CN102650885A - Robot walking monitoring system with remote-range prewarning function - Google Patents
Robot walking monitoring system with remote-range prewarning function Download PDFInfo
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Abstract
A robot walking monitoring system with a remote-range prewarning function is applicable to an automatically walking robot, and mainly comprises an indoor subsystem and an outdoor subsystem, wherein the outdoor subsystem is in a prewarning state firstly, collects the environmental information on the periphery of the robot to judge whether the robot automatically walking system goes wrong, if no fault, the outdoor subsystem is still in a prewarning state, otherwise the outdoor subsystem generates an alarming signal and transmits the alarming signal to the indoor subsystem in a wireless manner, and then brings into the monitoring state; and while the indoor subsystem receives the alarming signal and then makes an alarming sound to inform working personnel, and then the working personnel select a proper control mode to remotely control the walking of the robot according to the actual condition through information displayed by a video display window and a transducing signal indication window. The invention not only perfects the coordination of automatic control and monitoring of the robot, but also improves the safety, the practicability and the working efficiency of the robot.
Description
Technical field
The present invention relates to a kind of long distance control system that is applied to agricultural robot, relate in particular to a kind of robot ambulation supervisory system, belong to the monitoring field with distant early warning function.
Background technology
But agricultural robot is a kind of flexible automation or semi-automatic equipment that has human limbs action, partial information perception and overprogram function concurrently; It substitutes the artificial various agricultural production operations of accomplishing in agriculture production environment; Improving agricultural productive force; Change the agricultural production pattern, solve manpower shortage and demonstrate great superiority with aspects such as improving agriculture production environment.Realize that at present the farming machine person walks mainly contains following several kinds of schemes: the first kind is to rely on robot autonomous control technology, and shortcoming is to rely on the Autonomous Control technology to realize that there is potential safety hazard in navigation merely; Second type is to rely on robot autonomous control technology, has staff's on-site supervision concurrently, and shortcoming is when running into bad working environment, staff's health will be affected and the on-site supervision work efficiency low; The 3rd type is that computing machine through operation field has line traffic control to robot, and shortcoming is that distance is restricted or expensive; The 4th type is remote real-time monitoring system, and shortcoming is that the staff keeps watch on and other operations of inconvenience enforcement constantly.
Summary of the invention
The technical matters that the present invention solves is: a kind of robot ambulation supervisory system with distant early warning function is provided; This supervisory system acts in the robot of autonomous walking; Adopt machine vision and multi-sensor fusion technology; Not only improve robot autonomous control and manual supervisory harmony, and improve security, practicality and the work efficiency of this robot.
For solving the problems of the technologies described above, the present invention has adopted following technical scheme to realize: a kind of robot ambulation supervisory system with distant early warning function, it is according to different house subsystem and the outdoor subsystems of being divided in installation site.
Wherein, Outdoor subsystem is installed in the field information acquisition robot, comprises camera, Video Decoder, DSP image processing apparatus, video encoder, wireless image sender unit, 14 road infrared distance sensors, transducing signal treating apparatus, switchgear, radio alarming (indication) sender unit, wireless command signal receiving device, robot controller, driving execution mechanism; House subsystem places in the Control Room, comprises wireless image signal receiving device, PC, microphone, Bluetooth transmission device, bluetooth receiving trap, wireless command sender unit, radio alarming (indication) signal receiving device, warning device (band loudspeaker).
In outdoor subsystem; Camera is connected with the DSP image processing apparatus through Video Decoder; The DSP image processing apparatus is connected with the wireless image sender unit through video encoder; DSP image processing apparatus, 14 road infrared distance sensors, radio alarming (indication) sender unit, switchgear are connected with the transducing signal treating apparatus respectively, and wireless command signal receiving device, robot controller, driving execution mechanism are linked in sequence.
Wherein, The transducing signal treating apparatus comprises single-chip microcomputer I and single-chip microcomputer II; Single-chip microcomputer I receives and handles environmental information that 14 road infrared distance sensors sense and judges whether to produce alerting signal according to process result, and the processing result image that single-chip microcomputer II then transmits according to the DSP image processing apparatus judges whether to produce alerting signal; Switchgear is used for the general supply of the robot autonomous control system of break-make; 14 road infrared distance sensors be installed on respectively robot around, be used for the various obstacles around the sensing robot.
Microphone is connected with the Bluetooth transmission device in house subsystem; The bluetooth receiving trap is connected with PC through USB interface, and PC is connected with wireless image signal receiving device, wireless command sender unit through USB interface, RS232 serial ports respectively; Radio alarming (indication) signal receiving device is connected with warning device (band loudspeaker), and warning device (band loudspeaker) is connected with PC through the RS232 serial ports.
