TWI546168B - Solar intelligent voice network workers - Google Patents
Solar intelligent voice network workers Download PDFInfo
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- TWI546168B TWI546168B TW104108469A TW104108469A TWI546168B TW I546168 B TWI546168 B TW I546168B TW 104108469 A TW104108469 A TW 104108469A TW 104108469 A TW104108469 A TW 104108469A TW I546168 B TWI546168 B TW I546168B
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Description
本發明係有關一種太陽能智慧語音工安路障機器人，尤其是一種可以吸引人車注意而提升工安路障警示效果的機器人技術。 The invention relates to a solar intelligent voice safety roadblock robot, in particular to a robot technology capable of attracting people's attention and improving the roadblock warning effect of the work safety.
按，一般道路施工區域範圍大且作業時間較長時，一般都會架起圍籬或是路障，以限制人車通過；或是透過施工告示牌指示人車必須改道，於此，以有利於施工作業的進行；反之，當施工範圍小且作業時間較短時，則會設置路障、警示燈或是施工電子看板，以避免人車誤闖而發生工安的危險意外。其中，路障機器人雖然可以透過二擺臂帶動警示旗幟往復擺動，以產生路障警示的功能，惟，該習知路障機器人僅能做出一種往復擺動的軌跡動作而已，所以較無法有效吸引路人與駕駛人的注意，以致路障警示效果不佳而引發車輛或路人跌落或撞擊施工區護欄的情事產生。 Press, when the general road construction area is large and the operation time is long, fences or roadblocks are generally set up to restrict the passage of people and vehicles; or the construction notice board indicates that the vehicle must be diverted, in order to facilitate construction On the contrary, when the construction scope is small and the operation time is short, roadblocks, warning lights or construction electronic kanbans are set up to avoid the danger of accidents caused by accidents. Among them, the roadblock robot can drive the warning flag to reciprocate through the second swing arm to generate the function of the roadblock warning. However, the conventional roadblock robot can only make a reciprocating trajectory action, so it is less effective to attract passersby and driving. The attention of the person causes the roadblock warning effect to be poor and causes the vehicle or passerby to fall or hit the construction area guardrail.
再者，無論是習知的路障警示燈、反光條或是路障機器人雖然可以利用燈泡的亮度、燈光照射後的反光或是警示燈來告知用路人前方正在施工，惟，該習用結構並無路障施工的語音警示功能，故無法有效保障視障者的用路安全，以致較容易讓視障者發生跌落施工區域的工安意外情事，因此，如何開發出一套有效提升路障警示效果並能保障視障者用路安全的路障機器人實已成為相關技術領域業者所急欲克服的重要課題。 Furthermore, whether it is a conventional roadblock warning light, a reflective strip or a roadblock robot, although the brightness of the light bulb, the reflection after the light is irradiated, or the warning light can be used to inform the passerby that the construction is in front of the road, the conventional structure has no roadblock. The voice warning function of the construction can not effectively protect the road safety of the visually impaired, so that it is easier for the visually impaired to fall into the accident of the construction area. Therefore, how to develop an effective improvement of the roadblock warning effect can be guaranteed. Roadblock robots for visually impaired road safety have become an important issue that industry players in the relevant technical fields are eager to overcome.
有鑑於習知路障機器人尚未有可以產生二種往復擺動軌跡以及具備路障施工語音警示之路障機器人技術的專利提出或是論文發表，故本發明創作人乃積極努力研發，終於研發出一種可以改善前述缺失的本發明。 In view of the fact that the conventional roadblock robots have not yet patented or published papers that can generate two kinds of reciprocating oscillating trajectories and roadblock robots with roadblock construction voice warnings, the creators of the present invention actively researched and developed, and finally developed a kind of improvement that can be improved. The invention is missing.
本發明第一目的，在於提供一種太陽能智慧語音工安路障機器人，主要是藉由二種往復擺動軌跡之路障機器人的機構設置，以有效吸引附近人車注意而提升路工安障的警示效果，進而避免車輛或路人跌落或撞擊施工區域護欄所致的危險工安意情事發生。達成本發明第一目的之技術手段，係包括仿人本體、控制模組、二擺臂、動力傳動機構、施工顯示模組及用以供應所需電源的供電模組。二擺臂末端分別設有警示旗幟。動力傳動機構可帶動二擺臂作往復的擺動。施工顯示模組可顯示施工警示資訊。其中，動力傳動機構包含致動件及傳動齒輪組，致動件可受控制模組的控制而改變傳動齒輪組的傳動模式，使二擺臂產生二種不同的往復擺動軌跡。 A first object of the present invention is to provide a solar smart voice safety roadblock robot, which is mainly provided by a mechanism of two kinds of roadblock robots with reciprocating oscillating trajectories, so as to effectively attract attention of nearby people and improve the warning effect of road safety. In turn, avoid dangerous or dangerous work caused by vehicles or passers-by falling or hitting the construction area guardrail. The technical means for achieving the first object of the present invention comprises a human body, a control module, a second swing arm, a power transmission mechanism, a construction display module, and a power supply module for supplying a required power source. There are warning flags at the ends of the two swing arms. The power transmission mechanism can drive the two swing arms to reciprocate. The construction display module can display construction warning information. Wherein, the power transmission mechanism comprises an actuating member and a transmission gear set, and the actuating member can be controlled by the control module to change the transmission mode of the transmission gear set, so that the two swing arms generate two different reciprocating oscillation trajectories.
