CN207971960U - For the double rail type in detention house and prison from movable monitoring robot - Google Patents
For the double rail type in detention house and prison from movable monitoring robot Download PDFInfo
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- CN207971960U CN207971960U CN201820404719.5U CN201820404719U CN207971960U CN 207971960 U CN207971960 U CN 207971960U CN 201820404719 U CN201820404719 U CN 201820404719U CN 207971960 U CN207971960 U CN 207971960U
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Abstract
For the double rail type in detention house and prison from movable monitoring robot, including mobile robot ontology, opposed grooved track and actuating unit, opposed grooved track is mounted on by track support on the wall in detention house or prison, mobile robot ontology front and rear sides are equipped with driving wheel by bearing block respectively, camera and hunter's catcher are also equipped on the mobile robot ontology, actuating unit, camera and hunter's catcher are communicated to connect with the background server of control centre respectively.The utility model by mobile robot ontology to a suspect into line trace, warning information can be sent to control centre in first time and the close shot picture at scene be provided, operator on duty is enable to make accurate judgement and decision to field condition in first time；It is equipped with hunter's catcher on mobile robot ontology, a suspect is arrested at crucial moment, while playing the role of fright.
Description
Technical field
The utility model is related to a kind of self-movement robots, more specifically refer to a kind of pair for detention house and prison
Rail is from movable monitoring robot.
Background technology
Being detained in detention house and prison has a large amount of criminal case offender, these personnel once flight during serving a sentence
Will be stable to social harmony, the security of the lives and property of the common people causes great harm.Currently, in detention house and prison mainly
Key area is monitored in real time by fixedly mounted camera, while being equipped with certain artificial inspection trips, it is this
Method has put into a large amount of man power and material, and but still frequent angle of arrival is improper, there is the problems such as blind area in the visual field, goes on patrol simultaneously
The problems such as person works' intensity is big, and the patrol time is regular, the frequency is low be easy to cause having an opportunity to take advantage of for criminal.With deploying troops on garrison duty
The increase in region, required camera and personnel's intensity on duty quickly increase.
For a wide range of place of the tight prevention and control of the needs such as prison, most existing monitoring system uses multiple fixed peaces
Fill camera.This mode has certain limitation and viewing angle by prodigious limit the observation of distant location
System, a large amount of camera and monitored picture can make single monitored picture become very little, greatly limit the readability of picture, be easy
The visual fatigue for causing security personnel, causes security risk.Inside prison and the patrol on periphery needs to consume a large amount of manpower simultaneously
And personnel labor intensity is larger under night and severe weather conditions.
Utility model content
The utility model absorbs the unreasonable problem of image, personnel for fixedly mounted camera monitoring system is existing
And device configuration it is more the problems such as, propose a kind of double rail type for detention house and prison from movable monitoring robot.
The utility model adopts the following technical solution：
For the double rail type in detention house and prison from movable monitoring robot, including be used for scene into administrative staff detection and
The mobile robot ontology of tracking, the opposed grooved track that support and guiding are provided for mobile robot ontology and driving movement
The actuating unit that robot body moves in opposed grooved track, the opposed grooved track are mounted on by track support and are seen
Keep or the wall in prison on, mobile robot ontology front and rear sides are equipped with driving wheel by bearing block respectively, the shifting
Camera and hunter's catcher, the actuating unit, camera and hunter's catcher difference are also equipped on mobile robot ontology
It is communicated to connect with background server.
Further, the opposed groove profile track upper surface is equipped with track connecting plate, and the track support lower surface is equipped with
Rack connecting plate, the track connecting plate and rack connecting plate are correspondingly connected with by bolt, nut.
Specifically, the actuating unit include a servo motor, an active synchronization belt wheel, a synchronous belt, two
Driven synchronous pulley and a trolley, the servo motor output shaft connect the active synchronization belt wheel, and the active is same
Belt wheel is walked by the synchronous band connection two driven synchronous pulley, each driven synchronous pulley is coaxial with the driving wheel respectively
Connection, the trolley by trolley conductor bracket be mounted on wall on, and with the opposed grooved track keeping parallelism.
Further, a trolley tensioning holder is separately installed on the wall of trolley axial direction both sides, each
There are one wiping thread stretching mechanisms for connection between trolley is tensioned holder its corresponding trolley axial direction end.
Further, the front and rear sides of the mobile robot ontology are equipped with lateral limit by position-limited wheel mounting base respectively
Position wheel, the lateral Displacement wheel of front and rear sides are contacted with the lateral wall of the opposed grooved track both sides respectively.
