CN108942955A - A kind of household supervisory-controlled robot - Google Patents
A kind of household supervisory-controlled robot Download PDFInfo
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- CN108942955A CN108942955A CN201810726156.6A CN201810726156A CN108942955A CN 108942955 A CN108942955 A CN 108942955A CN 201810726156 A CN201810726156 A CN 201810726156A CN 108942955 A CN108942955 A CN 108942955A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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Abstract
The invention discloses a kind of household supervisory-controlled robots, it includes robot body and monitoring module, monitoring module includes camera, micro-control module, video compressing module, communication module, robot body includes robot bottom plate, the moving parts for being fixed at robot lower surface of base plate and robot body being driven to move, robot top plate, both ends are respectively hinged at the support frame on robot plate upper surface and robot top plate lower surface, micro-control module, communication module is each attached on support frame, camera is fixed on robot cover top surface, communication module is used to receive the control instruction of the mobile terminal transmission of user and is transmitted to micro-control module, micro-control module is for handling control instruction, the video pictures that video compressing module is used to shoot camera carry out compression processing.It is the configuration of the present invention is simple, easy to operate, feature-rich, video transmission rate is improved, and cost is relatively low, is suitable for large-scale promotion and uses.
Description
Technical field
The present invention relates to robot field, in particular to a kind of household supervisory-controlled robot.
Background technique
In family's safety-security area, presently the most common scheme is the fixed monitor camera of installation, and this scheme exists
Monitoring is not comprehensive, has the defect of blind area, in order to realize conduct monitoring at all levels, it is necessary to multiple monitor cameras are installed at home, this
Sample one, which carrys out mounting cost, also will increase, and virtually increase the cost of family's monitoring, while install multiple monitoring cameras at home
Chance allows people to generate the feeling that privacy exposes.So family's supervisory-controlled robot comes into being, by the mobile phone for being connected to the network user
Terminal, user can check video monitoring picture by mobile phone terminal, but this supervisory-controlled robot has a single function, video
Transmission rate is slower, cannot achieve the purpose of real time inspection monitored picture, and since yield is low so price is higher, can not
It popularizes.
Summary of the invention
The present invention provides a kind of household supervisory-controlled robot, and structure is simple and convenient to operate, is feature-rich, improves video biography
Defeated rate, and cost is relatively low, is suitable for large-scale promotion and uses.
The present invention provides a kind of household supervisory-controlled robot, including robot body and monitoring module, the monitoring modules
Including camera, micro-control module, video compressing module, communication module, the robot body includes robot bottom plate, fixation
Set on the robot lower surface of base plate and drive the moving parts of the robot body movement, robot top plate, both ends point
The support frame not being hinged on the robot plate upper surface and robot top plate lower surface, the micro-control module,
Communication module is each attached on support frame as described above, and the camera is fixed on the robot cover top surface, the communication mould
Block is used to receive the control instruction of the mobile terminal transmission of user and is transmitted to the micro-control module, and the micro-control module is used
In processing control instruction, the video pictures that the video compressing module is used to shoot the camera carry out compression processing.
Further, the monitoring module further includes microphone, and the microphone is used to acquire the sound in domestic environment.
Further, the monitoring module further includes touch screen module, memory module, and the touch screen module is fixed on institute
It states on support frame, the touch screen module is used to receive the control instruction of user's input and controls the camera, the storage
Module is used to store the video pictures of the camera shooting.
Further, the monitoring module further includes face recognition module, and the memory module is stored with face database,
The face recognition module is connect with the camera and the memory module respectively, the face for photographing to the camera
It is identified.
Further, microprocessor is equipped in the camera body, the microprocessor is for receiving the microcontroller
The control signal of module transmission simultaneously obtains the motor angle adjustment signal of the camera to the control signal processing.
Further, the communication module includes WiFi unit, and the WiFi unit is used to connect the mobile terminal of user.
Further, the robot body further includes the mechanical arm set on the robot cover top surface, the machine
Device arm is equipped with height sensors and distance-sensor.
Further, support frame as described above is equipped with lifting device, and the lifting device is for driving support frame as described above movable
So that the robot top plate rises or falls.