本發明第二目的，在於提供一種可以有效確保視障者之用路安全的太陽能智慧語音工安路障機器人，主要是透過人員靠近與否之偵測判斷等機能建置，以作為播放施工警示語音的依據，進而提升視障者或路過行人的用路安全。達成本發明第二目的之技術手段，係包括仿人本體、控制模組、二擺臂、動力傳動機構、施工顯示模組及用以供應所需電源的供電模組。二擺臂末端分別設有警示旗幟。動力傳動機構可帶動二擺臂作往復的擺動。施工顯示模組可顯示施工警示資訊。其中，動力傳動機構包 含致動件及傳動齒輪組，致動件可受控制模組的控制而改變傳動齒輪組的傳動模式，使二擺臂產生二種不同的往復擺動軌跡。其更包含一用以感測施工區域是否有人員靠近的人體感測器及一施工語音警示模組，該施工語音警示模組可受該控制模組的控制而播放施工警示語音，當施工區域有人員靠近時，該人體感測器則輸出一感測訊號至該控制模組，該控制模組則驅動該施工語音警示模組播放該施工警示語音。 A second object of the present invention is to provide a solar smart voice safety roadblock robot that can effectively ensure the safety of a visually impaired person, mainly by detecting and judging the presence or absence of a person, as a play construction warning voice. The basis for further improving the safety of the visually impaired or passing pedestrians. The technical means for achieving the second object of the present invention includes a human body, a control module, a second swing arm, a power transmission mechanism, a construction display module, and a power supply module for supplying a required power source. There are warning flags at the ends of the two swing arms. The power transmission mechanism can drive the two swing arms to reciprocate. The construction display module can display construction warning information. Among them, the power transmission mechanism package The actuating member and the transmission gear set are included, and the actuating member can be controlled by the control module to change the transmission mode of the transmission gear set, so that the two swing arms generate two different reciprocating swing trajectories. The utility model further comprises a human body sensor for sensing whether there is a person close to the construction area and a construction voice warning module, and the construction voice warning module can be played by the control module to play the construction warning voice when the construction area is When a person approaches, the human body sensor outputs a sensing signal to the control module, and the control module drives the construction voice warning module to play the construction warning voice.
本發明第三目的，在於提供一種可以依據人車距離狀態而控制路障機器人之擺臂速度的太陽能智慧語音工安路障機器人，主要是依據人車與施工區域之距離來決定路障機器人的擺臂速度，而可更為有效吸引附近人車注意而提升工安路障的警示效果。達成本發明第三目的之技術手段，係包括仿人本體、控制模組、二擺臂、動力傳動機構、施工顯示模組及用以供應所需電源的供電模組。二擺臂末端分別設有警示旗幟。動力傳動機構可帶動二擺臂作往復的擺動。施工顯示模組可顯示施工警示資訊。其中，動力傳動機構包含致動件及傳動齒輪組，致動件可受控制模組的控制而改變傳動齒輪組的傳動模式，使二擺臂產生二種不同的往復擺動軌跡。其更包含一用以感測施工區域與附近人員或車輛之間距離而產生距離感測訊號的距離感測器，該控制模組將該距離感測訊號轉換處理為距離值，並依據該距離值的長短作為控制該二擺臂往復擺動速度的依據，當該距離值愈短，該控制模組則控制該二擺臂的往復擺動速度愈快，當該距離值愈長，該控制模組則控制該二擺臂的往復擺動速度愈慢。 A third object of the present invention is to provide a solar intelligent voice safety roadblock robot capable of controlling the swing arm speed of a roadblock robot according to the distance state of the vehicle and the vehicle, and mainly determining the swing arm speed of the roadblock robot based on the distance between the vehicle and the construction area. It can more effectively attract the attention of nearby people and enhance the warning effect of the roadblock. The technical means for achieving the third object of the present invention comprises a human body, a control module, a second swing arm, a power transmission mechanism, a construction display module, and a power supply module for supplying a required power source. There are warning flags at the ends of the two swing arms. The power transmission mechanism can drive the two swing arms to reciprocate. The construction display module can display construction warning information. Wherein, the power transmission mechanism comprises an actuating member and a transmission gear set, and the actuating member can be controlled by the control module to change the transmission mode of the transmission gear set, so that the two swing arms generate two different reciprocating oscillation trajectories. The method further includes a distance sensor for sensing a distance between the construction area and a nearby person or the vehicle to generate a distance sensing signal, and the control module converts the distance sensing signal into a distance value, and according to the distance The length of the value is used as a basis for controlling the reciprocating swing speed of the two swing arms. When the distance value is shorter, the control module controls the reciprocating swing speed of the two swing arms to be faster, and the longer the distance value is, the control module Then, the slower the reciprocating swing speed of the two swing arms is controlled.
