CN102755194A - Remote monitoring robot - Google Patents
Remote monitoring robot Download PDFInfo
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- CN102755194A CN102755194A CN2011101023702A CN201110102370A CN102755194A CN 102755194 A CN102755194 A CN 102755194A CN 2011101023702 A CN2011101023702 A CN 2011101023702A CN 201110102370 A CN201110102370 A CN 201110102370A CN 102755194 A CN102755194 A CN 102755194A
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Abstract
The invention discloses a remote monitoring robot consisting of a robot body as well as a noncontact human vital sign monitoring device, a human body tracking circuit, a remote alarm device and a remote network video monitoring device which are attached to the robot. The remote monitoring robot can be used for automatically or remotely tracking a monitored objet and monitoring main vital signs of the monitored object in a noncontact mode in a certain distance; the monitored person can freely move in a certain range, so that action limitation of the conventional monitoring device on the monitored person is eliminated; and when the vital sign parameters are abnormal, emergency signals can be automatically transmitted to a far end through the existing mobile communication network and Internet. The remote monitoring robot can be widely applied to remote monitoring of old people living alone and sick and weak groups, and provides great convenience for household medical nursing in the aging and fast-tempo society.
Description
Technical field
The present invention relates to a kind of long distance monitoring robot, especially a kind of long distance monitoring robot that realizes contactless humanbody vital signs detecting and human body from motion tracking.
Background technology
Along with the arrival of aging society, aging population increase fast, and aging, empty nesting trend are obvious, need the half anergy old man who takes care of more and more.Since the fierceness of social competition, the quickening of work and rhythm of life, people have no time to look after old or sick and weak relatives, and nursing old, sick and weak colony has become a thorny social problem.For this reason, a large amount of health monitoring products arise at the historic moment, and come into people's life based on the various monitors of basic human body physiological parameter detecting.Especially along with the development of microelectric technique and electromechanical integration; The particularly exploitation in succession of new generation sensor part; The performance of multifunctinoal health state detector becomes more reliable, and more perfect function is for the monitoring of people's domestic medicine provides great convenience.
Application number is 2006100148831, name is called the invention of " Portable, multiple parameter custodial care facility "; Disclose a kind of device that can transmit patient's physiologic information through the GPRS communication network, telemonitoring utilizes sensor acquisition patients' such as cardiac diagnosis lead, pulse probe physiologic information.But, this invents described physiological information sensor and adopts traditional sensor technology, and these pick offs are laid in the patient body specific part, and its connection cable also can cause winding to limbs, and giving needs old age, the sick and weak object of monitoring all the year round to bring inconvenience.At present, known most of physiological parameter long distance monitoring equipment is invented technology type seemingly therewith.
Application number is 2004100887492, name is called the invention of " a kind of contactless aroused in interest with respiration detection technology "; Utilize pressure transducer to measure human body heart beating and breathing; Patient can break away from pick off laying on health; Could realize detecting but must rely on a mattress of having settled pressure transducer or the back cushion, this invention has still limited the free movable of monitored personnel's health.
Application number is that 02224624X, name are called the invention of " the contactless life parameters sniffer of radar "; The health fine motion that utilizes Radar Technology detection human body respiration, pulse to cause; The main life parameters of noncontact monitoring human in the scope of certain distance; Broken away from traditional sensors and laid the winding of human body and connection cable thereof limbs; But this disclosure of the Invention only is the circuit structure of life parameters sniffer itself, do not relate to sniffer from motion tracking, long distance monitoring technology, inconvenience is arranged in practicality.
In recent years, the development of robotics brings new opportunity to monitoring technology, and the method for operation of its hommization obtains people's favor.Application number is 038229145, name is called the invention of " medical tele-robotic system "; A kind of system through the long distance monitoring patient of robot is disclosed; Utilize broadband networks, photographing unit, monitor technology; The monitoring personnel that are positioned at remote location can see patient's image, case history, and also remote-controlled mobile robot points out patient to take medicine.But medical tele-robotic system is main with monitoring remote video only, is unrealized to the autonomous detection of children under guardianship's life parameters the automatic warning in the time of can't realizing vital sign abnormalities.
Summary of the invention
In order to overcome the defective of existing long distance monitoring technology, the invention provides a kind of long distance monitoring robot.This long distance monitoring robot can be automatically or the remote tracking guardianship, and in scope separated by a distance, the main vital sign of contactless monitoring guardianship sends warning message automatically when the survey vital sign parameter is unusual.
