preventing fall sensor 124, the ultrasonic sensor 122, human body sensor 123 and infrared fall preventing
It falls sensor 124 to connect with the main control module 11, before the ultrasonic sensor 122 is set to machine human body part
Side and/or the left and right sides, the human body sensor 123 are set to the front side and/or the left and right sides of machine human body part,
The infrared fall preventing falls sensor 124 and is set to robot base front end and/or bottom.
For detecting barrier, such as wall, lever etc., ultrasonic sensor 122 is detecting ultrasonic sensor 122
Barrier feedback signal is to main control module 11, with avoiding barrier, so as to which night watching robot is carried out by ultrasonic sensor 122
The detection of barrier, being capable of automatic dodging barrier.
Human body sensor 123 is for detecting people, naturally it is also possible to detect other animals such as cat, dog, human body sensing passes
Feedback signal is to main control module 11 when detecting people or cat, dog when other animals for sensor 123, to be avoided.For example, work as people
When body induction sensor 123 detects front someone, night watching robot stops moving ahead, and continues to move ahead after people leaves, Huo Zheruo
Detection camera 121 detects other feasible paths, then walking path can be changed in night watching robot, so as to be avoided to people.
Infrared fall preventing falls sensor 124 and is detected for road pavement, when detecting road surface exception, such as front road surface
Sinking degree is larger, and front is stair etc., and infrared fall preventing falls 124 feedback signal of sensor to main control module 11, passes through master control mould
Block 11 controls the motion platform of night watching robot to change walking path.
It should be noted that ultrasonic sensor 122, human body sensor 123 and infrared fall preventing fall sensor 124
Quantity and specific installation site can be set according to actual conditions, be not restricted herein.
Moreover, night watching robot is monitored vehicle parked in parking lot by vehicle monitoring module 13, including
The parked position of vehicle and vehicle-state are monitored, which includes vehicle window open/close states, car light open/close states.Vehicle monitoring
Module 13 obtains vehicle according to the parked position acquisition vehicle position information of the vehicle monitored according to the vehicle-state monitored
Status information, vehicle monitoring module 13 export the vehicle position information got and car status information to main control module 11.
Above-mentioned vehicle position information is vehicle location image information or vehicle location coordinate information, and above-mentioned car status information includes vehicle window
Image information, vehicle lamp brightness information.
When main control module 11 receives the vehicle position information of the output of vehicle monitoring module 13, main control module 11 will receive
To vehicle position information be compared with the parking stall location information to prestore, the vehicle location letter received when main control module 11
When ceasing consistent with the parking stall location information to prestore, main control module 11 detects that the vehicle is stayed on parking stall, so that it is determined that
The vehicle parking position is qualified, when the vehicle position information that main control module 11 receives differs with the parking stall location information to prestore
During cause, main control module 11 detects that the vehicle is not stayed on parking stall or the partial portion of vehicle deviates parking stall, so as to really
The fixed vehicle parking position is unqualified, belongs to illegal parking, at this time 11 output abnormality alarm signal of main control module to communication module
15, communication module 15 exports the abnormality alarming signal to back-stage management end, is alerted to backstage management end.
When main control module 11 receives the car status information of the output of vehicle monitoring module 13, main control module 11 is by the vehicle
Status information is compared with the car status information to prestore, when the car status information that main control module 11 receives is with prestoring
Car status information it is consistent when, main control module 11 detects that the vehicle-state is normal, for example, vehicle window closed and/or car light
It closes, when the car status information that main control module 11 receives and the inconsistent car status information to prestore, detects the vehicle
Abnormal state, such as vehicle window is not turned off and/or car light is not turned off, 11 output abnormality alarm signal of main control module is to communicating at this time
Module 15, communication module 15 export the abnormality alarming signal to back-stage management end, are alerted to backstage management end.
Specifically, as shown in Fig. 2, the vehicle monitoring module 13 includes left eye monitoring camera 131, right eye monitoring camera
First 132 and illuminance sensor 133, the left eye monitoring camera 131, right eye monitoring camera 132 and illuminance sensor
133 connect with the main control module 11, and the left eye monitoring camera 131, right eye monitoring camera 132 are respectively arranged at machine
Device head part left eye and right eye position, for capturing the license plate image of location drawing picture shared by vehicle and the vehicle, vehicle window image, institute
133 machine human body part of illuminance sensor is stated, for sensing the vehicle lamp brightness of vehicle.