本發明第四目的，在於提供一種具備影像辨識功能的太陽能智慧語音工安路障機器人，主要是藉由影像辨識之機能建置，而可於施工 區域無人車經過時關閉施工所需的電源，藉以達到節省電能支出的功效。達成本發明第四目的之技術手段，係包括仿人本體、控制模組、二擺臂、動力傳動機構、施工顯示模組及用以供應所需電源的供電模組。二擺臂末端分別設有警示旗幟。動力傳動機構可帶動二擺臂作往復的擺動。施工顯示模組可顯示施工警示資訊。其中，動力傳動機構包含致動件及傳動齒輪組，致動件可受控制模組的控制而改變傳動齒輪組的傳動模式，使二擺臂產生二種不同的往復擺動軌跡。其更包含一影像擷取裝置，該影像擷取裝置可受該控制模組的控制而擷取施工區域之街道景物的初始影像，並監控該街道景物與人車動態，而於一預設時間間隔擷取一即時影像，該控制模組內建有一影像辨識軟體，該影像辨識軟體將該即時影像設定為監控影像，再將每一該監控影像與該初始影像進行差異化之影像辨識比對，當影像比對結果產生差異影像時，該控制模組則啟動該動力傳動機構及該施工顯示模組。 A fourth object of the present invention is to provide a solar intelligent voice safety roadblock robot with image recognition function, which is mainly constructed by image recognition and can be constructed. When the regional unmanned vehicle passes by, the power required for the construction is turned off, so as to save energy. The technical means for achieving the fourth object of the present invention includes a human body, a control module, a second swing arm, a power transmission mechanism, a construction display module, and a power supply module for supplying a required power source. There are warning flags at the ends of the two swing arms. The power transmission mechanism can drive the two swing arms to reciprocate. The construction display module can display construction warning information. Wherein, the power transmission mechanism comprises an actuating member and a transmission gear set, and the actuating member can be controlled by the control module to change the transmission mode of the transmission gear set, so that the two swing arms generate two different reciprocating oscillation trajectories. The image capturing device can be controlled by the control module to capture an initial image of the street scene in the construction area, and monitor the street scene and the vehicle dynamics at a preset time. An image recognition software is built in the control module. The image recognition software has an image recognition software, and the image recognition software sets the real image as a monitoring image, and then compares each of the monitoring images with the initial image. When the image comparison result produces a difference image, the control module activates the power transmission mechanism and the construction display module.
10‧‧‧仿人本體 10‧‧‧ Humanoid body
11‧‧‧基板 11‧‧‧Substrate
20‧‧‧控制模組 20‧‧‧Control Module
21‧‧‧輸入界面 21‧‧‧ input interface
22‧‧‧中央處理單元 22‧‧‧Central Processing Unit
23‧‧‧正反轉驅動電路 23‧‧‧ Forward and reverse drive circuit
30‧‧‧擺臂 30‧‧‧ swing arm
31‧‧‧警示旗幟 31‧‧‧ Warning Flag
40‧‧‧動力傳動機構 40‧‧‧Power Transmission
41‧‧‧致動件 41‧‧‧Acoustic
42‧‧‧傳動齒輪組 42‧‧‧Transmission gear set
43‧‧‧馬達 43‧‧‧Motor
420‧‧‧主動輪 420‧‧‧Drive wheel
421‧‧‧被動輪 421‧‧‧passive wheel
422‧‧‧滑座 422‧‧‧Slide
423‧‧‧第一從動輪 423‧‧‧First driven wheel
424‧‧‧第二從動輪 424‧‧‧Second driven wheel
50‧‧‧施工顯示模組 50‧‧‧ Construction display module
60‧‧‧供電模組 60‧‧‧Power supply module
70‧‧‧施工語音警示模組 70‧‧‧ Construction Voice Warning Module
80‧‧‧人體感測器 80‧‧‧ human body sensor
81‧‧‧距離感測器 81‧‧‧ Distance sensor
圖1係本發明第一種往復擺動軌跡的實施示意圖。 1 is a schematic view showing the implementation of a first reciprocating oscillating trajectory of the present invention
圖2係本發明第二種往復擺動軌跡的實施示意圖。 2 is a schematic view showing the implementation of a second reciprocating rocking trajectory of the present invention.
圖3係本發明動力傳動機構之部分分解實施示意圖。 Figure 3 is a partially exploded perspective view of the power transmission mechanism of the present invention.