The technical solution adopted for the present invention to solve the technical problems is: a kind of long distance monitoring robot; Form by robot body and the vital sign monitoring device, the remote alarming device that are attached in the robot; But said robot body mainly is made up of walking mechanism, robot fuselage, motion driving system, master controller system, motion-sensing system, robot electric supply installation; It is characterized in that: said vital sign monitoring device adopts contactless humanbody vital sign monitoring device; This device is made up of radar detection antenna, radar signal transmitting-receiving and treatment circuit, vital signs detecting Digital Signal Analysis and Processing circuit; Said robot body has also been set up the human body tracking circuit, aims at human body all the time in order to the control radar exploring antenna, and control robot body and human body keep setpoint distance.The radar detection antenna of said noncontact vital sign monitoring device adopts beam antenna, and the combiner of radar detection antenna or radar detection antenna and the design of its interlock circuit one is installed on the top of robot body.Said remote alarming device by alarm signal circuit is set, radio communication circuit is formed, and sends alarm signal with voice or short message mode to the monitoring phone of setting through wireless communication networks.Alarm signal is provided with circuit also can connect the broadband network communication circuit through the master controller system simultaneously, and the alarm signal packaged is handled, through computer or the intelligent terminal of internet transmission to far-end.Said robot body configurable remote Network Video Surveillance device; The telecommunication network video monitoring apparatus is made up of camera assembly, microphone, video encoding circuit, broadband network communication circuit, and the broadband network communication circuit inserts the Internet through the wireless network connecting circuit.When being installed on the camera assembly configuration The Cloud Terrace of robot body, the combiner of radar detection antenna or radar detection antenna and the design of its interlock circuit one keeps interlock with camera pan-tilt, so that aim at by guardianship simultaneously.When said camera assembly disposed The Cloud Terrace, the master controller system connected the cradle head control circuit, and human body tracking circuit control signal is at first controlled The Cloud Terrace from motion tracking, when the tracking angle exceeds certain limit, controlled robot body again from motion tracking.Robot body master controller system can connect broadband network communication circuit, motion driving system, cradle head control circuit, and the monitoring personnel use PC or intelligent terminal, through moving of broadband network monitoring and remote-controlled machine human body and camera pan-tilt.
Robot body described in the technical scheme of the present invention is meant base machine people general under the prior art, and this robotlike is as a kind of technology platform, and people can expand the new robot product of exploitation on its basis.Contactless humanbody vital sign monitoring device described in the technical scheme of the present invention utilizes The radar exploration technique; Its principle is: launching beam shines directly into the outer human body of certain distance; The echo-signal of human body reflection is loaded with human body respiration, heart beating fine motion information; Echo-signal in monitoring device with the mixing that transmits, its output signal goes out human body vital sign parameters such as breathings, heart beating again through the signal analysis and processing circuit extraction, supply observation to guard.Simultaneously, the upper lower limit value of preset vital sign parameter abnormal alarm is set in the circuit, after the actual measurement parameter reaches the warning limit value, sends warning message through master controller and radio communication circuit, network transmission immediately in alarm signal.
The invention has the beneficial effects as follows; Can be automatically or the remote tracking guardianship; And in scope separated by a distance the main vital sign of noncontact monitoring guardianship, children under guardianship person can be free within the specific limits movable, broken away from the action restriction of traditional monitor device to children under guardianship person; When the survey vital sign parameter is unusual, can send the emergency signal through existing mobile communications network and the Internet to far-end automatically.Technology of the present invention can be widely used in solitary old age, the long distance monitoring of sick and weak colony, for the nursing of the domestic medicine under aging, the fast pace society provides great convenience.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the present invention is further described.
Fig. 1 is the overall structure schematic front view of the embodiment of the invention.
Fig. 2 is a kind of simplification circuit block diagram of the embodiment of the invention.
Among the figure: but 1. walking mechanism, 2. robot fuselage, 3. radar detection antenna, 4. camera assembly, 5. microphone; 6. The Cloud Terrace, 7. video encoding circuit, 8. master controller system, 9. radar signal transmitting-receiving and treatment circuit, 10. vital signs detecting Digital Signal Analysis and Processing circuit; 11. alarm signal is provided with circuit, 12. radio communication circuits, 13. broadband network communication circuit, 14. wireless network connecting circuits; 15. power control circuit, 16. accumulator batteries and charge-discharge control circuit, 17. human body tracking circuit, 18. motion-sensing systems; 19. motion driving system, 20. equipment configuration serial ports, 21. lens control circuits, 22. cradle head control circuit.