Night watching robot sets left eye monitoring camera 131, right eye monitoring camera respectively in head left eye and right eye position
First 132, left eye monitoring camera 131, right eye monitoring camera 132 are high pixel high-definition camera, and for example, 200 pixels are taken the photograph
As head, 132 built-in infrared light compensating lamp of left eye monitoring camera 131 and right eye monitoring camera, left eye monitoring camera 131 and the right side
The visual field of eye monitoring camera 132 is both preferably 120 °, then the left eye monitoring camera 131 of night watching robot and right eye monitoring is taken the photograph
As first 132 total visual field is 240 °.The quantity of illuminance sensor 133 and specific installation site can be set according to actual demand
It is fixed, it is not restricted herein.
The left eye monitoring camera 131 and right eye monitoring camera 132 of night watching robot capture location drawing picture shared by vehicle,
And the license plate image of the vehicle and vehicle window image, and vehicle location image information, license plate image information and vehicle window image are believed
Breath is exported to main control module 11.
When main control module 11 receives vehicle location image information and license plate image information, main control module 11 supervises left eye
Control camera 131 and/or the vehicle location image information exported of right eye monitoring camera 132 and the parking stall image information to prestore
It is compared, when vehicle location image information is consistent with the parking stall image information to prestore, main control module 11 detects the vehicle
It stays on parking stall, so that it is determined that the vehicle parking position is qualified, when vehicle location image information and the parking stall to prestore
When image information is inconsistent, main control module 11 detects that the vehicle is not stayed on parking stall or the deviation of the partial portion of vehicle stops
Parking stall so that it is determined that the vehicle parking position is unqualified, belongs to illegal parking, at this time 11 output abnormality alarm signal of main control module
To communication module 15.The abnormality alarming signal that main control module 11 exports is sent to back-stage management end by communication module 15, at this time
Abnormality alarming signal includes the license board information and the rule-breaking vehicle parking information of vehicle.
When main control module 11 receives vehicle window image information and license plate image information, main control module 11 believes vehicle window image
It ceases and is compared with the vehicle window closing image information to prestore, when vehicle window image information is consistent with the vehicle window closing image information to prestore
When, main control module 11 detects that vehicle has closed the window, when vehicle window image information and the inconsistent vehicle window to prestore closing image information,
Main control module 11 detects that vehicle does not close window, at this time 11 output abnormality alarm signal of main control module to communication module 15.Communicate mould
The abnormality alarming signal that main control module 11 exports is sent to back-stage management end by block 15, and abnormality alarming signal at this time includes vehicle
License board information and the vehicle glazing be not turned off information.
Night watching robot senses the vehicle lamp brightness of vehicle by illuminance sensor 133, when illuminance sensor 133 senses
Vehicle lamp brightness information is exported to main control module 11 to during vehicle lamp brightness.When main control module 11 receives the vehicle lamp brightness information
Determine that the car light of vehicle is in opening, at this time 11 output abnormality alarm signal of main control module to communication module 15.Communicate mould
The abnormality alarming signal that main control module 11 exports is sent to back-stage management end by block 15, and abnormality alarming signal at this time includes vehicle
License board information and the vehicle car light be not turned off information.
Night watching robot sends abnormality alarming signal to back-stage management end by communication module 15, by back-stage management end to
It is different that car owner and/or backstage manager alert rule-breaking vehicle parking or certain vehicle is in that vehicle window is not turned off, car light is not turned off etc.
Normal state, so as to remind car owner and/or back-stage management people in time when rule-breaking vehicle parking or vehicle are in abnormality
Member, so that car owner and/or backstage manager take corresponding counter-measure.It is achieved thereby that night watching is robot autonomous to vehicle
Illegal parking patrols and vehicle-state is checked.
In addition, night watching robot detects environmental parameter by environment and itself detecting module 14 and robot oneself state is joined
Number, and abnormal signal is fed back to the main control module 11 in environmental parameter and/or robot oneself state abnormal parameters.Master control
Output abnormality alarm signal is to communication module 15 when module 11 receives the abnormal signal of environment and itself detecting module 14 feedback,
The abnormality alarming signal is sent to back-stage management end by communication module 15 again.
