CN109015670A - The healthy robot for detecting and handling for environmental data - Google Patents
The healthy robot for detecting and handling for environmental data Download PDFInfo
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- CN109015670A CN109015670A CN201810821743.3A CN201810821743A CN109015670A CN 109015670 A CN109015670 A CN 109015670A CN 201810821743 A CN201810821743 A CN 201810821743A CN 109015670 A CN109015670 A CN 109015670A
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
Abstract
The healthy robot that the invention discloses a kind of to detect and handle for environmental data, including power module, central processing system, control module, motion-control module, environment monitoring module, processing module, interactive module, communication module and data collection module；The output end of the power module is connected with the input terminal of central processing system, the output end of the central processing system is connected with the input terminal of control module, the output end of the control module is connected with the input terminal of motion-control module, environment monitoring module, processing module and communication module respectively, the output end of the processing module is connected with the input terminal of interactive module, and the output end of the environment monitoring module is connected with the input terminal of data collection module.Intelligence degree of the present invention is high, on the one hand can play mobile monitoring alarm function, on the other hand can control other smart machines, and autonomous processing environment is dangerous, and loss is minimized.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of healthy machines for detecting and handling for environmental data
People.
Background technique
As the improvement of people's living standards, people's health, awareness of safety are increasingly enhanced, for the safety of home environment
It is required that also higher and higher, in recent years, the health service robot quickly grown is exactly the ideal carrier for meeting this demand, is utilized
Robot realizes that intelligent and multifunction is the developing direction of wisdom life, and many users start introduction domestic robot and are used for
Monitor home environment, it is ensured that household safe, but existing healthy robot intelligence degree is not high, is merely capable of monitoring environment number
According to and alarm, lack the ability that certain processing threatens, thus urgently design it is a kind of detect and handle for environmental data it is strong
Health robot can monitor the data exception of home environment in time, can not merely play warning function, and have processing
The ability of threat.
Through retrieving, Chinese patent Authorization Notice No. is that CN104898674A discloses a kind of harmful influence leakage accident environment prison
Survey mobile robot and monitoring system, including accident monitoring control system and accident monitoring management system.Accident monitoring control system
System primary recipient wind speed wind direction sensor, temperature/humidity sensor, technical grade GPS Section, compound gas detecting instrument, network
The monitoring information of high-definition anti-explosion thermal camera is carried out by wireless transmission part and Radio reception section and long-range administrative section
The information exchanges such as meteorology/gas concentration, video, and control the movement of mobile robot；Accident monitoring management system is used for accident
The analysis and processing of site environment information.
The existing healthy robot for detecting and handling for environmental data has the following disadvantages: existing robot intelligence
It is not high that degree can be changed, be merely able to play alarm function when monitoring environmental abnormality, can not be handed over other smart machines
Mutually, lack the dangerous ability of processing.
Summary of the invention
The healthy robot that the purpose of the present invention is to provide a kind of to detect and handle for environmental data, has intelligence
Degree is high, on the one hand can play the role of monitoring, alarming, on the other hand can control other smart machines, autonomous processing environment danger
The advantage of danger, solves in the prior art that robot automtion degree is not high, is merely able to play report when monitoring environmental abnormality
The problem of alert effect, can not interact with other smart machines, lack the ability of processing danger.