圖4係本發明滑座位於第二位置的實施示意圖。 Figure 4 is a schematic view showing the implementation of the slider of the present invention in the second position.
圖5係本發明滑座位於第一位置的實施示意圖。 Figure 5 is a schematic view showing the implementation of the slider of the present invention in the first position.
圖6係本發明滑座位於第二位置的俯視實施示意圖。 Figure 6 is a top plan view showing the carriage of the present invention in a second position.
圖7係本發明滑座位於第一位置的俯視實施示意圖。 Figure 7 is a top plan view showing the slide of the present invention in a first position.
圖8係本發明輸入界面的實施示意圖。 Figure 8 is a schematic diagram of the implementation of the input interface of the present invention.
圖9係本發明一種功能方塊控制示意圖。 Figure 9 is a schematic diagram of a functional block control of the present invention.
圖10係本發明另一種功能方塊控制示意圖。 Figure 10 is a schematic diagram of another functional block control of the present invention.
圖11係本發明具體電路的實施示意圖。 Figure 11 is a schematic illustration of the implementation of a particular circuit of the present invention.
為讓 貴審查委員能進一步瞭解本發明整體的技術特徵與達成本發明目的之技術手段，玆以具體實施例並配合圖式加以詳細說明：請配合參看圖1~7及圖9所示，為實現本發明第一目的之第一實施例，係包括仿人本體10、控制模組20、二擺臂30、動力傳動機構40、施工顯示模組50及用以供應所需電源的供電模組60等技術特徵。其中，供電模組60可以是太陽能板與電池的組合(但不以此為限)，電池具備儲存電力功能，太陽能板則可在白天時儲蓄電力，夜晚開始供應電力，當電力不足時由蓄電池供應。控制模組20設在仿人本體10上。二擺臂30可活動的設置在仿人本體10上，且二擺臂30末端設有一警示旗幟31。動力傳動機構40設在仿人本體10上，可受控制模組20的驅動而帶動二擺臂30做往復的擺動。施工顯示模組50設在仿人本體10可供觀看的位置上，其可受控制模組20的控制而顯示施工警示資訊。其中，動力傳動機構40包含一致動件41(如電磁閥)及一傳動齒輪組42。致動件41可受控制模組20的控制而改變傳動齒輪組42的傳動模式，使二擺臂30產生二種不同的往復擺動軌跡。 In order to allow the reviewing committee to further understand the technical features of the present invention and the technical means for achieving the object of the present invention, it will be described in detail with reference to the specific embodiments and drawings: please refer to FIGS. 1-7 and FIG. A first embodiment of the present invention includes a human body 10, a control module 20, two swing arms 30, a power transmission mechanism 40, a construction display module 50, and a power supply module for supplying a required power source. 60 and other technical features. The power supply module 60 may be a combination of a solar panel and a battery (but not limited thereto). The battery has a function of storing power, and the solar panel can save power during the daytime, and supply power at night, when the power is insufficient. supply. The control module 20 is disposed on the human body 10. The second swing arm 30 is movably disposed on the human body 10, and a warning flag 31 is disposed at the end of the second swing arm 30. The power transmission mechanism 40 is disposed on the human body 10, and can be driven by the control module 20 to drive the two swing arms 30 to reciprocate. The construction display module 50 is disposed at a position where the human body 10 is viewable, and can display construction warning information under the control of the control module 20. The power transmission mechanism 40 includes an actuator 41 (such as a solenoid valve) and a transmission gear set 42. The actuating member 41 can be controlled by the control module 20 to change the transmission mode of the transmission gear set 42, so that the two swing arms 30 generate two different reciprocating oscillating trajectories.