Specifically, as shown in Fig. 2, the environment and itself detecting module 14 include but not limited to photosensitive sensor 1401,
Sound transducer 1402, Abgassensor 1403, combustible gas sensor 1404, PM2.5 sensors 1405, flame sensor
1406th, smoke sensor device 1407, immersion sensor 1408, Temperature Humidity Sensor 1409, shock sensor 1410 and posture sensing
Device 1411.
Night watching robot senses the brightness in parking lot by photosensitive sensor, is sensed when photosensitive sensor 1401
When environmental light brightness is less than default brightness, main control module 11 controls the night indicator light of night watching robot shinny and/or control
It detects camera 121, left eye monitoring camera 131 and right eye monitoring camera 132 and opens infrared light compensating lamp.
Night watching robot respectively by sound transducer 1402, Abgassensor 1403, combustible gas sensor 1404,
PM2.5 sensors 1405, flame sensor 1406, smoke sensor device 1407, immersion sensor 1408, Temperature Humidity Sensor 1409
Sound in parking lot, exhaust gas, fuel gas, air quality, flame, smog, immersion, warm and humid is detected with shock sensor 1410
Degree and vibrations degree.When sound transducer 1402, Abgassensor 1403, combustible gas sensor 1404, PM2.5 sensors
1405th, flame sensor 1406, smoke sensor device 1407, immersion sensor 1408, Temperature Humidity Sensor 1409 and/or vibrations pass
When the environmental parameter value that sensor 1410 detects exceeds environmental benchmark value, 11 output abnormality alarm signal of main control module to the mould that communicates
The abnormality alarming signal is sent to back-stage management end by block 15, communication module 15 again.So as to which parking lot backstage manager can profit
The abnormal environment parameter in parking lot is known from back-stage management end with back-stage management terminal, so that backstage manager takes accordingly
Counter-measure.
So as to realize the detection to environmental parameter in parking lot by night watching robot, without artificial night watching.
Night watching robot checks the posture of itself by attitude transducer 1411, when the appearance that attitude transducer 1411 detects
When state parameter value exceeds attitude reference value, main control module 11 controls the motion platform adjustment posture of night watching robot, in patrol machine
Device people can not adjust automatically posture when, 11 output abnormality alarm signal of main control module to communication module 15, communication module 15 again will
The abnormality alarming signal is sent to back-stage management end, so that backstage manager takes corresponding counter-measure.
It should be noted that sound transducer 1402, Abgassensor 1403, combustible gas sensor 1404, PM2.5 are passed
Sensor 1405, flame sensor 1406, smoke sensor device 1407, immersion sensor 1408, Temperature Humidity Sensor 1409 and vibrations
The quantity and installation site of sensor 1410 are set according to specific requirements, are not restricted herein.
In addition, night watching robot should be believed by the charging location sense that the charging sensing reception charging of receiving module 17 depressed place is sent out
Number, and the charging sensed positioning inductive signal is fed back into main control module 11, main control module 11 should according to the charging location sense
Signal determines the position in charging depressed place, and passage path detecting module 12 detects the path for running to charging depressed place, and controls night watching machine
The motion platform of people runs to charging depressed place.When night watching robot runs to charging depressed place, night watching robot passes through power supply module 16
It is connect with charging depressed place, by depressed place charging of charging.Receive what charging depressed place was sent out when night watching robot senses receiving module 17 by charging
During fully charged inductive signal, charging sensing receiving module 17 will be filled with inductance induction signal and feed back to main control module 11, main control module
11 are walked outward according to the motion platform of the fully charged actuated signal control night watching robot by depressed place position of charging so that patrol machine
Device people is detached from charging depressed place.
Specifically, as shown in Fig. 2, the power supply module 16 includes charging interface 161, lithium battery group 162, power supply conversion list
Member 163 and electrical quantity sensor 164, the charging interface 161, the lithium battery group 162, the power conversion unit 163 are successively
Connection, the charging interface 161 are used to connect with the power supply interface 26 in depressed place of charging, with by depressed place of charging to the lithium battery
162 charging of group, the power conversion unit 163 are connect with the main control module 11, and the power conversion unit 163 is used for institute
The voltage for stating lithium battery group 162 is converted to the operating voltage of the main control module 11, the electrical quantity sensor 164 respectively with it is described
Lithium battery group 162 and the main control module 11 connect, for detecting the electricity of the lithium battery group 162.