Further, the moving parts are set under the robot bottom plate including at least four and drive the robot sheet
Body movement row wheel, at least four row turbin generators, at least one periphery inductor, at least four rows turbin generator with it is described extremely
A few periphery inductor with the micro-control module connection.
Further, a kind of household supervisory-controlled robot further includes providing electricity for the monitoring module and the robot body
The power module of amount.
Compared with prior art, beneficial effects of the present invention are as follows:
Robot is combined with video monitoring to be monitored to domestic environment by the present invention, passes through the movement of robot
It is able to drive monitoring module and realizes comprehensive monitoring to domestic environment, the WiFi module that monitoring module includes makes user can be with
Internet is connected by mobile terminals such as mobile phone, tablet computers and sends control instruction to monitoring module, is remotely monitored with reaching
Purpose, while monitoring module can also send video monitoring picture, video prison to the mobile terminal of user by WiFi unit
Control picture needs to carry out compression processing by video compressing module to be sent again, can shorten the time of transmission of video in this way,
The rate of transmission of video is improved, the touch screen module being arranged on robot body can be used family and directly input on the touchscreen
Control instruction is to achieve the purpose that control household supervisory-controlled robot.Therefore the household supervisory-controlled robot structure is simple, feature-rich, energy
Enough realize comprehensive Household monitor, video transmission rate is high, and man-machine interaction is good, is suitble to large-scale promotion.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In attached drawing:
Fig. 1 is a kind of the functional block diagram of household supervisory-controlled robot of the invention；
Fig. 2 is the structural schematic diagram of household supervisory-controlled robot shown in Fig. 1；
Fig. 3 is the monitoring flow chart of household supervisory-controlled robot shown in Fig. 1；
Fig. 4 is the flow chart of remote human-machine's interaction of household supervisory-controlled robot shown in Fig. 1.
Specific embodiment
Below in conjunction with attached drawing of the present invention, technical solution of the present invention is described, but described embodiment is only
A part of the embodiment of the present invention, based on the embodiments of the present invention, those of ordinary skill in the art are not making creative labor
Every other embodiment obtained under the premise of dynamic, shall fall within the protection scope of the present invention.
Referring to FIG. 1, a kind of household supervisory-controlled robot, including robot body 10 and monitoring module 20.Wherein, mould is monitored
Block 20 is mounted on robot body 10, and the purpose of conduct monitoring at all levels is realized by the movement of robot.Monitoring module 20 wraps
Camera 201, micro-control module 202, video compressing module 203, communication module 204 are included, robot body 10 includes robot
Bottom plate 101, the moving parts 102 for being fixed at 101 lower surface of robot bottom plate and robot body 10 being driven to move, robot
Top plate 103, both ends are respectively hinged at the support frame 104 on 103 lower surface of 101 upper surface of robot bottom plate and robot top plate.
Micro-control module 202, communication module 204 are each attached on support frame 104, and camera 201 is fixed on robot top
103 upper surface of plate can shoot the video monitoring picture of domestic environment by camera.Communication module 204 is for receiving user
Mobile terminal send control instruction and be transmitted to micro-control module 202, wherein user send control instruction can be divided into
Two kinds, namely for control the household supervisory-controlled robot direction of motion control instruction and for control camera shooting angle,
The control instruction of shooting height.Micro-control module 202 is for handling control instruction, and micro-control module 202 is to control instruction processing
Control signal is obtained later, and household supervisory-controlled robot is controlled by the control signal, and video compressing module 203 is used for
Compression processing is carried out to the video pictures that camera 201 is shot to need when user will check video monitoring picture on mobile phone
The video monitoring picture of shooting is sent on the mobile phone of user by household supervisory-controlled robot, due to camera shooting video very
Greatly, so often will appear the slow phenomenon of transmission rate during transmission, but view is being sent with household supervisory-controlled robot
Before frequency picture, compression processing can be carried out to the video monitoring picture of shooting, then compressed video monitoring picture is sent to
The mobile phone of user, the mobile phone of user receives after the video monitoring picture of compression can be by decompression processing by the video monitoring of compression
Picture recovery is that original video monitoring picture plays out, and can thus make transmission of video smooth, shorten transmission of video when
Between, so that user is more nearly real time inspection video monitoring picture.