A kind of healthy robot for detecting and handling for environmental data according to an embodiment of the present invention, including power supply mould
Block, central processing system, control module, motion-control module, environment monitoring module, processing module, interactive module, communication module
And data collection module；
The output end of the power module is connected with the input terminal of central processing system, the central processing system it is defeated
Outlet is connected with the input terminal of control module, the output end of the control module respectively with motion-control module, environmental monitoring
Module, processing module are connected with the input terminal of communication module, the output end of the processing module and the input terminal of interactive module
It is connected, the output end of the environment monitoring module is connected with the input terminal of data collection module；
The power module is used to power for the central processing system of robot, it is ensured that and robot works normally, and from
Dynamic setting both of which, starts normal mode under normal circumstances, provides robot normal walking and monitoring data；Energy consumption is serious
Shi Qidong energy-saving mode closes blinking light, reduces the speed of travel；
The central processing system is used to obtain the environmental data of multiple environment monitoring module acquisitions, and according to environmental data
Type upload the environmental data of acquisition, and the environmental data of acquisition is handled, sends a command to control module；
The control module is used to formulate control program according to instruction, is calculated according to the multinomial environmental data of acquisition comfortable
Degree, safety index；By the comfort level, the execution condition of safety index and preset multiple smart machine control programs respectively into
Row matching, obtains meeting control program expected from user, the execution condition of each smart machine control program include comfort level,
Safety index threshold range, the corresponding comfort level of execution condition of different intelligent equipment control program, safety index threshold range
Difference, and running priority grade and target control comprising multiple environment adjustment smart machine in each smart machine control program
Parameter；
The motion-control module includes vision capture unit and mobile unit, vision capture unit machine for identification
Barrier in device people's movement routine transfers data to central processing system processing, controls robot obstacle avoidance, be provided simultaneously with
Memory function, walking same routes no longer upload data, and robot is directly around barrier, and the mobile unit is for controlling machine
Device people is mobile according to default route, and by vision capture unit avoiding barrier, specifies new route；
The environment monitoring module includes temperature monitoring unit, smoke monitoring unit and monitoring of hazardous gas unit, described
Temperature sensor is set in temperature monitoring unit, the temperature sensor sets threshold up and down, real-time monitoring ambient temperature data, institute
It states and sets smoke sensor device in smoke monitoring unit, the smoke sensor device sets threshold up and down, is used for real-time monitoring environmental smoke
Concentration, the monitoring of hazardous gas unit is for hazardous gas content in real-time monitoring environment；
The processing module obtains connection according to executing instruction of sending of control module and interactive module, it is anticipated that control
Scheme processed realizes the interaction of robot and other smart machines, and the universal remote control installed by robot body is realized to other
The start and stop of smart machine and adjusting numerical value；
The interactive module includes ventilating unit, fire extinguishing unit and thermostat units, and the ventilating unit is for receiving remote control
Instruction starts intelligent air regenerating device and is aerated ventilation, and hazardous gas is discharged in diffusion smog, and the fire extinguishing unit is distant for receiving
Control instruction starting extinguishing device puts out the open fire in environment, and the thermostat units adjust ring for receiving telecommand starting air-conditioning
Border temperature；
The communication module includes alarm unit and mobile device, and the alarm unit is for sounding an alarm, and to region
Safety net sends notice, and the mobile device is used to send warning information to the mobile device of user, notifies user；
The data collection module makes conclusion according to the time of abnormal data, place for collecting abnormal environment data
Analysis, is uploaded to user network.
On the basis of above scheme, the healthy robot for detecting and handling for environmental data further includes user's mould
Block, the output end of the line module are connected with the input terminal of control module, and the line module is used to that user right to be arranged,
Privacy of user is protected, voice module is equipped in the line module, it is preferential to obtain highest by user for intelligent recognition user's tone color
Grade directly controls robot and completes sequence of user instruction.
On the basis of above scheme, the healthy robot for detecting and handling for environmental data further includes storage mould
Block, the input terminal of the memory module are connected with the output end of data collection module, and the memory module for depositing for a long time
Store up abnormal environment data.
On the basis of above scheme, the environment monitoring module further includes humidity-monitoring unit, the humidity detection unit
Humidity sensor is inside set, the humidity sensor sets threshold up and down, for humidity variation in real-time monitoring environment.
On the basis of above scheme, the interactive module further includes Dehumidifying element, and the Dehumidifying element is for adjusting environment
Interior humidity.
On the basis of above scheme, the alarm unit includes alarm bell, warning lamp and wireless transceiver, the wireless transceiver
It is wirelessly connected with region security net.
On the basis of above scheme, it is equipped with backup power source in the power module, is used for emergency service.
On the basis of above scheme, the user right upper limit of the line module is 3 people.
On the basis of above scheme, the storage period of the memory module is 3 months.
Compared with the prior art, the invention has the beneficial effects that: robot can be controlled not by motion-control module
Offset moves and avoids barrier, installs monitoring device compared in fixed bit, the mode of mobile monitoring can faster find ring
Border data exception is handled in time；By environment monitoring module can many-sided, comprehensive monitoring items environmental data, so as to
Discovery potential threat in time.
The interaction that can be realized robot Yu other smart machines by processing module and interactive module, passes through robot control
Other equipment starting and closing processed minimize danger to play the ability threatened from main process task；Pass through communication module energy
Alarm function is enough played, staff is notified to come to handle danger in time.Intelligence degree of the present invention is high, on the one hand can play
On the other hand mobile monitoring alarm function can control other smart machines, autonomous processing environment is dangerous, and loss is down to most
It is low.