The charging sensing receiving module 17 includes the first infrared remote receiver 171 and the second infrared remote receiver 172, and described the
One infrared remote receiver 171 and the second infrared remote receiver 172 are connect with the main control module 11, first infrared remote receiver
171 for receiving the charging positioning inductive signal that charging depressed place is sent out, and the charging is positioned inductive signal and feeds back to the master
Module 11 is controlled, is charged so that robot is controlled to be moved to charging depressed place, second infrared remote receiver 172 is for reception charging depressed place
The fully charged inductive signal sent out, and by the fully charged inductive signal and the main control module 11 is fed back to, to control machine
People is detached from charging depressed place.
Night watching robot is connect by the charging interface 161 of power supply module 16 with the power supply interface 26 in depressed place of charging, mould of powering
The charging interface 161 of block 16 is provided with anode spring contact and negative spring contact, and charging interface 161 utilizes anode spring contact
Acted on the spring buffer of negative spring contact, reduce impact force of the night watching robot to depressed place of charging, avoid night watching robot and
The damage of charging depressed place.
After night watching robot is connect by charging interface 161 with charging depressed place, lithium battery is given in charging depressed place by charging interface 161
The voltage of lithium battery group 162 is converted to the operating voltage of main control module 11 by 162 charging of group, power conversion unit 163 so that is patrolled
More robot works normally.
During night watching machine is manually made, electrical quantity sensor 164 detects the electricity of lithium battery group 162, when detecting lithium
When the electricity of battery pack 162 is less than reference voltage, electrical quantity sensor 164 feeds back not enough power supply signal to main control module 11, master control
Control charging sensing receiving module 17 is red by first after module 11 detects the not enough power supply signal that electrical quantity sensor 164 is fed back
Charging that outer 171 induction charging depressed place of receiver is sent out positioning inductive signal, should receiving charging location sense that charging depressed place sends out
Main control module 11 is fed back to during signal, to determine the position in charging depressed place, control night watching robot is moved to charging depressed place and charges.
Certainly, in addition to determining the needs charging of night watching robot except detecting electricity according to electrical quantity sensor 164, night watching robot can be according to pre-
If charging time section, it is fully charged arrive by the preset charging time section after, the position in night watching robot induction charging depressed place, and
Charging depressed place is run to charge.
Night watching robot run to charging depressed place charged after, charging sensing receiving module 17 pass through the second infrared remote receiver
The fully charged inductive signal that 172 induction charging depressed places are sent out, when the second infrared remote receiver 172 receive charging depressed place send out it is fully charged
Main control module 11 is fed back to during inductive signal, night watching robot to be controlled to be detached from charging depressed place.
So as to which night watching robot should by the charging location sense that the charging sensing sensing reception charging of receiving module 17 depressed place is sent out
Signal and fully charged inductive signal self-service can run to charging depressed place and charge, and charging depressed place is automatically disengaged after fully charged,
Realize the self-service charge function of night watching robot.
The utility model also proposes a kind of robot charging depressed place, and robot charging depressed place is the patrol machine in above-described embodiment
Device people charges.
With reference to referring to figs. 1 to Fig. 3, wherein Fig. 3 is the structure diagram of the utility model robot charging one embodiment of depressed place.
In the utility model robot charging one embodiment of depressed place, as shown in figure 3, robot charging depressed place includes power supply adaptor
21st, charge controller 22, charging touch-switch 23, normally closed relay 24, normally opened relay 25, power supply interface 26 and charging sensing
Transmitting module 27, the power supply adaptor 21 are connect respectively with the charge controller 22 and charging induced emission module 27, institute
The coil one end for stating normally closed relay 24 is connect with the charge controller 22, another termination of coil of the normally closed relay 24
Ground, switch one end of the normally closed relay 24 are connect with the charge controller 22, and the switch of the normally closed relay 24 is another
One end is connect with one end of the switch of the normally opened relay 25, the switch other end and the power supply of the normally opened relay 25
Interface 26 connects, and coil one end of the normally opened relay 25 is fitted via described with the charging touch-switch 23 with the power supply
Orchestration 21 connects, the coil other end of the normally opened relay 25 ground connection, the charging induced emission module 27 respectively with it is described
Power supply adaptor 21 and charge controller 22 connect, for emitting charging positioning inductive signal to the power supply module of night watching robot
With fully charged inductive signal.