Above-mentioned video compress and video compression are all made of M-JPEG algorithm, and M-JPEG algorithm is that the video sequence of movement is made
It is handled for continuous static image, this compress mode individually completely compresses each frame, can deposit at random in editing process
Store up each frame.But the storage occupied space of each frame image of the algorithm is bigger, so being adopted before compression of images to image
Each frame image can be indicated with less pixel value with AMTSSTS partitioning algorithm, can thus be effectively reduced and be deposited
It stores up space, improve efficiency of transmission.
Communication module 204 includes WiFi unit 2041, and WiFi unit 2041 is used to connect the mobile terminal of user.Work as user
When outgoing, so that it may open the household supervisory-controlled robot, and make mobile phone and the household supervisory-controlled robot net by WiFi unit
Network connection, such user can check the monitor video of family at any time outdoors to understand in family whether be abnormal situation,
And control instruction can also be sent to the household supervisory-controlled robot by mobile phone, to achieve the purpose that remote control robot,
Situation in more convenient user monitoring man.
Monitoring module 20 further includes microphone 205, and microphone 205 is used to acquire the sound in domestic environment.Microphone 205 is fixed on
On the household supervisory-controlled robot ontology 10, during the video pictures of camera shooting domestic environment, acquired by microphone
Sound in domestic environment, and collected voice signal is handled by audio processor, and judges in domestic environment
Voice signal whether have exception, if there is exception, exception information is just sent to the mobile phone of user by communication module and is reminded
User is handled, and user can be notified in time to avoid unnecessary loss when being abnormal situation at home.
Monitoring module 20 further includes touch screen module 206, memory module 207, and touch screen module 206 is fixed on support frame
On 104, touch screen module 206 is used to receive the control instruction of user's input and controls camera, and memory module 207 is for storing
The video pictures of camera shooting.Touch screen module 206 be tangible display screen, user can on the touch screen input control
Instruction is to control the movement of the household supervisory-controlled robot and the realization of other function, for example, user is in, at this moment there is no need to this
Household supervisory-controlled robot is monitored domestic environment, and user can be standby or closing by inputting in touch display screen
Control instruction can also input the control instruction of charging to close the household supervisory-controlled robot or user in touch display screen
Juice point is automatically moved into controlling the household supervisory-controlled robot to charge.
Monitoring module 20 further includes face recognition module 208, and memory module 207 is stored with face database, recognition of face
Module 208 is connect with camera 201 and memory module 207 respectively, for identifying to the face that camera photographed.Work as camera shooting
When head takes face picture, face recognition module will compare the face picture and the face picture in face database
It is right, with this come whether judge the people into family be stranger, just passes through communication module if it is stranger and sent to user and mention
Show information, to prompt user's family to have stranger's entrance.
It is equipped with microprocessor in camera body, microprocessor is used to receive the control signal of micro-control module transmission and right
The control signal processing obtains the motor angle adjustment signal of camera.If the control instruction that user sends is taken the photograph for controlling
As head shooting angle, then micro-control module obtains just controlling letter after control signal according to the control instruction that user sends
It number is sent to microprocessor, microprocessor can obtain the motor angle adjustment signal of camera according to the control signal received,
So that shooting angle is adjusted to the angle progress video capture that user wants adjustment by camera, meets user and observe camera shooting at any time
Requirement of the machine in the video monitoring of any angle shot.Camera body is equipped with the key for opening or closing the camera
Switch, user can directly open or close the camera by pressing the key switch.