Detailed description of the invention
Fig. 1 is a kind of system block diagram of healthy robot for detecting and handling for environmental data proposed by the present invention；
Fig. 2 is a kind of one embodiment of healthy robot for detecting and handling for environmental data proposed by the present invention
Work flow diagram.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings.
Referring to Fig.1-2, a kind of healthy robot for detecting and handling for environmental data, including power module 1, centre
Reason system 2, control module 3, motion-control module 4, environment monitoring module 5, processing module 6, interactive module 7,8 and of communication module
Data collection module 9.
The output end of power module 1 is connected with the input terminal of central processing system 2, the output end of central processing system 2
Be connected with the input terminal of control module 3, the output end of control module 3 respectively with motion-control module 4, environment monitoring module 5,
Processing module 6 is connected with the input terminal of communication module 8, and the output end of processing module 6 is connected with the input terminal of interactive module 7
It connects, the output end of environment monitoring module 5 is connected with the input terminal of data collection module 9.
Power module 1 is used to power for the central processing system 2 of robot, it is ensured that robot works normally, and automatic
Both of which is set, starts normal mode under normal circumstances, robot normal walking and monitoring data is provided.When consuming energy serious
Start energy-saving mode, close blinking light, reduce the speed of travel, both of which reasonable energy utilization is set, robot is played
Maximum effect.Central processing system 2 is used to obtain the environmental data that multiple environment monitoring modules 5 acquire, and according to environmental data
Type upload the environmental data of acquisition, and the environmental data of acquisition is handled, sends a command to control module 3.Control
Module 3 is used to formulate control program according to instruction, calculates comfort level, safety index according to the multinomial environmental data of acquisition；It will relax
Appropriateness, safety index are matched respectively with the execution condition of preset multiple smart machine control programs, obtain meeting use
Control program expected from person, the execution condition of each smart machine control program include comfort level, safety index threshold range, no
It is different with the corresponding comfort level of execution condition of smart machine control program, safety index threshold range, and each intelligence is set
Running priority grade and target control parameter comprising multiple environment adjustment smart machine in standby control program, allow the robot to
According to the work of priority without any confusion, working efficiency is improved.Motion-control module 4 includes vision capture unit and mobile list
Member, the vision capture unit barrier in robot movement routine for identification, transfers data to central processing system processing, control
Robot obstacle avoidance processed is provided simultaneously with memory function, and walking same routes no longer upload data, and robot is directly around obstacle
Object, mobile unit is mobile according to default route for controlling robot, and by vision capture unit avoiding barrier, specifies new
Route, play a protective role to robot, prevent its damage.
Environment monitoring module 5 includes temperature monitoring unit, smoke monitoring unit and monitoring of hazardous gas unit, temperature monitoring
Temperature sensor, the model CWDZ15 of temperature sensor are set in unit, temperature sensor sets threshold up and down, real-time monitoring ring
Border temperature data sets smoke sensor device, the model TAD-168 of smoke sensor device in smoke monitoring unit, and smoke sensor device is set
Fixed threshold up and down is used for real-time monitoring environmental smoke concentration, and monitoring of hazardous gas unit is for gas dangerous in real-time monitoring environment
Body content.Processing module 6 obtains connection according to the executing instruction of sending of control module 3 and interactive module 7, it is anticipated that control
Scheme realizes the interaction of robot and other smart machines, and the universal remote control installed by robot body is realized to other intelligence
The start and stop of energy equipment and adjusting numerical value.
Interactive module 7 includes ventilating unit, fire extinguishing unit and thermostat units, and ventilating unit is for receiving telecommand starting
Intelligent air regenerating device is aerated ventilation, diffusion smog, discharge hazardous gas, and fire extinguishing unit is gone out for receiving telecommand starting
Fiery device puts out the open fire in environment, and thermostat units adjust environment temperature for receiving telecommand starting air-conditioning.Communication module 8
Including alarm unit and mobile device, alarm unit sends to region security net and notifies for sounding an alarm, and mobile device is used
In sending warning information to the mobile device of user, user is notified.Data collection module 9 is for collecting abnormal environment data, root
It makes and summarizing and analyzing according to the time of abnormal data, place, be uploaded to user network.