A kind of method for early warning of the robot ambulation supervisory system with distant early warning function is following:
A) during robot autonomous walking, the complaint message around 14 road infrared distance sensor sensing robots also sends it to the single-chip microcomputer I in the transducing signal treating apparatus;
B) single-chip microcomputer I handles the complaint message that receives accordingly and obtains distance parameter; Again distance parameter and the distance threshold value of setting are in advance compared, if distance parameter all then gets into b more than or equal to described distance threshold value), otherwise; Single-chip microcomputer I is earlier through sending the general supply that power-off signal CS device cuts off self-control system; Produce alerting signal simultaneously, and be sent to radio alarming (indication) sender unit, get into f subsequently);
C) the robot autonomous walking while, the image in camera acquisition robot the place ahead reaches the DSP image processing apparatus through Video Decoder;
D) the DSP image processing apparatus carries out digitized processing to a two field picture and obtains straggling parameter and be sent to the single-chip microcomputer II in the transducing signal treating apparatus; Single-chip microcomputer II compares straggling parameter and the deviation threshold value of setting in advance; If straggling parameter is less than or equal to described deviation threshold value; Then single-chip microcomputer II carries out the timer zero clearing and gets into d), otherwise get into e);
E) single-chip microcomputer II timing; And with confinement time of the time of accumulative total and prior regulation relatively, if the time of accumulative total more than or equal to confinement time, then single-chip microcomputer II is earlier through sending the general supply that power-off signal CS device cuts off self-control system; Produce alerting signal simultaneously; And be sent to radio alarming (indication) sender unit, get into f subsequently), otherwise get into d);
F) radio alarming (indication) sender unit is delivered to radio alarming (indication) signal receiving device with this alerting signal through wireless-transmission network; Radio alarming (indication) signal receiving device is delivered to warning device with this alerting signal; The startup loudspeaker produced alert sound after warning device detected alerting signal; Notify the robot autonomous running gear of staff to go wrong, outdoor subsequently subsystem changes monitor state over to by alert status.
Wherein, distance parameter refers to the distance between the barrier on each road infrared distance sensor and each the self-inductance measurement direction; Straggling parameter refers in the actual motion robot with respect to the lateral excursion distance of the track route of theoretical expectation.
The staff hears that mute speaker after the alert sound and the monitoring software of opening on the PC open monitoring.
Monitoring software comprises video display window, transducing signal indication window, CS button, controls and select to click button and control command button.The staff makes judgement according to the demonstration of 14 road infrared distance sensor signal lamps in environmental information that shows in the monitoring software video display window and the transducing signal indication window, selects suitable control mode, and control robot is carried out different motions.
Wherein, control is selected to click button and is comprised that voice control selects to click button, mouse control selects to click button and Keyboard Control selects to click button; The control command button comprise advance, retreat, stop, left-hand rotation and right-hand rotation order button; Signal lamp is used for the result that infrared distance sensor senses around the display device people in the transducing signal indication window.
Three kinds of control modes are following:
1) when voice control was selected to click button and clicked, the staff began voice control.Sound signal is wirelessly transmitted to the bluetooth receiving trap through microphone by the Bluetooth transmission device, and the bluetooth receiving trap is sent to sound signal on the PC through the USB serial ports.PC at first this sound signal carries out voice recognition processing, and the result according to identification produces corresponding command signal again;
2) when mouse control was selected to click button and clicked, the staff began to control with mouse-click interface command button.Behind the mouse-click interface command button, PC produces corresponding command signal;
3) when Keyboard Control was selected to click button and clicked, the staff began button specific on the operation keyboard and controls.After button on the keyboard was pressed, PC produced corresponding command signal.
Under above-mentioned various control modes; The command signal that PC produces is transferred to robot controller through wireless command sender unit, wireless command signal receiving device successively after through the RS232 serial ports; Robot controller produces control signal corresponding according to the command signal that receives, thereby the controlling and driving execution architecture is carried out different actions.
The transmission of video images process is: camera is delivered to the DSP image processing apparatus with the image that collects; The DSP image processing apparatus carries out pre-service and compression of images such as filtering to the image that receives; Image after the compression passes through wireless image sender unit, wireless image signal receiving device successively; Be transferred to PC through the RJ45 interface again, PC carries out image decompressor to the image that receives, and the image after will decompressing again is shown on the video display window of monitoring software.