Specifically, as shown in figure 3, the charging induced emission module 27 is red including the first infrared transmitter 271 and second
External transmitter 272, first infrared transmitter 271 is connect with the power supply adaptor 21, for the confession to night watching robot
Electric module transmitting charging positioning inductive signal, second infrared transmitter 272 are connect with the charge controller 22, for
The power supply module of night watching robot emits the fully charged inductive signal.
Robot charging depressed place as shown in Figure 3, power supply adaptor 21 are connected to after alternating current is powered, and charge controller 22 and are filled
271 work once electrified of the first infrared transmitter of electric induction transmitting module 27, the first infrared transmitter 271 transmitting infrared signal, i.e.,
Transmitting charging positioning inductive signal.First infrared transmitter 271 and first of charging sensing receiving module 17 in night watching robot
Infrared remote receiver 171 forms one group of infrared emission module, so as to which night watching robot senses the first of receiving module 17 by charging
Infrared remote receiver 171 can induction receiver device people 27 first infrared transmitter 271 of charging induced emission module in depressed place that charges send out
Charging positioning inductive signal.
When night watching robot is connect by the charging interface 161 of power supply module 16 with the power supply interface 26 in robot charging depressed place
When, charging touch-switch 23 is closed, and then normally opened relay 25 is closed, and so as to which charging paths are connected, power supply adaptor 21 will
After 200V electric mains are converted to low-voltage DC, such as 24V direct currents, which is output to by power supply interface 26
The charging interface 161 of night watching robot, and then charge to the lithium battery group 162 of night watching robot.
After fully charged to the lithium battery group 162 of night watching robot in robot charging depressed place, robot charging depressed place passes through inductance
The second infrared transmitter 272 of transmitting module 27 is answered to emit infrared signal, that is, emits fully charged inductive signal.Second infrared emission
Device 272 and the second infrared remote receiver 172 of charging sensing receiving module 17 in night watching robot form one group of infrared emission module,
So as to which night watching robot can induction receiver device people charging depressed place by the second infrared remote receiver 172 of charging sensing receiving module 17
The fully charged inductive signal that second infrared transmitter 272 of middle charging induced emission module 27 is sent out.So as to which night watching robot leads to
It crosses and machine people charging depressed place is automatically disengaged when the sensing of the second infrared remote receiver 172 receives fully charged inductive signal, avoid excessively filling
Electricity.
The utility model also proposes a kind of robot system, and device people system includes night watching robot and is the night watching machine
The robot charging depressed place of people's charging.The night watching robot and the concrete structure reference above-described embodiment in robot charging depressed place, due to
The utility model robot system employs whole technical solutions of above-mentioned all embodiments, therefore equally has above-described embodiment
Technical solution caused by all advantageous effects, this is no longer going to repeat them.
The above is only the preferred embodiment of the present invention, and it does not limit the scope of the patent of the present invention,
Every equivalent structure transformation made based on the specification and figures of the utility model, is directly or indirectly used in other phases
The technical field of pass, is equally included in the patent within the scope of the utility model.