The specific embodiment
Fig. 1 is the overall structure schematic front view of an exemplary embodiments of the present invention.Among the figure, but the walking mechanism of long distance monitoring robot (1) can adopt common wheeled or crawler type, and the robot fuselage has been installed critical pieces such as master controller circuit system and electric supply installation in (2).Radar detection antenna (3) and camera assembly (4) have been installed on the The Cloud Terrace (6) on robot fuselage (2) top, and both and The Cloud Terrace rotate synchronously, and assurance radar detection antenna (3) is aimed at guardianship simultaneously with camera assembly (4).
Fig. 2 is a kind of simplification circuit block diagram of the embodiment of the invention.Among the figure, but the long distance monitoring robot by robot body and noncontact vital sign monitoring device, remote alarming device form, robot body mainly is made up of walking mechanism (1), robot fuselage (2), motion driving system (19), master controller system (8), motion-sensing system (18), robot electric supply installation.The robot electric supply installation comprises power control circuit (15) and accumulator battery and charge-discharge control circuit (16); Accumulator battery and charge-discharge control circuit (16) are made up of accumulator battery and charge and discharge control circuit thereof; Circuit is monitored accumulator charging and discharging state automatically; Report to the police through external sound or optical indicator when needing charging, remind charging in time, stop charging after charging is accomplished automatically and show through external sound or optical indicator.Also can be equipped with external automatic cradle; When needs charge; Apparatus of the present invention are through the related sensor in the motion-sensing system (18), survey, identification charger position, through master controller system (8) and motion driving system (19) but control walking mechanism (1); Before moving to cradle voluntarily, realize charging automatically.Internal electric source control circuit (15) is obtained power supply from accumulator battery and charge-discharge control circuit (16); Under the management of master controller system (8) pre-set programs, the switching and the dormancy of management each several part circuit, power devices, wake up, state such as battery saving mode.
Contactless humanbody vital sign monitoring device in the present embodiment is made up of with treatment circuit (9), vital signs detecting Digital Signal Analysis and Processing circuit (10) radar detection antenna (3), radar signal transmitting-receiving; The radar detection antenna (3) here adopts the microwave beam antenna; Radar detection antenna (3) can design with radar signal transmitting-receiving and treatment circuit (9) one, and its combiner is installed on the The Cloud Terrace (6) on robot body top with camera assembly (4).The radar signal transmitting-receiving mainly comprises local oscillated signal source and power amplifier, directional coupler and circulator, echo amplifier, frequency mixer and mixed frequency signal treatment circuit with treatment circuit (9).Local oscillated signal forms launching beam through power amplifier, directional coupler and circulator, radar detection antenna (3); Shine directly into the outer human body of certain distance; Be loaded with the human body reflection echo signal of breathing, heart beating fine motion information; Received by radar detection antenna (3), send ripple signal amplifier processing and amplifying back to through circulator, in frequency mixer with the local oscillated signal mixing; Its output signal extracts human body vital sign parameters such as breathing, heart beating through vital signs detecting Digital Signal Analysis and Processing circuit (10) again, supplies the observation monitoring.Simultaneously; Be provided with in the circuit (11) in alarm signal; Can preset the unusual upper lower limit value of vital sign parameter, after the actual measurement parameter reaches limit value, send alarm signal with voice or short message mode to the monitoring phone of setting through master controller system (8) and radio communication circuit (12) immediately.Owing to disposed broadband network communication circuit (13) in the present embodiment; Alarm signal is provided with circuit (11) also can connect broadband network communication circuit (13) through master controller system (8) simultaneously; The alarm signal packaged is handled, through computer or the intelligent terminal of internet transmission to far-end, at this moment; The guardian can utilize computer or intelligent terminal's related software immediately, observes the guardianship video live telecast that the telecommunication network video monitoring apparatus sends.
The telecommunication network video monitoring apparatus that present embodiment disposed is made up of camera assembly (4), microphone (5), video encoding circuit (7), broadband network communication circuit (13), and broadband network communication circuit (13) inserts the Internet through wireless network connecting circuit (14).Look the Voice Surveillance device through what broadband network communication circuit (13) also can add reverse passback simultaneously, its scheme is: on robot body, install display, speaker additional and look audio decoding circuit, these all belong to known technology.For simplicity, directly on robot body of the present invention, install a panel computer that connects network even additional, can show the image that far-end transmits, realize that the audiovisual information of monitoring personnel and guardianship is mutual.