The signal lamp process of changing is in the transducing signal indication window: 14 road infrared distance sensors are sent to the single-chip microcomputer I in the transducing signal treating apparatus with the complaint message that senses; Single-chip microcomputer I handles the complaint message that receives accordingly and obtains 14 road distance parameters, 14 road distance parameters and the distance threshold value of setting is in advance compared again.Produce indicator signal then less than the pairing infrared distance sensor of distance parameter of distance threshold value; These indicator signals are passed through radio alarming (indication) sender unit, radio alarming (indication) signal receiving device, warning device successively; Be transferred to PC through the RS232 serial ports again, PC brightens the signal lamp of correspondence position in the transducing signal indication window according to these indicator signals.
Good effect of the present invention is: the installation of multichannel infrared distance sensor and method for arranging be sensing robot obstacle on every side in real time, and the sight line blind area of having eliminated camera has been improved sensitivity of reporting to the police and the incidence that has reduced the collision incident effectively.The use of machine vision technique can obtain the lateral deviation distance of the track route of robot and theoretical expectation constantly, therefore more can judge the moment that robot autonomous running gear breaks down exactly, has avoided unnecessary trouble.Machine vision and multi-sensor fusion technology have increased the scope of fault alarm and the scope of monitoring at the mutual compensating of alert status and monitor state, have reduced the generation of dangerous situation, have improved the security of robot in the monitor procedure.
Description of drawings
Further specify the present invention below in conjunction with accompanying drawing and enforcement.
Fig. 1 is a general structure block diagram of the present invention.
Fig. 2 is a monitoring software of the present invention interface synoptic diagram.
Fig. 3 is a kind of schematic flow sheet of method for early warning of the present invention.
Fig. 4 is the another kind of schematic flow sheet of method for early warning of the present invention.
Embodiment
Fig. 1 is a general structure block diagram of the present invention.This system can be divided into house subsystem and outdoor subsystem according to the installation site difference.Outdoor subsystem is installed in the field information acquisition robot, comprises camera, Video Decoder, image processing apparatus, video encoder, wireless image sender unit, 14 road infrared distance sensors, transducing signal treating apparatus, switchgear, radio alarming (indication) sender unit, wireless command signal receiving device, robot controller, driving execution mechanism; House subsystem places in the Control Room, comprises unlimited picture signal receiving device, PC, microphone, Bluetooth transmission device, bluetooth receiving trap, wireless command sender unit, radio alarming (indication) signal receiving device, warning device (band loudspeaker).
In outdoor subsystem; Camera is connected with the DSP image processing apparatus through Video Decoder; The DSP image processing apparatus is connected with the wireless image sender unit through video encoder; DSP image processing apparatus, 14 road infrared distance sensors, radio alarming (indication) sender unit, switchgear are connected with the transducing signal treating apparatus respectively, and wireless command signal receiving device, robot controller, driving execution mechanism are linked in sequence.
Wherein, the transducing signal treating apparatus comprises single-chip microcomputer I and single-chip microcomputer II, and single-chip microcomputer I receives and handles the complaint message of 14 road infrared distance sensor sensings and determine whether producing alerting signal according to process result; The processing result image that single-chip microcomputer II transmits according to the DSP image processing apparatus determines whether producing alerting signal.Switchgear is used for the general supply of the robot autonomous control system of break-make.14 road infrared distance sensors be installed on respectively robot around, be used for the various obstacles around the sensing robot, eliminate the sight line blind area of camera.
In house subsystem, microphone is connected with the Bluetooth transmission device; The bluetooth receiving trap is connected with PC through USB interface, and PC is connected with wireless image signal receiving device, wireless command sender unit through USB interface, RS232 serial ports respectively; Radio alarming (indication) signal receiving device is connected with warning device (band loudspeaker), and warning device (band loudspeaker) is connected with PC through the RS232 serial ports.
Fig. 2 is a monitoring software of the present invention interface synoptic diagram.This monitoring software comprises video display window, transducing signal indication window, CS button, controls and select to click button and control command button.Wherein, control is selected to click button and is comprised that voice control selects to click button, mouse control selects to click button and Keyboard Control selects to click button; The control command button comprise advance, retreat, stop, left-hand rotation and right-hand rotation order button; Mark control selects to click button and Keyboard Control selects to click button; The control command button comprise advance, retreat, stop, left-hand rotation and right-hand rotation order button; Signal lamp is used for the result that infrared distance sensor senses around the display device people in the transducing signal indication window.