Further, it is arranged with a pair of of swing arm on the mobile robot ontology, the lower end of each swing arm passes through one
Shaft is rotatably fixed on mobile robot ontology, and the upper end of each swing arm is respectively equipped with a pair and is pressed under opposed grooved track
The middle section position of the longitudinally tensioned wheel on surface, two swing arms is separately installed with left-handed pull rod and dextrorotation pull rod, the left-handed pull rod
It is respectively provided with left hand thread with dextrorotation drawing rod via two end and connects tension with the longitudinally tensioned nut of right-handed thread.
Further, hunter's catcher is fixed on by net rifle pressing plate on mobile robot ontology, which captures
Device is equipped with net bullet.
Further, alarm lamp and alarm speaker are also equipped on the mobile robot ontology.
By the above-mentioned description to the utility model structure it is found that compared to the prior art, the utility model has following excellent
Point：
The utility model installs opposed grooved track, mobile robot ontology above the high-wall at the prison or around detention house
Patrol personnel can be replaced, inspection trips is carried out in the opposed grooved track of background server control lower edge, can reach very high
Movement speed has higher mobility；Target can also be moved under the remote control of control centre staff simultaneously
Position, and live video is passed back into control centre in real time, the patrol work of patrol personnel can be so saved, control centre is made
At any time can close-ups to the concrete condition of interested position, improve the reliability of monitoring system.Pass through mobile machine
Human body, into line trace, causes it powerful psychology compressing, upsets its original plan of escaping to a suspect, effective to hinder
Stop the flight behavior of escaping from prison of a suspect, strives for more times for the site disposal of armed police troops；The utility model can
Warning information is sent to control centre in first time and the close shot picture at scene is provided, enable operator on duty at the first time
Accurate judgement and decision are made to field condition；The utility model is further provided with strong executing agency-hunter's catcher,
A suspect is arrested at crucial moment, while also playing good fright effect.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the front view of the utility model.
Fig. 3 is the left view of the utility model.
Specific implementation mode
Illustrate specific embodiment of the present utility model with reference to the accompanying drawings.For comprehensive understanding the utility model, below
Many details are described to, but to those skilled in the art, the utility model can be also realized without these details.
For the double rail type in detention house and prison from movable monitoring robot, referring to Fig.1, including it is used for scene into pedestrian
The mobile robot ontology 10 of member's detect and track, the opposed grooved track 20 that support and guiding are provided for mobile robot ontology
And the actuating unit that driving mobile robot ontology 10 moves in opposed grooved track 20.
Referring to Figures 1 and 2, opposed grooved track 20 is mounted on by track support 21 on the wall 1 in detention house or prison,
20 upper surface of opposed grooved track is equipped with track connecting plate 201, and 21 lower surface of track support is equipped with rack connecting plate 211, track
Connecting plate 201 and rack connecting plate 211 are correspondingly connected with by bolt, nut.Between opposed grooved track 20 and track support 21
It can be adjusted by track connecting plate 201 and rack connecting plate 211, it is ensured that opposed grooved track 20 has good smooth-going
Property.
Referring to figs. 1 to Fig. 3, camera 11 and hunter's catcher 12, hunter are installed on above-mentioned mobile robot ontology 10
Catcher 12 is fixed on by net rifle pressing plate 121 on 10 ontology of mobile robot, and hunter's catcher 12 is equipped with net bullet 122.
When background server by camera 11 detect a suspect appear in prohibited area or escape from prison tendency when, shifting can be controlled
Mobile robot ontology 10 closely follows a suspect and controls hunter's catcher 12 and aimed at it, when mobile machine
Human body 10 and a suspect's relative position and speed send shooting instruction when meeting certain condition will be advance in net bullet 122
The arrest net high-speed projectile installed out arrests it, to effectively prevent the situation of escaping from prison being likely to occur, by event
Control is in developing stage.It is also equipped with alarm lamp 13 and alarm speaker 14 on the mobile robot ontology 10, when backstage
When detecting that a suspect is appeared in prevention and control region in the image that server is shot by camera 11,13 He of alarm lamp
Alarm speaker 14 into line flicker and can report voice warning respectively.
With reference to Fig. 2 and Fig. 3, above-mentioned 10 front and rear sides of mobile robot ontology are equipped with driving by bearing block 151 respectively
Wheel 15.Above-mentioned actuating unit includes that a synchronous belt 33, two of active synchronization belt wheel 32, one of servo motor 31, one is driven
Synchronous pulley 34 and a trolley 35, the servo motor 31 export axis connection active synchronization belt wheel 32, active synchronization band
Wheel 32 connects two driven synchronous pulleys 34 by synchronous belt 33, and each driven synchronous pulley 34 coaxially connects with driving wheel 15 respectively
It connects, a tensioning wheel 341 is additionally provided between two driven synchronous pulleys 34, prevent belt shadow due to relaxation occurs for long-play
Ring the rotation of driven synchronous pulley 34.Background server is rotated according to the location information control servomotor 31 of personnel, and is passed through
Active synchronization belt wheel 32, synchronous belt 33 and driven synchronous pulley 34 drive driving wheel rotation, driving mobile robot ontology 10 to exist
It is moved in opposed grooved track 20.