Human body tracking circuit (17) have that person body orientation is surveyed and human body apart from detecting function; Its detection data input master controller system (8) is through master controller (8) calculation process, respectively to cradle head control circuit (22) and motion driving system (19) output order; At first control The Cloud Terrace (6) and follow the tracks of human body automatically; When The Cloud Terrace (6) tracking angle exceeds certain limit, control robot body walking mechanism (1) again and rotate, keep from motion tracking.When robot body and human body when too far away, master controller (8) controlled motion drive system (19) but drive walking mechanism (1) and move near the human body, and keep setpoint distance.The orientation detection that human body tracking circuit (17) is used and apart from Detection Techniques can adopt known radar detection, infrared, laser, ultrasonic listening technology.The camera human body movement image analysis tracking technique of developed recently, also capable of using to present embodiment in motion tracking.
When being necessary; After for example the monitoring personnel receive the warning of guardianship vital sign abnormalities; The monitoring personnel use PC or intelligent terminal; Through the Internet, through broadband network communication circuit (13), master controller system (8), motion driving system (19), cradle head control circuit (22), lens control circuit (21), the motion of remote-controlled machine human body and camera pan-tilt, camera lens.
The equipment component operational factor of long distance monitoring robot and network parameter can directly dispose through said local device configuration serial ports (20), also can connect through network, carry out Remote configuration by system's far-end computer.Master controller system (8) has reserved interface, in needs, can expand the contactless infrared telemetry system of access body temperature and the monitoring and alarming system of indoor other incidents.
Physical circuit of the foregoing description and required microprocessor working procedure belong to known technology, will not detail here.
Claims (8)
1. long distance monitoring robot; Form by robot body and the vital sign monitoring device, the remote alarming device that are attached in the robot; But said robot body mainly is made up of walking mechanism, robot fuselage, motion driving system, master controller system, motion-sensing system, robot electric supply installation; It is characterized in that: said vital sign monitoring device adopts contactless humanbody vital sign monitoring device; This device is made up of radar detection antenna, radar signal transmitting-receiving and treatment circuit, vital signs detecting Digital Signal Analysis and Processing circuit; Said robot body has also been set up the human body tracking circuit, aims at human body all the time in order to the control radar exploring antenna, and control robot body and human body keep setpoint distance.
2. a kind of long distance monitoring according to claim 1 robot; It is characterized in that: the radar detection antenna of said noncontact vital sign monitoring device adopts beam antenna, and the combiner of radar detection antenna or radar detection antenna and the design of its interlock circuit one is installed on the top of robot body.
3. a kind of long distance monitoring according to claim 1 robot; It is characterized in that: said remote alarming device by alarm signal circuit is set, radio communication circuit is formed, and sends alarm signal with voice or short message mode to the monitoring phone of setting through wireless communication networks.
4. a kind of long distance monitoring according to claim 3 robot; It is characterized in that: alarm signal is provided with circuit also can connect the broadband network communication circuit through the master controller system simultaneously; The alarm signal packaged is handled, through computer or the intelligent terminal of internet transmission to far-end.
5. a kind of long distance monitoring according to claim 1 robot; It is characterized in that: said robot body configurable remote Network Video Surveillance device; The telecommunication network video monitoring apparatus is made up of camera assembly, microphone, video encoding circuit, broadband network communication circuit, and the broadband network communication circuit inserts the Internet through the wireless network connecting circuit.
6. a kind of long distance monitoring according to claim 5 robot; It is characterized in that: when being installed on the camera assembly configuration The Cloud Terrace of robot body; The combiner of radar detection antenna or radar detection antenna and the design of its interlock circuit one; Keep interlock with camera pan-tilt, so that aim at by guardianship simultaneously.
7. a kind of long distance monitoring according to claim 5 robot; It is characterized in that: when said camera assembly disposes The Cloud Terrace; The master controller system connects the cradle head control circuit; Human body tracking circuit control signal is at first controlled The Cloud Terrace from motion tracking, when the tracking angle exceeds certain limit, controls robot body again from motion tracking.
8. a kind of long distance monitoring according to claim 5 robot; It is characterized in that: robot body master controller system can connect broadband network communication circuit, motion driving system, cradle head control circuit; The monitoring personnel use PC or intelligent terminal, through moving of broadband network monitoring and remote-controlled machine human body and camera pan-tilt.