Claims (10)
1. a kind of night watching robot, which is characterized in that including main control module（11）, path detection module（12）, vehicle monitoring mould
Block（13）, environment and itself detecting module（14）, communication module（15）, power supply module（16）Sense receiving module with charging
（17）, the main control module（11）Respectively with the path detection module（12）, vehicle monitoring module（13）, environment and itself visit
Survey module（14）, communication module（15）, power supply module（16）Sense receiving module with charging（17）Connection, the communication module
（15）It is wirelessly communicated with back-stage management end, the path detection module（12）For detective path marker, acquisition approach mark
Image information, and the ID of trace route path image information is exported to the main control module（11）, to determine walking path, the vehicle
Monitoring module（13）For monitoring parked vehicle, vehicle position information and car status information are obtained, and by the vehicle
Location information and car status information are exported to the main control module（11）, with determine vehicle whether illegal parking, Yi Jiche
Whether there is abnormality, and pass through the communication module when rule-breaking vehicle stops and/or occurs abnormal（15）It sends different
Normal alarm signal is to back-stage management end, the environment and itself detecting module（14）For detecting environmental parameter and robot itself
State parameter, and abnormal signal is fed back to the main control module in environmental parameter and/or robot oneself state abnormal parameters
（11）, to pass through the communication module（15）Abnormality alarming signal is sent to back-stage management end, the power supply module（16）For
Connection charging depressed place is charged, the charging sensing receiving module（17）It should believe for receiving the charging location sense that charging depressed place is sent out
Number and fully charged inductive signal and feed back to the main control module（11）, with control robot be moved to charging depressed place charged or
It is detached from charging depressed place.
2. night watching robot as described in claim 1, which is characterized in that the path detection module（12）It is imaged including detection
Head（121）, the detection camera（121）With the main control module（11）Connection, and robot head top is set to, it is used for
The ID of trace route path object on ceiling in parking lot is detected, the ID of trace route path object is captured when detecting the ID of trace route path object,
Acquisition approach identification image information, and the ID of trace route path image information is exported to the main control module（11）.
3. night watching robot as claimed in claim 2, which is characterized in that the path detection module（12）Further include ultrasonic wave
Sensor（122）, human body sensor（123）Sensor is fallen with infrared fall preventing（124）, the ultrasonic sensor（122）、
Human body sensor（123）Sensor is fallen with infrared fall preventing（124）With the main control module（11）Connection, the ultrasonic wave
Sensor（122）It is set to the front side and/or the left and right sides of machine human body part, the human body sensor（123）If
The front side and/or the left and right sides of machine human body part are placed in, the infrared fall preventing falls sensor（124）It is set to robot bottom
Seat front end and/or bottom.
4. night watching robot as described in claim 1, which is characterized in that the vehicle monitoring module（13）It is monitored including left eye
Camera（131）, right eye monitoring camera（132）And illuminance sensor（133）, the left eye monitoring camera（131）, it is right
Eye monitoring camera（132）And illuminance sensor（133）With the main control module（11）Connection, the left eye monitoring camera
Head（131）, right eye monitoring camera（132）Robot head left eye and right eye position are respectively arranged at, for capturing vehicle institute
Occupy image and license plate image, the vehicle window image of the vehicle, the illuminance sensor（133）It is set to robot body
Position, for sensing the vehicle lamp brightness of vehicle.
5. night watching robot as described in claim 1, which is characterized in that the environment and itself detecting module（14）Including but
It is not limited to photosensitive sensor（1401）, sound transducer（1402）, Abgassensor（1403）, combustible gas sensor
（1404）, PM2.5 sensors（1405）, flame sensor（1406）, smoke sensor device（1407）, immersion sensor（1408）、
Temperature Humidity Sensor（1409）, shock sensor（1410）And attitude transducer（1411）.
6. night watching robot as described in claim 1, which is characterized in that the power supply module（16）Including charging interface
（161）, lithium battery group（162）, power conversion unit（163）And electrical quantity sensor（164）, the charging interface（161）, it is described
Lithium battery group（162）, the power conversion unit（163）It is sequentially connected, the charging interface（161）For the confession with depressed place of charging
Electrical interface（26）Connect, with by depressed place of charging to the lithium battery group（162）Charging, the power conversion unit（163）
With the main control module（11）Connection, the power conversion unit（163）For by the lithium battery group（162）Voltage conversion
For the main control module（11）Operating voltage, the electrical quantity sensor（164）Respectively with the lithium battery group（162）With it is described
Main control module（11）Connection, for detecting the lithium battery group（162）Electricity, the charging interface（161）It is provided with anode
Spring contact and negative spring contact.