Referring to Fig.1, above-mentioned trolley 35 by trolley conductor bracket 351 be mounted on wall 1 on, and with opposed grooved track 20
Keeping parallelism.A trolley tensioning holder 361, each trolley are separately installed on the wall of the axial both sides of trolley 35
There are one wiping thread stretching mechanism 36, trolley tensionings for connection between the axial end of 351 its corresponding trolley of locking bracket 35
Mechanism 36 can make trolley 35 have good ride comfort.
Referring to Figure 1 and Figure 3, the front and rear sides of above-mentioned mobile robot ontology 10 are pacified by position-limited wheel mounting base 161 respectively
Pass through side when mobile robot ontology 10 is quickly moved along opposed grooved track 20 equipped with lateral Displacement wheel 16
Mobile robot ontology 10 is oriented to the contact in 20 outside of opposed grooved track and rolling to position-limited wheel 16, makes it always
It is moved along opposed grooved track 20, avoids mobile robot ontology 10 that beat occurs in opposed grooved track 20, lead
It causes driving wheel 15 that friction and collision occurs with 20 inside of opposed grooved track, influences the smooth-going of the movement of mobile robot ontology 10
Property.
With reference to Fig. 2, a pair of of swing arm 17 is arranged on above-mentioned mobile robot ontology 10, the lower end of each swing arm 17 is logical
It crosses a shaft 171 to be rotatably fixed on mobile robot ontology 10, the upper end of each swing arm 17 is respectively equipped with a pair and is pressed in pair
The longitudinally tensioned wheel 18 of 20 lower surface of grooved track is set, the middle section position of two swing arms 17 is separately installed with 172 He of left-handed pull rod
Dextrorotation pull rod 173, left-handed pull rod 172 and dextrorotation pull rod 173 are respectively provided with the longitudinal direction of left hand thread and right-handed thread by both ends
The connection of tensioning nut 174 tenses.By the tensioning function of longitudinally tensioned nut 174, longitudinally tensioned wheel 18 and opposed grooves can be increased
The normal pressure of 20 lower surface of type track, while also can effectively increase the positive pressure between driving wheel 15 and opposed grooved track 20
Power, the maximum static friction with bigger when making mobile robot ontology 10 carry out acceleration and deceleration motion along opposed grooved track 20
Power, avoids the appearance of slipping phenomenon, effectively improves the mobility of mobile robot ontology.
Referring to figs. 1 to Fig. 3, the above-mentioned double rail type for detention house and prison from the monitoring method of movable monitoring robot,
Include the following steps：
1）, actuating unit driving mobile robot ontology 10 moved in opposed grooved track 20, while camera 11 is opened
It opens and shooting image is carried out into administrative staff to scene and is transferred to background server；
2）, background server extract analysis using the image that visual detection algorithm shoots camera 11, work as analysis
When appearing in prevention and control region to a suspect, alarm lamp 13 and alarm speaker 14 into line flicker and report voice respectively
Warning, and background server controls mobile robot ontology 10 according to the location information of the personnel and moves, with to a suspect into
Row real-time tracking；
3）When background server detect a suspect appear in prohibited area or escape from prison tendency when, control moving machine
Device human body 10 closely follows a suspect and controls hunter's catcher 12 and aimed at it, mobile robot ontology
10 and the relative position and speed of a suspect send shooting instruction when meet certain condition, make pre- in hunter's catcher 12
The arrest net high-speed projectile first installed out arrests it.
Expectation of the specific location setting a suspect that above-mentioned hunter's catcher 12 aims in 11 taken the photograph image of camera
The expectation coordinate of a suspect and its currently practical coordinate are made poor conduct by coordinate when camera 11 detects a suspect
The input of servo motor 31PID controls, the actual coordinate by constantly updating a suspect in image guide mobile robot sheet
Body 10 is constantly moved to a suspect, it is made constantly to move to realize to a suspect's to desired coordinate position in the picture
Real-time tracking.
The above is only the specific embodiments of the present invention, but the design concept of the present invention is not limited thereto,
All non-essential modifications to the present invention made by this concept should all belong to the row for invading scope of protection of the utility model
For.
Claims (8)
1. the double rail type for detention house and prison is from movable monitoring robot, it is characterised in that：Including being used to carry out scene
The mobile robot ontology of personnel's detect and track, provided for mobile robot ontology the opposed grooved track of support and guiding with
And the actuating unit that driving mobile robot ontology moves in opposed grooved track, the opposed grooved track pass through track branch
Frame is mounted on the wall in detention house or prison, and mobile robot ontology front and rear sides are equipped with drive by bearing block respectively
Driving wheel is also equipped with camera and hunter's catcher on the mobile robot ontology, and the actuating unit, camera and hunter catch
Device is caught to communicate to connect with the background server of control centre respectively.