The healthy robot for detecting and handling for environmental data further includes line module 11, the output end of line module 11
It is connected with the input terminal of control module 3, line module 11 protects privacy of user, line module 11 for user right to be arranged
Interior to be equipped with voice module, intelligent recognition user's tone color obtains highest priority by user, directly controls robot and completes a system
Column user instruction.The healthy robot for detecting and handling for environmental data further includes memory module 10, memory module 10 it is defeated
Enter end to be connected with the output end of data collection module 9, memory module records environment for storing abnormal environment data for a long time
Data variation；Environment monitoring module 5 further includes humidity-monitoring unit, and humidity sensor, humidity sensor are set in humidity detection unit
The model HM1520 of device, humidity sensor set threshold up and down, for humidity variation in real-time monitoring environment；Interactive module 7
It further include Dehumidifying element, Dehumidifying element is used to adjust the humidity in environment；Alarm unit includes alarm bell, warning lamp and wireless receiving and dispatching
Device, wireless transceiver and region security net are wirelessly connected；It is equipped with backup power source in power module, is used for emergency service；User's mould
The user right upper limit of block is 3 people；The storage period of memory module is 3 months, prevents memory module to be saturated, can not store new number
According to.
In use, specific work steps is as follows:
S1: when electric energy abundance, power module starts normal mode as robot power supply, and robot freely moves in environment
It is dynamic, by vision capture unit cognitive disorders object, controls robot and get around barrier walking, track route is remembered by robot, then
Secondary direct hedge barrier when passing through same position；
S2: in walking process, temperature sensor, humidity sensor, smoke sensor device and hazardous gas test cell difference
Every numerical value in walking path memory ambient enviroment is tested, central processing system analysis processing is uploaded to；
S3: when numerical value is between upper and lower threshold, robot is continued to move to, when numerical value exceeds upper and lower threshold, first really
Whether safe recognize robot present position, if dangerous, be first moved to home, then analyzed by central processing system,
Quickly send a command to control module；
S4: control module determines control program according to abnormal data, and hazardous gas index is more than that upper and lower threshold belongs to highest
Priority, preferential issue execute instruction to processing module, other numerical value belong to the second priority, after processing module receives instruction
It is connected by other smart machines in interactive module and environment, it is preferential to start smart machine control air interchanger starting,
Intelligent door and window is opened, and when being taken a breath and close gas leakage valve, and open fire occur, starting extinguishing device puts out open fire, when
Temperature, humidity overrun when being worth, and start Dehumidifying element and thermostat units, so that Numerical regression is normal, and pass through data collection
This abnormal data of module collection；
S5: data are still abnormal after autonomous process, and central processing system is made a response rapidly, and it is logical to issue emergency instruction
It crosses communication module to be alarmed and notify user, be rescued in time；
S6: user can obtain user right by line module simultaneously, directly control robot by voice broadcast and hold
Row instruction.
Place is not described in detail by the present invention, is the well-known technique of those skilled in the art.
Above embodiments are used for illustrative purposes only, rather than limitation of the present invention, the technology people in relation to technical field
Member, without departing from the spirit and scope of the present invention, can also make various transformation or modification, therefore all equivalent
Technical solution also should belong to scope of the invention, should be limited by each claim.
Claims (9)
1. a kind of healthy robot for detecting and handling for environmental data, it is characterised in that: including power module, central processing
System, control module, motion-control module, environment monitoring module, processing module, interactive module, communication module and data collection
Module；
The output end of the power module is connected with the input terminal of central processing system, the output end of the central processing system
Be connected with the input terminal of control module, the output end of the control module respectively with motion-control module, environment monitoring module,
Processing module is connected with the input terminal of communication module, and the output end of the processing module is connected with the input terminal of interactive module
It connects, the output end of the environment monitoring module is connected with the input terminal of data collection module；
The power module is used to power for the central processing system of robot, it is ensured that robot works normally, and sets automatically
Both of which is set, starts normal mode under normal circumstances, robot normal walking and monitoring data are provided；It is opened when consuming energy serious
Dynamic energy-saving mode, closes blinking light, reduces the speed of travel；
The central processing system is used to obtain the environmental data of multiple environment monitoring module acquisitions, and according to the class of environmental data
Type uploads the environmental data of acquisition, and handles the environmental data of acquisition, sends a command to control module；
The control module is used to formulate control program according to instruction, calculates comfort level, peace according to the multinomial environmental data of acquisition
Total index number；The comfort level, the execution condition of safety index and preset multiple smart machine control programs are carried out respectively