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| CN201110102370.2A CN102755194B (en) | 2011-04-25 | 2011-04-25 | A kind of remote monitoring robot |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102508256A (en) * | 2011-11-23 | 2012-06-20 | 中国科学院微电子研究所 | Non-contact real-time physiological signal monitoring system |
| CN104182152A (en) * | 2014-07-31 | 2014-12-03 | 李庆松 | Interaction display method and interaction display equipment |
| CN104757944A (en) * | 2015-03-31 | 2015-07-08 | 长源动力（北京）科技有限公司 | Telemedicine assistant platform |
| CN104965491A (en) * | 2015-03-13 | 2015-10-07 | 齐鲁工业大学 | Novel baby monitoring apparatus based on vehicle-mounted voice prompt |
| CN105286829A (en) * | 2015-11-05 | 2016-02-03 | 南京理工大学 | Non-contact vital sign intelligent detection device |
| CN105678958A (en) * | 2016-03-11 | 2016-06-15 | 深圳前海勇艺达机器人有限公司 | Robot-based human body tumble monitoring system |
| CN105996993A (en) * | 2016-04-29 | 2016-10-12 | 南京理工大学 | System and method for intelligent video monitoring of vital signs |
| CN106108863A (en) * | 2016-08-12 | 2016-11-16 | 李乾 | A kind of monitoring robot system |
| CN106217393A (en) * | 2016-08-29 | 2016-12-14 | 华南理工大学 | Portable far-end is come personally interaction platform |
| CN106777960A (en) * | 2016-12-12 | 2017-05-31 | 浙江侍维波机器人科技有限公司 | A kind of application of Ros distributed system architectures in medical care |
| CN106737752A (en) * | 2017-01-20 | 2017-05-31 | 小煷伴（深圳）智能科技有限公司 | A kind of remote monitoring robot |
| CN106821309A (en) * | 2016-12-27 | 2017-06-13 | 深圳前海勇艺达机器人有限公司 | Aged health intelligent management system |
| CN106974626A (en) * | 2017-03-09 | 2017-07-25 | 深圳市奥芯博电子科技有限公司 | Monitoring of pulse robot |
| CN108742564A (en) * | 2018-07-03 | 2018-11-06 | 梁汐萌 | Life parameters monitoring method and device |
| CN110139598A (en) * | 2016-12-29 | 2019-08-16 | 关健强 | Monitoring and tracking system, method, article and equipment |
| CN111938623A (en) * | 2020-08-25 | 2020-11-17 | 成都宋元科技有限公司 | Respiratory heart rate dynamic measurement method and device based on UWB positioning guidance |
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| CN102508256A (en) * | 2011-11-23 | 2012-06-20 | 中国科学院微电子研究所 | Non-contact real-time physiological signal monitoring system |
| CN104182152A (en) * | 2014-07-31 | 2014-12-03 | 李庆松 | Interaction display method and interaction display equipment |
| CN104965491A (en) * | 2015-03-13 | 2015-10-07 | 齐鲁工业大学 | Novel baby monitoring apparatus based on vehicle-mounted voice prompt |
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| CN105996993A (en) * | 2016-04-29 | 2016-10-12 | 南京理工大学 | System and method for intelligent video monitoring of vital signs |
| CN106108863A (en) * | 2016-08-12 | 2016-11-16 | 李乾 | A kind of monitoring robot system |
| CN106217393A (en) * | 2016-08-29 | 2016-12-14 | 华南理工大学 | Portable far-end is come personally interaction platform |
| CN106217393B (en) * | 2016-08-29 | 2018-09-14 | 华南理工大学 | Mobile interaction platform of distally coming personally |
| CN106777960A (en) * | 2016-12-12 | 2017-05-31 | 浙江侍维波机器人科技有限公司 | A kind of application of Ros distributed system architectures in medical care |
| CN106821309A (en) * | 2016-12-27 | 2017-06-13 | 深圳前海勇艺达机器人有限公司 | Aged health intelligent management system |
| CN110139598A (en) * | 2016-12-29 | 2019-08-16 | 关健强 | Monitoring and tracking system, method, article and equipment |
| US11369321B2 (en) | 2016-12-29 | 2022-06-28 | Kevin Kwan | Monitoring and tracking system, method, article and device |
| CN106737752A (en) * | 2017-01-20 | 2017-05-31 | 小煷伴（深圳）智能科技有限公司 | A kind of remote monitoring robot |
| CN106974626A (en) * | 2017-03-09 | 2017-07-25 | 深圳市奥芯博电子科技有限公司 | Monitoring of pulse robot |
| CN108742564A (en) * | 2018-07-03 | 2018-11-06 | 梁汐萌 | Life parameters monitoring method and device |
| CN111938623A (en) * | 2020-08-25 | 2020-11-17 | 成都宋元科技有限公司 | Respiratory heart rate dynamic measurement method and device based on UWB positioning guidance |
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