再請配合參看圖3~7所示之動力傳動機構40更包含一可受控制模組20控制而做往復轉動的馬達43。傳動齒輪組42包含一穿軸樞設於仿人本體10之基板11一側且可受馬達43驅動的主動輪420、一穿軸樞 設於基板11另一側的被動輪421、一滑座422、一第一從動輪423及二相互嚙合的第二從動輪424。滑座422位於主動輪420與被動輪421之間，可受致動件41的帶動而往靠近基板11的第一位置及往遠離基板11的第二位置往復位移。第一從動輪423與第二從動輪424分別穿軸樞設於滑座422的二側。二擺臂30分別與主動輪420與被動輪421連動。當滑座422位於第一位置時，滑座422則帶動二第二從動輪424分別與主動輪420及被主動輪420嚙合，使二擺臂30做出同上同下之往復擺動軌跡，如圖1所示。當滑座422位於第二位置時，滑座422則帶動第一從動輪423分別與主動輪420及被主動輪420嚙合，使二擺臂30做出一上一下之往復擺動軌跡，如圖2所示。 Further, the power transmission mechanism 40 shown in conjunction with FIGS. 3-7 further includes a motor 43 that can be reciprocally rotated by the control module 20. The transmission gear set 42 includes a driving wheel 420 pivotally mounted on the side of the substrate 11 of the human body 10 and driven by the motor 43 and a shaft pivot A passive wheel 421 disposed on the other side of the substrate 11, a slider 422, a first driven wheel 423, and two second driven wheels 424 that mesh with each other. The carriage 422 is located between the driving wheel 420 and the driven wheel 421, and is reciprocally displaced by the actuating member 41 toward the first position near the substrate 11 and the second position away from the substrate 11. The first driven wheel 423 and the second driven wheel 424 are respectively pivotally disposed on two sides of the sliding seat 422. The two swing arms 30 are interlocked with the driving wheels 420 and the driven wheels 421, respectively. When the sliding seat 422 is in the first position, the sliding seat 422 drives the two second driven wheels 424 to engage with the driving wheel 420 and the driven wheel 420 respectively, so that the two swinging arms 30 make the reciprocating swinging trajectory of the same upper and lower sides, as shown in the figure. 1 is shown. When the sliding seat 422 is in the second position, the sliding seat 422 drives the first driven wheel 423 to engage with the driving wheel 420 and the driven wheel 420 respectively, so that the second swing arm 30 makes a reciprocating swinging trajectory, as shown in FIG. 2 . Shown.
再請配合參看圖8、9及圖11所示之控制模組20係包含一輸入界面21、一中央處理單元22，及一正反轉驅動電路23。輸入界面21可供設定包含傳動齒輪組42的傳動模式、施工警示文字或圖案及施工警示語音。中央處理單元22依據輸入界面21所設定之指令而驅動致動件41之作動，並使施工顯示模組50顯示所設定之施工警示文字或圖案。 The control module 20 shown in FIGS. 8 , 9 and 11 further includes an input interface 21 , a central processing unit 22 , and a forward and reverse drive circuit 23 . The input interface 21 can be used to set the transmission mode including the transmission gear set 42, the construction warning text or pattern, and the construction warning voice. The central processing unit 22 drives the actuation of the actuator 41 in accordance with the command set by the input interface 21, and causes the construction display module 50 to display the set construction warning text or pattern.
請配合參看圖1~7圖及圖9所示為實現本發明第二目的之第二實施例，係包括仿人本體10、控制模組20、二擺臂30、動力傳動機構40、施工顯示模組50、用以供應所需電源的供電模組60、人體感測器80及施工語音警示模組70等技術特徵。控制模組20設在仿人本體10上。二擺臂30可活動的設置在仿人本體10上，且二擺臂30末端設有一警示旗幟31。動力傳動機構40設在仿人本體10上可受控制模組20的驅動而帶動二擺臂30作往復的擺動。施工顯示模組50設在該仿人本體10可供觀看的位置上，其 可受該控制模組20的控制而顯示施工警示資訊。其中，動力傳動機構40包含一致動件41及一傳動齒輪組42，致動件41可受控制模組20的控制而改變傳動齒輪組42的傳動模式，使二擺臂30產生二種不同的往復擺動軌跡。人體感測器80用以感測施工區域是否有人員靠近。施工語音警示模組70可受控制模組20的控制而播放施工警示語音。當施工區域有人員靠近時，人體感測器80則輸出一感測訊號至控制模組20，控制模組20則驅動施工語音警示模組70播放施工警示語音。 Please refer to FIG. 1 to FIG. 7 and FIG. 9 for implementing the second embodiment of the second object of the present invention, including a human body 10, a control module 20, two swing arms 30, a power transmission mechanism 40, and a construction display. The module 50 has technical features such as a power supply module 60 for supplying a required power source, a human body sensor 80, and a construction voice warning module 70. The control module 20 is disposed on the human body 10. The second swing arm 30 is movably disposed on the human body 10, and a warning flag 31 is disposed at the end of the second swing arm 30. The power transmission mechanism 40 is disposed on the human body 10 and can be driven by the control module 20 to drive the two swing arms 30 to reciprocate. The construction display module 50 is disposed at a position where the human body 10 is viewable, and The construction warning information can be displayed under the control of the control module 20. The power transmission mechanism 40 includes an actuator 41 and a transmission gear set 42. The actuator 41 can be controlled by the control module 20 to change the transmission mode of the transmission gear set 42 so that the two swing arms 30 generate two different types. Reciprocating swing trajectory. The human body sensor 80 is used to sense whether there is a person approaching the construction area. The construction voice warning module 70 can be played by the control module 20 to play the construction warning voice. When there is a person approaching the construction area, the human body sensor 80 outputs a sensing signal to the control module 20, and the control module 20 drives the construction voice warning module 70 to play the construction warning voice.
