CN202771260U - Intelligent safety patrol system based on DaNI mobile robot platform - Google Patents
Intelligent safety patrol system based on DaNI mobile robot platform Download PDFInfo
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- CN202771260U CN202771260U CN 201220448364 CN201220448364U CN202771260U CN 202771260 U CN202771260 U CN 202771260U CN 201220448364 CN201220448364 CN 201220448364 CN 201220448364 U CN201220448364 U CN 201220448364U CN 202771260 U CN202771260 U CN 202771260U
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Abstract
The utility model discloses an intelligent safety patrol system based on a DaNI mobile robot platform. The intelligent safety patrol system based on the DaNI mobile robot platform comprises the DaNI mobile robot platform, a wireless router, an elevator, a steering engine, a power supply, a network pick-up head and a host computer, wherein the power supply supplies power for the wireless router, the elevator, the network pick-up head and the steering engine, the steering engine, the elevator and the wireless router are all in electrical connection with the DaNI mobile robot platform, the elevator is fixed on the DaNI mobile robot platform, the steering engine is fixed at a top end of the elevator, the network pick-up head is mounted on the steering engine and connected with the wireless router, and the wireless router is mounted at a bottom portion of the DaNI mobile robot platform and in wireless communication with the host computer. By utilizing the intelligent safety patrol system based on the DaNI mobile robot platform for safety patrol, work pressure of security personnel can be reduced; public environment security can be improved; social life quality can be improved; and security cost can be reduced.
Description
Technical field
The utility model belongs to the robot field, particularly a kind of robot system of intelligent and safe patrol.
Background technology
The development of safe patrol robot is comparatively general so far, and numerous domestic and international research institutes and scientific ﹠ technical corporation have all released platform in kind separately.The quadruped robot " kind dragon " of the Tmsuk company of Japan and Sanyo Electric design is the practical walking robot for special purposes.This robot has perception and whether people, sound and temperature are arranged and gives the alarm, and can the function such as get in touch with owner's mobile phone.For satisfying the active demand of AUS logistics department, Cybermotion company has developed the modified MDARS-I of the indoor patrol robot of SR2.The minimum speed of MDARS-l is 3 kilometers/hour, but the continuous working 8 hours of once charging can be found 10 meters objects far away in 360 degree scopes.This robot is equipped with detecting intrusion person's microwave radar, thermal imaging system, acoustic sensor, a ccd video camera, infrared illuminator and rotation and sloping platform also have that supersonic sensing is clamored, navigation sensor etc.U.S. robot system technology company is developing a kind of MDARS-E outdoor version robot.This robot can identify and the cut-through thing, if do not walk around. just stop, and notice control station operating personnel.Its load mainly contains the body video camera, FLIR (Forward-Looking Infrared) video camera, radar Doppler, 4 line laser scanners, ultrasonic sensor, microwave and fiber optic cable communications network, video tab reader.Navigation sensor has differential global positioning system, gyroscope, inclinator, 4 to take turns scrambler, drives alignment sensor etc.MDARS-E can independently monitor when on duty, and when finding invader or abnormal conditions, the video link starts automatically, and control station is recorded sound equipment and visual alarm, and the security personnel can be by the situation of observing the there at a distance, or talks with the invader.
In China, the Zhang Tie of South China Science ﹠ Engineering University etc. has developed security personnel's patrol robot, and has arranged a plurality of ultrasonic sensors around robot, for detection of the situation of peripheral obstacle.Header arrangement has infrared sensor, and whether be used for monitoring has the stranger unusually to enter.But because chip is the 82C53 single-chip microcomputer, the deficiency of processing speed and memory size is so that the calculated performance of this equipment is very weak.The Feng Xin of Institutes Of Technology Of Jiangxi has just waited the people to develop Intelligent Patrol Robot based on the ARM embedded technology, the above has installed the equipment such as ultrasonic sensor, electrochemical sensor, sense smoke sensor, can realize keeping away the barrier patrol, detect harmful gas, detection of fires etc. function.But this equipment does not carry out deep exploration to obstacle avoidance algorithm, and theoretical foundation is limited.
In sum, although safe patrol robot obtains certain development in recent years, be not widely used yet in general.Wherein main problem is in the face of many-sided, multi-level patrol security task, and the adaptability of existing safe patrol robot Platform Designing and dirigibility are not enough.For example, be subject to the constraint of soft hardware performance based on the robot platform framework of ARM or singlechip technology, can not effectively carry out expansion and the in-depth of systemic-function.Particularly the position of the vision sensor of robot configuration and structure are fixed, and therefore when the monitoring surrounding enviroment, the motion that must rely on robot self catches and the trace exception situation, and system performance is greatly limited.In addition, how can be with remote manual control and automatically control combination, that realizes robot system effectively keeps away barrier, also is problem demanding prompt solution in the safe patrol robot development.