7. night watching robot as described in claim 1, which is characterized in that the charging sensing receiving module（17）Including first
Infrared remote receiver（271）With the second infrared remote receiver（272）, first infrared remote receiver（271）With the second infrared remote receiver
（272）With the main control module（11）Connection, first infrared remote receiver（271）For receiving the charging that charging depressed place is sent out
Inductive signal is positioned, and the charging is positioned into inductive signal and feeds back to the main control module（11）, robot to be controlled to move
It charges to charging depressed place, second infrared remote receiver（272）For receiving the fully charged inductive signal that charging depressed place is sent out, and
By the fully charged inductive signal and feed back to the main control module（11）, robot to be controlled to be detached from charging depressed place.
The depressed place 8. a kind of robot charges, which is characterized in that including night watching machine as claimed in any of claims 1 to 7 in one of claims
People charges and power supply adaptor（21）, charge controller（22）, charging touch-switch（23）, normally closed relay（24）, it is normally opened
Relay（25）, power supply interface（26）With charging induced emission module（27）, the power supply adaptor（21）It is filled respectively with described
Electric controller（22）With charging induced emission module（27）Connection, the normally closed relay（24）Coil one end and the charging
Controller（22）Connection, the normally closed relay（24）The coil other end ground connection, the normally closed relay（24）Switch one
End and the charge controller（22）Connection, the normally closed relay（24）The switch other end and the normally opened relay（25）
Switch one end connection, the normally opened relay（25）The switch other end and the power supply interface（26）Connection, it is described normal
Open relay（25）Coil one end via described with the charging touch-switch（23）With the power supply adaptor（21）Connection,
The normally opened relay（25）The coil other end ground connection, it is described charging induced emission module（27）Respectively with the power adaptation
Device（21）And charge controller（22）Connection, for the power supply module of night watching robot（16）Transmitting charging positioning inductive signal
With fully charged inductive signal.
The depressed place 9. robot as claimed in claim 8 charges, which is characterized in that the charging induced emission module（27）Including
One infrared transmitter（271）With the second infrared transmitter（272）, first infrared transmitter（271）With the power adaptation
Device（21）Connection, for the power supply module of night watching robot（16）Transmitting charging positioning inductive signal, the second infrared hair
Emitter（272）With the charge controller（22）Connection, for the power supply module of night watching robot（16）It is full of described in transmitting
Inductance induction signal.
10. a kind of robot system, which is characterized in that filled including the night watching robot described in any one in claim 1 to 7
Electricity and the robot charging depressed place for night watching robot charging.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721577568.5U CN207473411U (en) | 2017-11-23 | 2017-11-23 | Night watching robot, robot charging depressed place and robot system |
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|---|---|---|---|
| CN201721577568.5U CN207473411U (en) | 2017-11-23 | 2017-11-23 | Night watching robot, robot charging depressed place and robot system |
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| CN207473411U true CN207473411U (en) | 2018-06-08 |
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| CN108986539A (en) * | 2018-09-19 | 2018-12-11 | 北京通智能科技有限公司 | Parking management system, method, vehicle information collecting device and management server |
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| CN110248453A (en) * | 2019-06-13 | 2019-09-17 | 合肥威武保安服务有限公司 | A kind of parking lot underground garage lighting control system |
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| CN108986539A (en) * | 2018-09-19 | 2018-12-11 | 北京通智能科技有限公司 | Parking management system, method, vehicle information collecting device and management server |
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| CN111256676B (en) * | 2018-11-30 | 2022-02-11 | 杭州海康机器人技术有限公司 | Mobile robot positioning method, device and computer readable storage medium |
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| CN110070696A (en) * | 2019-06-03 | 2019-07-30 | 杭州聚声科技有限公司 | A kind of acoustic safety fence system |
| CN110248453A (en) * | 2019-06-13 | 2019-09-17 | 合肥威武保安服务有限公司 | A kind of parking lot underground garage lighting control system |
| CN111240328A (en) * | 2020-01-16 | 2020-06-05 | 中智行科技有限公司 | Vehicle driving safety monitoring method and device and unmanned vehicle |
| CN111645048A (en) * | 2020-05-12 | 2020-09-11 | 云南电网有限责任公司保山供电局 | Emergency deployment system and method for transformer substation inspection robot |
| CN111815920A (en) * | 2020-07-21 | 2020-10-23 | 华普通用技术研究（广州）有限公司 | Parking lot safety monitoring equipment and method based on big data |
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