Referring to FIG. 2, support frame 104 is equipped with lifting device 1041, lifting device 1041 is for driving support frame 104 living
It moves so that robot top plate rises or falls.Freely adjusting for video camera shooting height may be implemented by rising or falling for top plate
Section.Robot body 10 further includes the mechanical arm 105 set on 103 upper surface of robot top plate, and robotic arm is equipped with height and incudes
Device and distance-sensor.It can make lifting device that top plate be driven accurately to reach at object height by height sensors, so that
The video pictures of video camera shooting are more comprehensive, and monitoring module 20 further includes deployment module 209, and difference can be set in deployment module
Monitoring range can incude whether the people enters in monitoring range by distance-sensor when video camera takes people,
If entered in monitoring range, module of deploying troops on garrison duty sends prompt information to the mobile phone of user by communication module, passes through deployment
Module can arbitrarily adjust monitoring range, adapt to different occasions, expand the use scope of household supervisory-controlled robot.
Moving parts 102 include at least four row wheels for being set to lower drive robot body 10 movement of robot bottom plate 101
1021, at least four row turbin generators 1022, at least one periphery inductor 1023, at least four row turbin generators and at least one week
Side inductor with micro-control module connection.The movement that micro-control module drives row to take turns by control row turbin generator, family
With the line-of-road movement that supervisory-controlled robot is pre-set along user using infrared tracking technique, the household when user stays out
Supervisory-controlled robot comprehensive can also be monitored domestic environment, at least one periphery inductor include infrared emission tube,
Photosensitive receiving tube, distance-sensor etc. carry out signal detection by the combination of infrared emission tube and photosensitive receiving tube and realize certainly
The dynamic function of tracking, can detecte on the moving line of household supervisory-controlled robot whether have barrier by distance-sensor, from
And avoiding obstacles.
Household supervisory-controlled robot further includes providing the power module 30 of electricity for monitoring module 20 and robot body 10.Electricity
Source uses high capacity polymer lithium battery or civilian alternating current.
It will be divided into two parts the course of work for introducing the household supervisory-controlled robot below.This two parts is respectively intelligent monitoring stream
Journey and remote human-machine's interaction flow.
Firstly, introducing intelligent monitoring process.
When user leaves home, the monitoring function of household supervisory-controlled robot can be opened, and by mobile phone and the household monitoring equipment
Device people by network connection, user be in outside can with mobile phone by communication module to the household supervisory-controlled robot send control
System instructs to control the various functions of the household supervisory-controlled robot, the camera carried on the household supervisory-controlled robot and microphone meeting
Acquisition vision signal and audio signal are simultaneously stored and processed.
The intelligent monitoring process of the household supervisory-controlled robot is as shown in figure 3, include the following steps:
Step S310: mobile phone opens camera and microphone by network connection household supervisory-controlled robot；
Step S320: household supervisory-controlled robot is moved according to particular course at home, is mounted in the household supervisory-controlled robot
Camera shooting video and microphone on ontology acquire audio；
Step S330: store shooting video and collected audio；
Step S340: the video taken or collected audio are judged with the presence or absence of abnormal conditions, if it is, executing
Step S350；If not, thening follow the steps S320；
In step S340, analyzed and determined respectively for the video and collected audio of shooting, specifically, right
In the video of shooting, when someone occurs in video, using face recognition module to the facial image occurred in the video of shooting
It is identified, when the facial image in the face database for detecting the facial image and storage is different from, just illustrates to regard
The people occurred in frequency is stranger, so that it may which determining the video, there are abnormal conditions, for collected audio, calculate the audio
Background sound, when background sound be greater than background sound given threshold when, just illustrate that there are abnormal conditions for the audio, wherein back
Scape sound given threshold is the average value of the background sound of the audio acquired during for a period of time according to nobody home come really
Fixed；
Step S350: abnormal prompt information is sent to the mobile phone of user, and by the mobile phone of the transmission of video of shooting to user.
In step S350, need to carry out the video with transmission before the video to the transmission shooting of the mobile phone of user
Compression processing, specifically, using M-JPEG algorithm is used, M-JPEG algorithm is using the video sequence of movement as continuous static
Image is handled, and this compress mode individually completely compresses each frame, can each frame of random storage in editing process.But
The storage occupied space of each frame image of the algorithm is bigger, so being divided to image using AMTSSTS before compression of images
Algorithm can indicate each frame image with less pixel value, can thus effectively reduce memory space, improve biography
Defeated efficiency.