Match, obtain meeting control program expected from user, the execution condition of each smart machine control program includes comfort level, safety
Index threshold range, the corresponding comfort level of execution condition of different intelligent equipment control program, safety index threshold range are different,
And running priority grade and target control parameter comprising multiple environment adjustment smart machine in each smart machine control program；
The motion-control module includes vision capture unit and mobile unit, vision capture unit robot for identification
Barrier in movement routine transfers data to central processing system processing, controls robot obstacle avoidance, be provided simultaneously with memory
Function, walking same routes no longer upload data, and robot is directly around barrier, and the mobile unit is for controlling robot
It is mobile according to default route, and by vision capture unit avoiding barrier, specify new route；
The environment monitoring module includes temperature monitoring unit, smoke monitoring unit, monitoring of hazardous gas unit, the temperature prison
It surveys in unit and sets temperature sensor, the temperature sensor sets threshold up and down, real-time monitoring ambient temperature data, the smog
Smoke sensor device is set in monitoring unit, the smoke sensor device sets threshold up and down, is used for real-time monitoring environmental smoke concentration, institute
Monitoring of hazardous gas unit is stated for hazardous gas content in real-time monitoring environment；
The processing module obtains connection according to executing instruction of sending of control module and interactive module, it is anticipated that controlling party
Case realizes the interaction of robot and other smart machines, and the universal remote control installed by robot body is realized to other intelligence
The start and stop of equipment and adjusting numerical value；
The interactive module includes ventilating unit, fire extinguishing unit and thermostat units, and the ventilating unit is for receiving telecommand
Start intelligent air regenerating device and be aerated ventilation, diffusion smog, discharge hazardous gas, the fire extinguishing unit refers to for receiving remote control
Starting extinguishing device is enabled to put out the open fire in environment, the thermostat units adjust environment temperature for receiving telecommand starting air-conditioning
Degree；
The communication module includes alarm unit and mobile device, and the alarm unit is for sounding an alarm, and to region security
Net sends notice, and the mobile device is used to send warning information to the mobile device of user, notifies user；
The data collection module is used to collect abnormal environment data, is made and being summarized and analyzed according to the time of abnormal data, place,
It is uploaded to user network.
2. a kind of healthy robot for detecting and handling for environmental data according to claim 1, it is characterised in that: institute
Stating the healthy robot for detecting and handling for environmental data further includes line module, the output end of the line module and control
The input terminal of module is connected, and the line module is protected privacy of user, set in the line module for user right to be arranged
There is voice module, intelligent recognition user's tone color obtains highest priority by user, directly controls robot and completes a series of use
Family instruction.
3. a kind of healthy robot for detecting and handling for environmental data according to claim 1, it is characterised in that: institute
Stating the healthy robot for detecting and handling for environmental data further includes memory module, the input terminal and data of the memory module
The output end of collection module is connected, and the memory module for storing abnormal environment data for a long time.
4. a kind of healthy robot for detecting and handling for environmental data according to claim 1, it is characterised in that: institute
Stating environment monitoring module further includes humidity-monitoring unit, and humidity sensor, the humidity sensor are set in the humidity detection unit
Device sets threshold up and down, for humidity variation in real-time monitoring environment.
5. a kind of healthy robot for detecting and handling for environmental data according to claim 4, it is characterised in that: institute
Stating interactive module further includes Dehumidifying element, and the Dehumidifying element is used to adjust the humidity in environment.
6. a kind of healthy robot for detecting and handling for environmental data according to claim 1, it is characterised in that: institute
Stating alarm unit includes alarm bell, warning lamp and wireless transceiver, and the wireless transceiver and region security net are wirelessly connected.
7. a kind of healthy robot for detecting and handling for environmental data according to claim 1, it is characterised in that: institute
It states and is equipped with backup power source in power module, be used for emergency service.
8. a kind of healthy robot for detecting and handling for environmental data according to claim 2, it is characterised in that: institute
The user right upper limit for stating line module is 3 people.
9. a kind of healthy robot for detecting and handling for environmental data according to claim 3, it is characterised in that: institute
The storage period for stating memory module is 3 months.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810821743.3A CN109015670A (en) | 2018-07-24 | 2018-07-24 | The healthy robot for detecting and handling for environmental data |
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| CN201810821743.3A CN109015670A (en) | 2018-07-24 | 2018-07-24 | The healthy robot for detecting and handling for environmental data |
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| CN112365676A (en) * | 2020-11-02 | 2021-02-12 | 西南林业大学 | Indoor environment health monitoring and early warning system |
| CN113033361A (en) * | 2021-03-13 | 2021-06-25 | 杭州翔毅科技有限公司 | Intelligent human-computer interaction system based on environment visibility |
| CN113483826A (en) * | 2021-07-20 | 2021-10-08 | 山东新一代信息产业技术研究院有限公司 | Distribution robot danger alarm system and method |
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Application publication date: 20181218 |