Fig. 3 is a kind of schematic flow sheet of method for early warning of the present invention.A kind of process step of the method for early warning of this system is following:
1) robot autonomous walking;
2) complaint message around 14 road infrared distance sensor sensing robots and send it to single-chip microcomputer I in the transducing signal treating apparatus;
3) single-chip microcomputer I handles the acquisition distance parameter accordingly with the complaint message that receives, and these distance parameters and the distance threshold value of setting is in advance compared again;
4) if these distance parameters all more than or equal to described distance threshold value get into 3), otherwise get into 5);
5) single-chip microcomputer I produces alerting signal simultaneously earlier through sending the general supply that power-off signal CS device cuts off autonomous running gear.
Fig. 4 is the another kind of schematic flow sheet of method for early warning of the present invention.The another kind of process step of the method for early warning of this system is following:
1) the robot autonomous walking while, the image in camera acquisition robot the place ahead reaches the DSP image processing apparatus through Video Decoder;
2) the DSP image processing apparatus carries out digitized processing to a two field picture and obtains straggling parameter and be sent to the single-chip microcomputer II in the transducing signal treating apparatus; Single-chip microcomputer II compares straggling parameter and the deviation threshold value of setting in advance; If straggling parameter is less than or equal to described deviation threshold value; Then single-chip microcomputer II carries out the timer zero clearing and gets into 2), otherwise get into 3);
3) single-chip microcomputer II timing; And with confinement time of the time of accumulative total and prior regulation relatively, if the time of accumulative total more than or equal to confinement time, then single-chip microcomputer II is earlier through sending the general supply that power-off signal CS device cuts off self-control system; Produce alerting signal simultaneously; And be sent to radio alarming (indication) sender unit, get into 4 subsequently), otherwise get into 2);
4) radio alarming (indication) sender unit is delivered to radio alarming (indication) signal receiving device with this alerting signal through wireless-transmission network; Radio alarming (indication) signal receiving device is delivered to warning device with this alerting signal; The startup loudspeaker produced alert sound after warning device detected alerting signal, notified the robot autonomous running gear of staff to go wrong.
Claims (6)
1. robot ambulation supervisory system with distant early warning function; It is according to different house subsystem and the outdoor subsystems of being divided in installation site; It is characterized in that: described outdoor subsystem is installed in the field information acquisition robot, comprises camera, Video Decoder, DSP image processing apparatus, video encoder, wireless image sender unit, 14 road infrared distance sensors, transducing signal treating apparatus, switchgear, radio alarming (indication) sender unit, wireless command signal receiving device, robot controller, driving execution mechanism; Described house subsystem places in the Control Room, comprises wireless image signal receiving device, PC, microphone, Bluetooth transmission device, bluetooth receiving trap, wireless command sender unit, radio alarming (indication) signal receiving device, warning device (band loudspeaker).
2. a kind of robot ambulation supervisory system according to claim 1 with distant early warning function; It is characterized in that: in described outdoor subsystem; Camera is connected with the DSP image processing apparatus through Video Decoder; The DSP image processing apparatus is connected with the wireless image sender unit through video encoder; DSP image processing apparatus, 14 road infrared distance sensors, radio alarming (indication) sender unit, switchgear are connected with the transducing signal treating apparatus respectively, and wireless command signal receiving device, robot controller, driving execution mechanism are linked in sequence.
3. a kind of robot ambulation supervisory system according to claim 1 and 2 with distant early warning function; It is characterized in that: described transducing signal treating apparatus comprises single-chip microcomputer I and single-chip microcomputer II; Single-chip microcomputer I receives and handles environmental information that 14 road infrared distance sensors sense and judges whether to produce alerting signal according to process result, and the processing result image that single-chip microcomputer II then transmits according to the DSP image processing apparatus judges whether to produce alerting signal; Described switchgear is used for the general supply of the robot autonomous control system of break-make; Described 14 road infrared distance sensors be installed on respectively robot around, be used for the various obstacles around the sensing robot.
4. a kind of robot ambulation supervisory system with distant early warning function according to claim 1 is characterized in that: in described house subsystem, microphone is connected with the Bluetooth transmission device; The bluetooth receiving trap is connected with PC through USB interface, and PC is connected with wireless image signal receiving device, wireless command sender unit through USB interface, RS232 serial ports respectively; Radio alarming (indication) signal receiving device is connected with warning device (band loudspeaker), and warning device (band loudspeaker) is connected with PC through the RS232 serial ports.