Household supervisory-controlled robot connects internet by WiFi module, and the mobile phone access internet of user can be to household
Supervisory-controlled robot sends control instruction and carrys out remote control home supervisory-controlled robot.
The human-computer interaction process of household supervisory-controlled robot is described below.
There are two types of modes for the human-computer interaction of the household supervisory-controlled robot, are remote human-machine's interaction and the man-machine friendship of touch screen respectively
Mutually, remote human-machine's interaction is as shown in Figure 4, comprising the following steps:
Step S410: video is sent to robot by mobile phone and checks instruction；
In step S410, when user thinks the monitor video remotely checked in family, so that it may access household monitoring equipment
Device people, so that robot can will check on the realtime video transmission to the mobile phone of user of camera shooting for user；
When robot does not receive the control instruction of user's transmission, robot will move at home according to preset route
To shoot monitor video, preset route is to be according to factor designs, the robot such as domestic environment and building construction ornaments
It is moved using infrared tracking technique；
Step S420: it on the transmission of video to user mobile phone that robot shoots camera, is checked for user；
In step S420, it can pass through before robot is by transmission of video to the mobile phone of user that camera is shot
Video is carried out compression processing by M-JPEG algorithm, is again solved video by M-JPEG algorithm after mobile phone receives video
Pressure processing, can greatly shorten the time of transmission of video in this way, improve the real-time of user's checking monitoring video；
Step S430: user sends control instruction to robot by mobile phone；Wherein, control instruction includes camera control
Instruction and robot control instruction；
In step S430, user is broadly divided into two kinds to the control instruction that robot is sent by mobile phone, is respectively
Camera control instruction and robot control instruction, camera control instruction refer to shooting height for adjusting camera, clap
The control instruction of the factors such as angle is taken the photograph, robot control instruction refers to the control instruction for controlling robot motion direction, tool
Body, when user is by the shooting angle that the control instruction that mobile phone is sent is for controlling camera, robot will be to taking the photograph
The shooting angle of camera is adjusted as hair send motor angle adjustment signal；When user is by the control instruction that mobile phone is sent
When for controlling the shooting height of camera, robot will control the top where the drive camera of the lifting device on support frame
Plate movement, while height locating for camera is incuded by the height sensors on mechanical arm, enable camera accurate
It is parked in the shooting height photographs video that user thinks adjustment；When user is for controlling machine by the control instruction that mobile phone is sent
When the control instruction of people's direction of motion, robot will control the driving of row turbin generator to control the direction of motion of robot；
Step S440: robot handles above-mentioned control instruction, generates control signal；
Step S450: camera shooting or control robot motion are controlled according to control signal.
As it can be seen that camera fixed shooting angle can be not limited to when checking the monitor video of family by mobile phone remote
The video pictures of shooting, user can freely adjust the shooting angle and shooting height of camera according to the demand of itself, also
The direction of motion of adjustable robot, such user can check the monitor video of family anywhere, accomplish comprehensive
Monitoring；First monitor video can be compressed when robot sends monitor video to the mobile phone of user and transmitted again, thus can
The time for greatly shortening transmission of video, enhance the real-time of user's checking monitoring video.
Touch screen human-computer interaction is achieved in that input control instruction on the touchscreen, and robot carries out control instruction
It handles to control the realization of the various functions of household supervisory-controlled robot, such user can very directly quickly after going home
Control household supervisory-controlled robot.
In summary, household supervisory-controlled robot of the invention realizes household in such a way that robot and video camera combine
The conduct monitoring at all levels of environment, can be according to preset reasonable patrol route movement to guarantee that camera can completely shoot house
In each corner of the room monitor video, accomplish conduct monitoring at all levels；User can by the mobile terminals such as mobile phone, tablet computer with
Household supervisory-controlled robot is communicatively coupled, and such user can long-range checking monitoring video and remote according to the demand of itself
The monitor video of process control household supervisory-controlled robot shooting different angle, not chummery, meets the self-demand of user；In machine
People needs video carrying out compression processing when sending monitor video to the mobile terminal of user, can thus shorten transmission of video
Time, the real-time of user's checking monitoring video is improved, more convenient user remotely monitors family；Household of the invention
Supervisory-controlled robot is easy to operate, feature-rich, and large-scale promotion is suitble to use.