Summary of the invention
The purpose of this utility model is for the deficiencies in the prior art, and a kind of intelligent and safe patrol system based on the DaNI mobile robot platform is provided.
The purpose of this utility model is achieved through the following technical solutions: a kind of intelligent and safe patrol system based on the DaNI mobile robot platform, and it comprises DaNI mobile robot platform, wireless router, escalator, steering wheel, power supply, IP Camera and host computer etc.; Power supply is wireless router, escalator, IP Camera and steering wheel power supply, steering wheel, escalator and wireless router all are electrically connected with the DaNI mobile robot platform, escalator is fixed on the DaNI mobile robot platform, steering wheel is fixed on the top of escalator, IP Camera is installed on the steering wheel, IP Camera links to each other with wireless router, and wireless router is installed in DaNI mobile robot platform bottom, wireless router and host computer radio communication; Wherein,
Wireless router is connected with IP Camera with the DaNI mobile robot platform by netting twine, is connected with host computer by radio communication; The IP address of DaNI mobile robot platform, IP Camera, host computer and wireless router is made as under the same subnet; Like this, host computer remote wireless control DaNI mobile robot platform and camera have been realized.
Escalator is installed in the rear portion of DaNI mobile robot platform, and its function rises camera or descend for being responsible for, and realizes taking suitable picture; Escalator comprises a stepper motor, the lifting of step motor control escalator, and the power supply signal of stepper motor, direction signal and rate signal are provided by the digital output on the DaNI mobile robot platform;
Steering wheel is fixed on the top of escalator, be responsible for camera come back bow, about the direction control of shaking the head.The power supply signal of steering wheel, pwm signal are provided by the digital output on the DaNI mobile robot platform.
Power supply is installed in the place ahead of DaNI mobile robot platform, gives thus the power supply of wireless router and IP Camera.The rated voltage of power supply is 12V, and rated capacity is 2.6Ah.The character of reducing transformer is non-isolated buck voltage stabilizing output, and input voltage is 4.5-35V, the band control pin; Output voltage is that 1.25-30V is adjustable continuously.
Host computer carries out remote radio communication by wireless router and DaNI mobile robot platform and IP Camera, as long as each equipment is all under same subnet, the function of host computer is the signal that receives robot, distribution of machine people's control command, the motion of control.
The DaNI mobile robot platform carries ultrasonic sensor, and then ultrasonic sensor is monitored echo and come inspected object by sending a short ultrasonic pulse.Under the control of main frame microcontroller, sensor sends short 40kHz ultrasonic pulse.Pulse is propagated with about 1130 feet per seconds in air, hit object, and sensor then rebounds.Sensor provides the output pulse to main frame, until echo is detected; Therefore the width of pulse is corresponding to the distance of target object.
IP Camera is installed on the steering wheel at the escalator top on the DaNI mobile robot platform, is connected with router by netting twine; This IP Camera can be passed through internet remote monitoring family or office, and the infrared LEDs lamp is applicable to night monitoring, supports the 11N wireless connections, compatible 11G wireless device, 4 times of digital zooms.
The utility model is with respect to prior art, and its beneficial effect is:
1, safety problem is noticeable all the time in social life.Utilize intelligent robot system to carry out safe patrol, can alleviate Security Personnel's working pressure, strengthen the public environment security, promote the social life quality, reduce the security expenditure.
2, adopt the mode of ultrasonic sensor and camera and usefulness, promoted the performance of sensor.Camera can raise reduction, change direction, thereby so that take and do not have the dead angle.
3, adopt the VFH algorithm, realized robot autonomous function of keeping away the barrier walking, alleviated the manually working pressure of control of staff.
Description of drawings
Fig. 1 is that the utility model is based on the composition frame chart of the intelligent and safe patrol system of DaNI mobile robot platform;
Fig. 2 is the workflow diagram of DaNI mobile robot platform among Fig. 1;
Fig. 3 is the workflow diagram of host computer among Fig. 1.
Embodiment
Below in conjunction with accompanying drawing the utility model is described in further detail, it is more obvious that the purpose of this utility model and effect will become.