2. the double rail type for detention house and prison is from movable monitoring robot as described in claim 1, it is characterised in that：Institute
It states opposed groove profile track upper surface and is equipped with track connecting plate, the track support lower surface is equipped with rack connecting plate, the track
Connecting plate and rack connecting plate are correspondingly connected with by bolt, nut.
3. the double rail type for detention house and prison is from movable monitoring robot as described in claim 1, it is characterised in that：Institute
It includes a servo motor, an active synchronization belt wheel, a synchronous belt, two driven synchronous pulleys and one to state actuating unit
A trolley, the servo motor output shaft connect the active synchronization belt wheel, and the active synchronization belt wheel is connected by synchronous belt
Two driven synchronous pulleys are connect, each driven synchronous pulley is coaxially connected with the driving wheel respectively, and the trolley is logical
Trolley conductor bracket is crossed on the wall, and with the opposed grooved track keeping parallelism.
4. the double rail type for detention house and prison is from movable monitoring robot as claimed in claim 3, it is characterised in that：Institute
It states and is separately installed with a trolley tensioning holder, each trolley tensioning holder and its phase on the wall of trolley axial direction both sides
There are one wiping thread stretching mechanisms for connection between the trolley axial direction end answered.
5. the double rail type for detention house and prison is from movable monitoring robot as described in claim 1, it is characterised in that：Institute
State the front and rear sides of mobile robot ontology and lateral Displacement wheel be equipped with by position-limited wheel mounting base respectively, front and rear sides it is described
Lateral Displacement wheel is contacted with the lateral wall of the opposed grooved track both sides respectively.
6. the double rail type for detention house and prison is from movable monitoring robot as described in claim 1, it is characterised in that：Institute
It states and is arranged with a pair of of swing arm on mobile robot ontology, the lower end of each swing arm is rotatably fixed on movement by a shaft
On robot body, the upper end of each swing arm is respectively equipped with a pair of longitudinally tensioned wheel for being pressed in opposed grooved track lower surface, and two
The middle section position of a swing arm is separately installed with left-handed pull rod and dextrorotation pull rod, the left-handed pull rod and dextrorotation drawing rod via two end point
Not Dai You left hand thread connect tension with the longitudinally tensioned nut of right-handed thread.
7. the double rail type for detention house and prison is from movable monitoring robot as described in claim 1, it is characterised in that：Institute
It states hunter's catcher to be fixed on mobile robot ontology by net rifle pressing plate, hunter's catcher is equipped with net bullet.
8. the double rail type for detention house and prison is from movable monitoring robot as described in claim 1, it is characterised in that：Institute
It states and is also equipped with alarm lamp and alarm speaker on mobile robot ontology.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820404719.5U CN207971960U (en) | 2018-03-24 | 2018-03-24 | For the double rail type in detention house and prison from movable monitoring robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820404719.5U CN207971960U (en) | 2018-03-24 | 2018-03-24 | For the double rail type in detention house and prison from movable monitoring robot |
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| CN207971960U true CN207971960U (en) | 2018-10-16 |
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| CN201820404719.5U Active CN207971960U (en) | 2018-03-24 | 2018-03-24 | For the double rail type in detention house and prison from movable monitoring robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108262753A (en) * | 2018-03-24 | 2018-07-10 | 福建（泉州）哈工大工程技术研究院 | For the double rail type in detention house and prison from movable monitoring robot and monitoring method |
| CN110110638A (en) * | 2019-04-29 | 2019-08-09 | 江苏省人民医院（南京医科大学第一附属医院） | Control command analysis system for hospital disinfection room |
| CN111779253A (en) * | 2020-07-17 | 2020-10-16 | 中国十九冶集团有限公司 | Movable scaffold suitable for wall monitoring construction and wall monitoring construction method |
-
2018
- 2018-03-24 CN CN201820404719.5U patent/CN207971960U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108262753A (en) * | 2018-03-24 | 2018-07-10 | 福建（泉州）哈工大工程技术研究院 | For the double rail type in detention house and prison from movable monitoring robot and monitoring method |
| CN108262753B (en) * | 2018-03-24 | 2023-12-19 | 福建（泉州）哈工大工程技术研究院 | Double-rail self-moving monitoring robot and monitoring method for guardhouses and prisons |
| CN110110638A (en) * | 2019-04-29 | 2019-08-09 | 江苏省人民医院（南京医科大学第一附属医院） | Control command analysis system for hospital disinfection room |
| CN111779253A (en) * | 2020-07-17 | 2020-10-16 | 中国十九冶集团有限公司 | Movable scaffold suitable for wall monitoring construction and wall monitoring construction method |
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