請配合參看圖1~7及圖9所示，為實現本發明第三目的之第三實施例，係包括仿人本體10、控制模組20、二擺臂30、動力傳動機構40、施工顯示模組50、用以供應所需電源的供電模組60及距離感測器81等技術特徵。控制模組20設在仿人本體10上。二擺臂30可活動的設置在仿人本體10上，且二擺臂30末端設有一警示旗幟31。動力傳動機構40設在仿人本體10上可受控制模組20的驅動而帶動二擺臂30作往復的擺動。施工顯示模組50設在該仿人本體10可供觀看的位置上，其可受該控制模組20的控制而顯示施工警示資訊。其中，動力傳動機構40包含一致動件41及一傳動齒輪組42，致動件41可受控制模組20的控制而改變傳動齒輪組42的傳動模式，使二擺臂30產生二種不同的往復擺動軌跡。距離感測器81用以感測施工區域與附近人員或車輛之間距離而產生距離感測訊號的距離感測器81，控制模組20將距離感測訊號轉換處理為距離值，並依據距離值的長短作為控制二擺臂30往復擺動速度的依據，當距離值愈短，控制模組20則控制二擺臂30的往復擺動速度愈快，當距離值愈長，控制模組20則控制二擺臂30的往復擺動速度愈慢，藉以提升施工警示的效果。 Referring to FIG. 1 to FIG. 7 and FIG. 9 , in order to realize the third embodiment of the third object of the present invention, the human body 10 , the control module 20 , the second swing arm 30 , the power transmission mechanism 40 , and the construction display are included. The module 50 has technical features such as a power supply module 60 for supplying a required power source and a distance sensor 81. The control module 20 is disposed on the human body 10. The second swing arm 30 is movably disposed on the human body 10, and a warning flag 31 is disposed at the end of the second swing arm 30. The power transmission mechanism 40 is disposed on the human body 10 and can be driven by the control module 20 to drive the two swing arms 30 to reciprocate. The construction display module 50 is disposed at a position where the human body 10 is viewable, and can display construction warning information under the control of the control module 20. The power transmission mechanism 40 includes an actuator 41 and a transmission gear set 42. The actuator 41 can be controlled by the control module 20 to change the transmission mode of the transmission gear set 42 so that the two swing arms 30 generate two different types. Reciprocating swing trajectory. The distance sensor 81 is used to sense the distance between the construction area and the nearby person or the vehicle to generate a distance sensing signal. The control module 20 converts the distance sensing signal into a distance value and according to the distance. The length of the value is used as the basis for controlling the reciprocating swing speed of the second swing arm 30. When the distance value is shorter, the control module 20 controls the reciprocating swing speed of the second swing arm 30 to be faster. When the distance value is longer, the control module 20 controls. The slower the reciprocating swing speed of the second swing arm 30, thereby improving the effect of construction warning.
請配合參看圖1~7圖及圖10所示，為實現本發明第四目的之第四實施例，係包括仿人本體10、控制模組20、二擺臂30、動力傳動機構40、施工顯示模組50、用以供應所需電源的供電模組60及影像擷取裝置82等技術特徵。控制模組20設在仿人本體10上。二擺臂30可活動的設置在仿人本體10上，且二擺臂30末端設有一警示旗幟31。動力傳動機構40設在仿人本體10上可受控制模組20的驅動而帶動二擺臂30作往復的擺動。施工顯示模組50設在該仿人本體10可供觀看的位置上，其可受該控制模組20的控制而顯示施工警示資訊。其中，動力傳動機構40包含一致動件41及一傳動齒輪組42，致動件41可受控制模組20的控制而改變傳動齒輪組42的傳動模式，使二擺臂30產生二種不同的往復擺動軌跡。影像擷取裝置82可受控制模組20的控制而擷取施工區域之街道景物的初始影像，並監控街道景物與人車動態，而於一預設時間間隔擷取一即時影像，控制模組20內建有一影像辨識軟體，影像辨識軟體將即時影像設定為監控影像，再將每一監控影像與初始影像進行差異化之影像辨識比對，當影像比對結果產生差異影像時，控制模組20則啟動動力傳動機構40及施工顯示模組50；當影像比對結果未產生差異影像時，控制模組20則關閉動力傳動機構40及施工顯示模組50。 Referring to FIG. 1-7 and FIG. 10, in order to achieve the fourth embodiment of the fourth object of the present invention, the human body 10, the control module 20, the second swing arm 30, the power transmission mechanism 40, and the construction are included. The technical features of the display module 50, the power supply module 60 for supplying the required power, and the image capturing device 82 are provided. The control module 20 is disposed on the human body 10. The second swing arm 30 is movably disposed on the human body 10, and a warning flag 31 is disposed at the end of the second swing arm 30. The power transmission mechanism 40 is disposed on the human body 10 and can be driven by the control module 20 to drive the two swing arms 30 to reciprocate. The construction display module 50 is disposed at a position where the human body 10 is viewable, and can display construction warning information under the control of the control module 20. The power transmission mechanism 40 includes an actuator 41 and a transmission gear set 42. The actuator 41 can be controlled by the control module 20 to change the transmission mode of the transmission gear set 42 so that the two swing arms 30 generate two different types. Reciprocating swing trajectory. The image capturing device 82 can capture the initial image of the street scene in the construction area under the control of the control module 20, and monitor the street scene and the human body dynamics, and capture an instant image at a preset time interval, and the control module 20 has an image recognition software built in, the image recognition software sets the real-time image as a monitoring image, and then compares each monitoring image with the initial image to distinguish the image identification. When the image comparison result produces a difference image, the control module 20, the power transmission mechanism 40 and the construction display module 50 are activated; when the image comparison result does not produce a difference image, the control module 20 turns off the power transmission mechanism 40 and the construction display module 50.