As shown in Figure 1, the utility model comprises DaNI mobile robot platform, wireless router, escalator, steering wheel, power supply, IP Camera and host computer based on the intelligent and safe patrol system of DaNI mobile robot platform.Wherein, power supply is wireless router, escalator, IP Camera and steering wheel power supply, steering wheel, escalator and wireless router all are electrically connected with the DaNI mobile robot platform, escalator is fixed on the DaNI mobile robot platform, steering wheel is fixed on the top of escalator, IP Camera is installed on the steering wheel, and IP Camera links to each other with wireless router, wireless router and host computer radio communication.
The DaNI mobile robot platform of American National instrument company (NI) has module of software and hardware stable, easy exploiting, can with the combination such as LabVIEW, carry out efficiently the graphic interface design, locate and the design that keeps away the functions such as barrier, abnormal alarm, radio transmitting image.Native system relies on the DaNI mobile robot platform, can carry out easily remote control patrol, automatic obstacle avoiding walking, and survey unusual condition, a suspect and hazardous environment.
NI-Robotics Starter Kit (DaNI) mobile robot platform of NI company is a kind of innovative mobile robot platform, has ultrasonic sensor, motor, NI Single-Board RIO embedded Control hardware.The software of this platform is developed by LabVIEW, because the development interface that the special graphics routine of LabVIEW is easily understood has shortened speed and the convenience software maintenance in the future of development prototype, therefore is subject to gradually liking of system development and researchist.The equipment such as battery, wireless router, escalator have been installed at this robot platform, and have been communicated by letter with miscellaneous equipment with wireless router by netting twine.Operation LabVIEW process robot control module on the NI Single-Board RIO, the responsible signal that receives host computer, distribution of machine people's signal are to host computer, and each action of execution robot.
It is the product of D-Link DI-524M that wireless router can adopt model, is installed in DaNI mobile robot platform bottom.The DaNI mobile robot platform is connected netting twine and is connected with it with IP Camera, host computer is connected with it by radio communication.The IP address of each equipment and router is made as under the same subnet.Like this, host computer remote wireless control robot and camera have been realized.
Escalator is installed in the rear portion of DaNI mobile robot platform, and at its top camera has been installed.Its function rises camera or descend for being responsible for, and realizes taking suitable picture.Escalator comprises a stepper motor, the lifting of step motor control escalator, and the power supply signal of stepper motor, direction signal and rate signal are provided by the digital output on the DaNI mobile robot platform.
It is the product of GOTECKGS-9025MG that steering wheel can adopt model, is installed in IP Camera base below, be responsible for camera come back bow, about the direction control of shaking the head.The power supply signal of steering wheel, pwm signal are provided by the digital output on the DaNI mobile robot platform.
Power supply can adopt Taiwan Saite BT-12M battery and the adjustable voltage dropping power supply reducing transformer of LM2596 DC-DC, is installed in the place ahead of DaNI mobile robot platform, gives thus the power supply of wireless router and IP Camera.The rated voltage of power supply is 12V, and rated capacity is 2.6Ah.The character of reducing transformer is non-isolated buck voltage stabilizing output, and input voltage is 4.5-35V, the band control pin; Output voltage is that 1.25-30V is adjustable continuously.
Host computer can be realized by common desktop computer or notebook computer, carries out remote radio communication by wireless router and DaNI mobile robot platform and IP Camera, as long as each equipment is all under same subnet.The function of host computer is the part of operation LabVIEW program host computer, receives the signal of robot, distribution of machine people's control command, the motion of control.
The DaNI mobile robot platform carries ultrasonic sensor, and the model of ultrasonic sensor is Parallax PING))), then it monitor echo and come inspected object by sending a short ultrasonic pulse.Under the control of main frame microcontroller, sensor sends short 40kHz ultrasonic pulse.Pulse is propagated with about 1130 feet per seconds in air, hit object, and sensor then rebounds.Sensor provides the output pulse to main frame, until echo is detected; Therefore the width of pulse is corresponding to the distance of target object.
It is the product of D-Link DCS-932L that IP Camera can adopt model, is installed on the steering wheel at the escalator top on the DaNI mobile robot platform.This camera is by Power supply, and is connected with router by netting twine.This IP Camera can be passed through internet remote monitoring family or office, and the infrared LEDs lamp is applicable to night monitoring, supports the 11N wireless connections, compatible 11G wireless device, 4 times of digital zooms.