5. a kind of robot ambulation supervisory system according to claim 1 with distant early warning function, it is characterized in that: described outdoor subsystem at first is in alert status, and its method for early warning is following:
A) during robot autonomous walking, the complaint message around 14 road infrared distance sensor sensing robots also sends it to the single-chip microcomputer I in the transducing signal treating apparatus;
B) single-chip microcomputer I handles the complaint message that receives accordingly and obtains distance parameter, again with distance parameter and the distance of setting in advance
Threshold value compares; If distance parameter all then gets into b more than or equal to described distance threshold value); Otherwise single-chip microcomputer I through sending the general supply that power-off signal CS device cuts off self-control system, produces alerting signal earlier simultaneously; And be sent to radio alarming (indication) sender unit, get into f subsequently);
C) the robot autonomous walking while, the image in camera acquisition robot the place ahead reaches the DSP image processing apparatus through Video Decoder;
D) the DSP image processing apparatus carries out digitized processing to a two field picture and obtains straggling parameter and be sent to the single-chip microcomputer II in the transducing signal treating apparatus; Single-chip microcomputer II compares straggling parameter and the deviation threshold value of setting in advance; If straggling parameter is less than or equal to described deviation threshold value; Then single-chip microcomputer II carries out the timer zero clearing and gets into d), otherwise get into e);
E) single-chip microcomputer II timing; And with confinement time of the time of accumulative total and prior regulation relatively, if the time of accumulative total more than or equal to confinement time, then single-chip microcomputer II is earlier through sending the general supply that power-off signal CS device cuts off self-control system; Produce alerting signal simultaneously; And be sent to radio alarming (indication) sender unit, get into f subsequently), otherwise get into d);
F) radio alarming (indication) sender unit is delivered to radio alarming (indication) signal receiving device with this alerting signal through wireless-transmission network; Radio alarming (indication) signal receiving device is delivered to warning device with this alerting signal; The startup loudspeaker produced alert sound after warning device detected alerting signal; Notify the robot autonomous running gear of staff to go wrong, outdoor subsequently subsystem gets into monitor state.
6. a kind of robot ambulation supervisory system according to claim 5 with distant early warning function; It is characterized in that: after described outdoor subsystem gets into monitor state; Single-chip microcomputer I in the transducing signal treating apparatus will receive the complaint message that 14 road infrared distance sensors sense and handle accordingly and obtain 14 road distance parameters; Again 14 road distance parameters and the distance threshold value of setting are in advance compared; Generation is less than the indicator signal of the pairing infrared distance sensor of distance parameter of distance threshold value; These indicator signals are passed through radio alarming (indication) sender unit, radio alarming (indication) signal receiving device, warning device successively, are transferred to PC through the RS232 serial ports again, and signal lamp corresponding in the transducing signal indication window brightens; Single-chip microcomputer II in the transducing signal treating apparatus does not work; The DSP image processing apparatus carries out pre-service and compression of images such as filtering to the image that receives; Image after the compression passes through video encoder, wireless image sender unit, wireless image signal receiving device successively; Be transferred to PC through the RJ45 interface again, video display window will show the image frame of collection.
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| CN103268104A (en) * | 2013-05-10 | 2013-08-28 | 哈尔滨工程大学 | Control system of remote-controlled rescue robot |
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| CN103941732A (en) * | 2014-04-18 | 2014-07-23 | 江苏物联网研究发展中心 | Bionic two-leg robot control system |
| CN104615131A (en) * | 2013-08-16 | 2015-05-13 | 苏州宝时得电动工具有限公司 | Self-driven mobile device and abnormity alarm method thereof |
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| CN103728931A (en) * | 2012-10-10 | 2014-04-16 | 苏州宝时得电动工具有限公司 | Remote monitoring system and remote monitoring method of automatic-walking device |
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| CN103142188B (en) * | 2013-03-22 | 2015-09-09 | 乐金电子研发中心(上海)有限公司 | A kind of intellective dust collector with mobile security monitoring function |
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| CN104615131A (en) * | 2013-08-16 | 2015-05-13 | 苏州宝时得电动工具有限公司 | Self-driven mobile device and abnormity alarm method thereof |
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| CN104639587A (en) * | 2013-11-13 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Robot fault monitoring system and method based on Internet of Things |
| CN103941732A (en) * | 2014-04-18 | 2014-07-23 | 江苏物联网研究发展中心 | Bionic two-leg robot control system |
| CN105242675A (en) * | 2014-06-17 | 2016-01-13 | 苏州宝时得电动工具有限公司 | Automatic walking equipment |
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Application publication date: 20120829 |