具體而言，當影像辨識軟體執行影像處理時，則將每一初始影像及監控影像由RGB格式轉換至YIQ平面，再使用YIQ平面的I值，取閥值除去影像重疊的大部份影像，以保留差異影像，並對差異影像之面積大小進行分析，當差異影像之面積大於一預設面積時，則判定產生差異影像。 Specifically, when the image recognition software performs image processing, each initial image and the monitoring image are converted from the RGB format to the YIQ plane, and then the I value of the YIQ plane is used, and the threshold value is taken to remove most of the images overlapped by the image. In order to preserve the difference image, and analyze the area size of the difference image, when the area of the difference image is larger than a predetermined area, it is determined that the difference image is generated.
此外，於一種更為具體的實施例中，本發明施工顯示模組50可以是LED顯示屏與LED顯示屏控制器的組合。LED顯示屏控制器包含LED顯示屏同步控制器及LED顯示屏異步控制器二種。LED顯示屏同步控制器主要用來顯示視頻、圖文、通知等資訊。至於LED顯示屏異步控制器主要用來顯示各種文字、符號和圖形或動畫為主。畫面顯示信息由電腦編輯，經RS232/485串行接口預先置入LED顯示屏的幀存儲器，然後逐屏顯示播放，循環往復。另外，本發明控制模組20內建有一播放/錄音程式，施工語音警示模組70則包含一麥克風、類此/數位轉換電路、一放大電路及至少一揚聲器。當使用者欲進行施工警示語音的錄音時，僅需透過輸入界面21輸入錄音指令，播放/錄音程式則進入錄音模式，使用者即可對著麥克風輸入所需的施工警示語音，此時，播放/錄音程式控制麥克風將所輸入之施工警示語音轉換成類此語音訊號，經類此/數位轉換電路轉換為數位音訊檔案後儲存至一記憶元件內，於此，即可完成施工警示語音的錄音步驟。當使用者欲進行施工警示語音的播放時，僅需透過輸入界面21輸入播放指令，播放/錄音程式則於記憶元件將對應之數位音訊檔案輸出至類此/數位轉換電路，經類此/數位轉換電路轉換為類比訊號送至放大電路進行音訊放大，於是，即可由揚聲器播放出所需的施工警示語音。 Moreover, in a more specific embodiment, the construction display module 50 of the present invention can be a combination of an LED display and an LED display controller. The LED display controller includes two kinds of LED display synchronization controllers and LED display asynchronous controllers. LED display synchronization controller is mainly used to display video, graphic, notification and other information. As for the LED display asynchronous controller is mainly used to display a variety of text, symbols and graphics or animation. The screen display information is edited by the computer, and is pre-positioned into the frame memory of the LED display screen via the RS232/485 serial interface, and then displayed on a screen-by-screen basis. In addition, the control module 20 of the present invention has a built-in playback/recording program. The construction voice warning module 70 includes a microphone, a digital/digital conversion circuit, an amplifying circuit and at least one speaker. When the user wants to record the construction warning voice, the recording command is input only through the input interface 21, and the playback/recording program enters the recording mode, and the user can input the required construction warning voice to the microphone. At this time, the player plays The recording program control microphone converts the input construction warning voice into a voice signal, which is converted into a digital audio file by the analog/digital conversion circuit and stored in a memory component, thereby completing the recording step of the construction warning voice. . When the user wants to play the construction warning voice, the playback command is input only through the input interface 21, and the playback/recording program outputs the corresponding digital audio file to the analog/digital conversion circuit in the memory component, and the analog/digital conversion is performed. The circuit is converted into an analog signal and sent to the amplifying circuit for audio amplification, so that the required construction warning voice can be played by the speaker.
因此，藉由上述之具體實施例說明，本發明確實具有下列所述的的特點： Thus, the invention has the following features as illustrated by the specific embodiments described above:
1.本發明藉由二種往復擺動軌跡之路障機器人的機能建置，以有效吸引附近的人車注意而提升工安路障警示的效果，進而避免車輛或路人跌落或撞擊施工區護欄的危險工安意外的事故產生。 1. The invention realizes the function of the roadblock robot with two kinds of reciprocating oscillating trajectories, so as to effectively attract the attention of the nearby people and the vehicle, thereby improving the effect of the roadblock warning of the work safety, thereby avoiding the dangerous work of the vehicle or the passerby falling or hitting the guardrail of the construction area. An accident occurred.