The workflow of DaNI mobile robot platform is among Fig. 2:
At first determine current control model by the host computer algoritic module, the robot control program is downloaded on the DaNI mobile robot platform carry out again.When being in remote control mode, intercept module by TCP, receive the data that host computer transmits, be decoded into the order that the DaNI mobile robot platform should be carried out, whether the angle, the pilot lamp that turn such as the speed of two wheels, motor under the ultrasonic sensor light etc.Suitable actuator is passed in the order of decoding, as the rotating speed of two wheels is passed to wheel, angle that motor turns etc., thereby so that the information and executing that the DaNI mobile robot platform can transmit according to host computer.Simultaneously, the DaNI mobile robot platform is preserved into shared variable with the current obstacle distance of measuring of ultrasonic sensor and current angle with the speed of wheel turns.At last, robot opens TCP and connects, and sensor information and wheel rotor speed are sent it back to host computer.When being in the automatic obstacle avoiding pattern, the sensor information that has obtained is passed to the VFH algorithm, then obtain next step speed that should carry out of DaNI mobile robot platform by above-mentioned VFH algorithm, and preserve and to become the order shared variable, send to the DaNI mobile robot platform and carry out.When being in stop mode, intercept module by TCP, receive the data that host computer transmits, be decoded into the order that the DaNI mobile robot platform stops, and preserve and become the order shared variable, send to the DaNI mobile robot platform and carry out.At last, robot opens TCP and connects, and sensor information and wheel rotor speed are sent it back to host computer.
The course of work of host computer is among Fig. 3:
Master routine and graphical interfaces module are moved at host computer.In master routine, shown graphical interfaces, called the module of visual processes, receive the operation that the user carries out at graphical interfaces, and called following modules.In the graphical interfaces module; program has shown the roughly motion track of current DaNI mobile robot platform at main interface, the image that camera is taken, the selection of robot motion's pattern; whether the control lever of robot, stepper motor, steering wheel detects the warning light of unusual flame.If the user has changed setting at graphical interfaces, then in the program this setting is deposited in the shared variable of correspondence, in the control module of correspondence, to read and to process.In the visual processes module, routine call IMAQ ReadFile reads the picture that camera uploads to the jpg form of host computer, and is presented on the graphical interfaces.Afterwards, call the picture that IMAQ Cast Image.vi is converted to this picture Grayscale (U8) form, call again IMAQ Light Meter.vi and carry out measurement to the brightness of picture center section, if be higher than setting value, then represent to exist in the environment the unusual large object of brightness (such as flame, unusual light etc.), alarm lamp lights on the graphical interfaces.
Upper computer control module is moved at host computer.Judge whether first at the beginning to carry out in simulated environment.If carry out in simulated environment, then call the module of opening the robot simulated environment, create a unlimited plane map that extends at host computer, on a robot is arranged in operation.We learn the speed of current robot and the information of sensor by this simulated environment, preserve into shared variable, pass to the robot algoritic module.Algorithm draws the position of next step speed that should carry out of robot and sensor, is input in this emulated robot.If in true environment, carry out, then open the TCP link block.With the current DaNI mobile robot platform wheel speed that is obtained by the robot algoritic module, sensor towards etc. information send to the DaNI mobile robot platform.Open simultaneously TCP and intercept module, receive sensor information and wheel rotary speed information that the transmission of DaNI mobile robot platform comes, and preserve into shared variable.
Algoritic module is positioned at host computer to be carried out.This module at first learns to be at present which kind of mode of operation.If remote control mode then learns the DaNI mobile robot platform movement velocity that the user inputs from the user interface load module, and preserve into the order shared variable, send to the DaNI mobile robot platform.If simple VFH algorithm pattern, the sensor information that then will obtain passes to simple VFH algorithm, then obtains next step speed that should carry out of DaNI mobile robot platform by above-mentioned VFH algorithm, and preservation becomes the order shared variable.If senior VFH algorithm pattern, the sensor information that then will obtain, current location and impact point information pass to senior VFH algoritic module, then draw next step speed that should carry out of DaNI mobile robot platform by above-mentioned algorithm, and preserve and to become the order shared variable, send to the DaNI mobile robot platform.
The utility model is as follows based on the course of work of the intelligent and safe patrol system of DaNI mobile robot platform:
Robot has realized the function of automatic obstacle avoiding walking; Can carry out wireless telecommunication with host computer, realize the function of host computer Remote robot ambulation; IP Camera has been installed in the robot, has realized taking the environmental information of current location, and radioed to host computer, graphical interfaces shows on host computer; Support has been installed in the robot, can remote control have been allowed its rise and fall.Camera is rack-mount, and below have can telecontrolled rotating steering wheel, make things convenient for camera to move and take all angles and the image of position; Robot can judge whether to exist unusual condition to the information that camera is taken, as former should dark environment in, have high light or flame.If exist, then can be on host computer alarm.