Claims (10)
1. a kind of household supervisory-controlled robot, which is characterized in that including robot body and monitoring module, the monitoring module includes
Camera, micro-control module, video compressing module, communication module, the robot body include robot bottom plate, are fixed at
The robot lower surface of base plate simultaneously drives the moving parts, robot top plate, both ends of the robot body movement to cut with scissors respectively
Connect the support frame on the robot plate upper surface and robot top plate lower surface, the micro-control module, communication
Module is each attached on support frame as described above, and the camera is fixed on the robot cover top surface, and the communication module is used
The control instruction that sends in the mobile terminal for receiving user is simultaneously transmitted to the micro-control module, and the micro-control module is for locating
Control instruction is managed, the video pictures that the video compressing module is used to shoot the camera carry out compression processing.
2. a kind of household supervisory-controlled robot according to claim 1, which is characterized in that the monitoring module further includes words
Cylinder, the microphone are used to acquire the sound in domestic environment.
3. a kind of household supervisory-controlled robot according to claim 1, which is characterized in that the monitoring module further includes touching
Panel module, memory module, the touch screen module are fixed on support frame as described above, and the touch screen module is defeated for receiving user
The control instruction that enters simultaneously controls the camera, and the memory module is used to store the video pictures of the camera shooting.
4. a kind of household supervisory-controlled robot according to claim 1, which is characterized in that the monitoring module further includes face
Identification module, the memory module are stored with face database, the face recognition module respectively with the camera and described
Memory module connection, the face for photographing to the camera identify.
5. a kind of household supervisory-controlled robot according to claim 1, which is characterized in that be equipped in the camera body micro-
Processor, the microprocessor are used to receive the control signal that the micro-control module is sent and obtain to the control signal processing
To the motor angle adjustment signal of the camera.
6. a kind of household supervisory-controlled robot according to claim 1, which is characterized in that the communication module includes WiFi mono-
Member, the WiFi unit are used to connect the mobile terminal of user.
7. a kind of household supervisory-controlled robot according to claim 1, which is characterized in that the robot body further includes setting
In the mechanical arm of the robot cover top surface, the robotic arm is equipped with height sensors and distance-sensor.
8. a kind of household supervisory-controlled robot according to claim 1, which is characterized in that support frame as described above is equipped with lifting dress
It sets, the lifting device is for driving support frame as described above activity so that the robot top plate rises or falls.
9. a kind of household supervisory-controlled robot according to claim 1, which is characterized in that the moving parts include at least four
A row wheel that the robot body movement is driven under the robot bottom plate, at least four row turbin generators, at least one
Periphery inductor, at least four rows turbin generator and at least one described periphery inductor with the micro-control module route
Connection.
10. a kind of household supervisory-controlled robot according to claim 1, which is characterized in that further include for the monitoring module
The power module of electricity is provided with the robot body.
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| CN111010542A (en) * | 2019-12-12 | 2020-04-14 | 河南恒宇工程管理有限公司 | Remote monitoring management system and method |
| CN111107315A (en) * | 2019-12-16 | 2020-05-05 | 合肥泾渭信息通讯有限公司 | Intelligent home remote monitoring system and use method thereof |
| CN112118379A (en) * | 2020-10-26 | 2020-12-22 | 国网河南省电力公司濮阳供电公司 | Power equipment inspection device under power grid emergency repair night vision environment and working method |
| CN112540615A (en) * | 2020-12-05 | 2021-03-23 | 重庆大学 | Universal platform for servicing robot functional components |
| CN113570915A (en) * | 2021-07-08 | 2021-10-29 | 云南国土资源职业学院 | Think removal explanation device of political affairs classroom teaching usefulness |
| WO2023138063A1 (en) * | 2022-01-24 | 2023-07-27 | 美的集团(上海)有限公司 | Household inspection method, non-volatile readable storage medium, and computer device |
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