2.本發明可以有效確保視障者的用路安全，主要是透過人員靠近與否之偵測判斷等機能建置，以作為播放施工警示語音的依據，進而提升視障者或路過行人的用路安全。 2. The invention can effectively ensure the safety of the visually impaired person, mainly through the detection and judgment of the proximity of the person or the like, as a basis for playing the construction warning voice, thereby improving the visually impaired or passing by the pedestrian. Road safety.
3.本發明確實可以依據人車距離狀態而控制路障機器人的擺臂速度，而可更為有效吸引附近人車注意，藉以提升路工安障警示的效果。 3. The invention can control the swing arm speed of the roadblock robot according to the distance state of the human vehicle, and can more effectively attract the attention of the nearby people, thereby improving the effect of the road safety warning.
4.本發明可藉由影像辨識之機能建置，而可於施工區域無人車經過的時段關閉工安路障警示所需的電源，藉以達到節省電能支出的功效。 4. The invention can be built by the function of image recognition, and the power required for the roadblock warning can be turned off during the period when the unmanned vehicle passes through the construction area, thereby achieving the effect of saving energy expenditure.
以上所述，僅為本發明之可行實施例，並非用以限定本發明之專利範圍，凡舉依據下列請求項所述之內容、特徵以及其精神而為之其他變化的等效實施，皆應包含於本發明之專利範圍內。本發明所具體界定於請求項之結構特徵，未見於同類物品，且具實用性與進步性，已符合發明專利要件，爰依法具文提出申請，謹請 鈞局依法核予專利，以維護本申請人合法之權益。 The above is only a possible embodiment of the present invention, and is not intended to limit the scope of the patents of the present invention, and the equivalent implementations of other changes according to the contents, features and spirits of the following claims should be It is included in the patent of the present invention. The invention is specifically defined in the structural features of the request item, is not found in the same kind of articles, and has practicality and progress, has met the requirements of the invention patent, and has filed an application according to law, and invites the bureau to approve the patent according to law to maintain the present invention. The legal rights of the applicant.
10‧‧‧仿人本體 10‧‧‧ Humanoid body
20‧‧‧控制模組 20‧‧‧Control Module
21‧‧‧輸入界面 21‧‧‧ input interface
30‧‧‧擺臂 30‧‧‧ swing arm
31‧‧‧警示旗幟 31‧‧‧ Warning Flag
50‧‧‧施工顯示模組 50‧‧‧ Construction display module
70‧‧‧施工語音警示模組 70‧‧‧ Construction Voice Warning Module
Claims (6)
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| TW104108469A TWI546168B (en) | 2015-03-17 | 2015-03-17 | Solar intelligent voice network workers |
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| Application Number | Priority Date | Filing Date | Title |
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| TW104108469A TWI546168B (en) | 2015-03-17 | 2015-03-17 | Solar intelligent voice network workers |
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| TWI546168B true TWI546168B (en) | 2016-08-21 |
| TW201634200A TW201634200A (en) | 2016-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| TW104108469A TWI546168B (en) | 2015-03-17 | 2015-03-17 | Solar intelligent voice network workers |
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| TW (1) | TWI546168B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107520851A (en) * | 2017-08-25 | 2017-12-29 | 洛阳栾川钼业集团股份有限公司 | A kind of audio alert robot for being used to command haulage vehicle to move backward |
| CN109056569A (en) * | 2018-07-11 | 2018-12-21 | 安徽省徽腾智能交通科技有限公司 | A kind of interim prior-warning device of highway |
| CN111648266A (en) * | 2020-05-22 | 2020-09-11 | 泉州信息工程学院 | Intelligent road construction warning device and working method thereof |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108867427B (en) * | 2018-07-11 | 2020-10-23 | 安徽省徽腾智能交通科技有限公司 | Method for improving driving safety of highway |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107520851A (en) * | 2017-08-25 | 2017-12-29 | 洛阳栾川钼业集团股份有限公司 | A kind of audio alert robot for being used to command haulage vehicle to move backward |
| CN109056569A (en) * | 2018-07-11 | 2018-12-21 | 安徽省徽腾智能交通科技有限公司 | A kind of interim prior-warning device of highway |
| CN109056569B (en) * | 2018-07-11 | 2021-01-12 | 安徽省徽腾智能交通科技有限公司 | Temporary early warning device for expressway |
| CN111648266A (en) * | 2020-05-22 | 2020-09-11 | 泉州信息工程学院 | Intelligent road construction warning device and working method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201634200A (en) | 2016-10-01 |
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