Keep away under the barrier walking mode robot autonomous, at first robot surveys a week by the ultrasonic sensor that is installed in the robot top, obtain position and the size information of the barrier in the surrounding environment, then by wireless router, use TCP communication protocol to be sent on the host computer information.Host computer calls the VFH algorithm, calculates next step direction that should walk and speed, send in the robot by wireless router equally, robot with this information processing after, send to wheel, carry out this motion.
Under robot remote-controlled walking pattern, at first the user inputs speed and the direction of robot ambulation by graphical interfaces.Obtain this information in the program, by wireless router, used Transmission Control Protocol to send to robot.After robot has received information, be converted into the speed that wheel should be carried out, send to wheel.Wheel produces this rotating speed, so that robot produces speed and the direction of user's appointment.
Wish is used the camera shoot function in robot, opens the camera power switch by the user first, and the power-supply device that is installed in the robot front end can offer the suitable input power of camera.Camera can start and take the image in the place ahead.The user can pass through user interface, and steering wheel and the escalator of control camera below are adjusted camera and faced direction.Camera is converted into the jpg picture with the image information of obtaining, and by wireless router, uploads among the FTP that is opened on the host computer.The LabVIEW of host computer operation reads the picture in the ftp file folder, and shows at graphical interfaces.Because camera is that picture is very quick with image transitions, so that seem it almost is dynamic at graphical interfaces, there is not flicker or the effect that lags behind, thus the function that the information that camera is taken in realization shows at graphical interfaces.
Wish is used unusual light warning function, opens first the camera shoot function.LabVIEW gets access to the current image information of camera by method above, this picture is converted to the picture of Grayscale (U8) form by calling IMAQ Cast Image.vi, call again IMAQ Light Meter.vi and carry out measurement to the brightness of picture center section, if be higher than setting value, then represent to exist in the environment the unusual large object of brightness (such as flame, unusual light etc.), alarm lamp lights on the graphical interfaces.
Claims (1)
1. the intelligent and safe patrol system based on the DaNI mobile robot platform is characterized in that, it comprises DaNI mobile robot platform, wireless router, escalator, steering wheel, power supply, IP Camera and host computer; Power supply is wireless router, escalator, IP Camera and steering wheel power supply, steering wheel, escalator and wireless router all are electrically connected with the DaNI mobile robot platform, escalator is fixed on the DaNI mobile robot platform, steering wheel is fixed on the top of escalator, IP Camera is installed on the steering wheel, IP Camera links to each other with wireless router, and wireless router is installed in DaNI mobile robot platform bottom, wireless router and host computer radio communication.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102799185A (en) * | 2012-09-05 | 2012-11-28 | 浙江大学 | Intelligent safety patrol system based on DaNI mobile robot platform |
| CN103971578A (en) * | 2014-03-18 | 2014-08-06 | 浙江工业大学 | Patrol robot teaching device and control method thereof |
| CN104986241A (en) * | 2015-06-29 | 2015-10-21 | 山东大学（威海） | Quadruped robot and gait planning method thereof |
| CN106020179A (en) * | 2016-08-01 | 2016-10-12 | 天津理工大学 | Novel multimachine coordinated control system and method for spherical amphibious robot |
| US10335952B2 (en) | 2017-01-18 | 2019-07-02 | International Business Machines Corporation | Monitoring and controlling the movement of mobile robots |
-
2012
- 2012-09-05 CN CN 201220448364 patent/CN202771260U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102799185A (en) * | 2012-09-05 | 2012-11-28 | 浙江大学 | Intelligent safety patrol system based on DaNI mobile robot platform |
| CN103971578A (en) * | 2014-03-18 | 2014-08-06 | 浙江工业大学 | Patrol robot teaching device and control method thereof |
| CN103971578B (en) * | 2014-03-18 | 2016-03-30 | 浙江工业大学 | Patrol robot instructional device and control method thereof |
| CN104986241A (en) * | 2015-06-29 | 2015-10-21 | 山东大学（威海） | Quadruped robot and gait planning method thereof |
| CN106020179A (en) * | 2016-08-01 | 2016-10-12 | 天津理工大学 | Novel multimachine coordinated control system and method for spherical amphibious robot |
| US10335952B2 (en) | 2017-01-18 | 2019-07-02 | International Business Machines Corporation | Monitoring and controlling the movement of mobile robots |
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