Robot monitoring device and use method thereof

Abstract

The invention discloses a robot monitoring device and a using method thereof, and relates to the technical field of robots. The ship comprises a ship body, a monitor fixedly installed on the ship body, a sail steering motor installed on the inner side of the ship body, and a sail fixing rod arranged at the output end of the sail steering motor. And the disc mechanism comprises a disc main body and a plurality of partition plates fixedly connected in the disc main body, and the multiple partition plates divide the disc main body into a plurality of fan-shaped cavities. According to the invention, a disc mechanism is designed, and the magnitude and direction of wind power are detected by using the motion trail of the small ball in the disc, so that intelligent adjustment of the power system is realized. The robot has the advantages of being low in cost and easy to maintain, the stable and reliable power adjusting function can be provided in the complex water area environment, and the cruising ability and operation flexibility of the robot in the water patrol process are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot monitoring device and a use method thereof. Background Art

[0002] In modern water patrol systems, water robots are widely used in water monitoring, environmental protection, search and rescue, scientific research and other fields. Traditional water patrol robots usually rely on fixed power output methods, and their power systems often fail to fully consider changes in the external environment, especially the impact of wind.

[0003] Wind is an important natural factor in the aquatic environment, which has a significant impact on the cruising path and power output of the aquatic robot. However, in the existing technology, the adaptability of aquatic robots to wind is poor, and they usually adopt a fixed power output mode, failing to effectively utilize wind resources for intelligent adjustment. This causes the robot to consume a lot of energy under strong wind conditions, shorten the endurance time, and reduce the cruising efficiency.

[0004] In order to solve the above problems, the present invention proposes a technical solution for automatically adjusting the power output of a water robot based on wind force. Summary of the invention

[0005] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0006] In view of the problems existing in the above-mentioned existing robot monitoring device and the use method thereof, the present invention is proposed.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: a robot monitoring device, comprising:

[0008] The main body mechanism comprises: a hull, a monitor fixedly mounted on the hull, a sail steering motor mounted on the inner side of the hull, and a sail fixing rod arranged on the output end of the sail steering motor, the sail being fixedly connected to the sail fixing rod, and a power module being fixedly connected to the bottom side of the hull;

[0009] A disc mechanism, comprising: a disc body, and a plurality of partitions fixedly connected and arranged in the disc body, wherein the plurality of partitions divide the disc body into a plurality of fan-shaped cavities, and each fan-shaped cavity is provided with a frequency detection module, and a central cone disc is fixedly connected to the center of the disc body, and an ejection hole is opened on the central cone disc;

[0010] The ball ejection mechanism comprises: a mounting base, a lower through-tube fixedly arranged on the upper side of the mounting base, and a hollow disk fixedly connected to the upper end of the lower through-tube, wherein the upper end of the hollow disk is also fixedly connected to an upper through-tube, the upper through-tube extends into the center cone disk and communicates with the ejection hole, a plurality of balls are arranged in the hollow disk, a gap is left between the upper through-tube and the lower through-tube for only allowing the balls to pass, and the balls are ejected upward from the upper through-tube through the ejection mechanism;

[0011] Wherein, a central control module for controlling the ship speed is also arranged on the hull.

[0012] As a preferred solution of the robot monitoring device described in the present invention, the ejection mechanism includes: a telescopic cylinder fixedly installed on the inner side of the mounting base, a piston rod fixedly connected to the output end of the telescopic cylinder, and a push rod fixedly connected to the upper end of the piston rod, and the push rod is slidably inserted in the lower through pipe.

[0013] As a preferred solution of the robot monitoring device described in the present invention, the upper side of each partition is fixedly connected with an air guide plate flush with it, the air guide plate extends to the upper side of the central cone disk area and forms a narrow channel between every two air guide plates.

[0014] As a preferred solution of the robot monitoring device described in the present invention, each of the fan-shaped cavities is provided with a recovery hole, and the bottom surface of the fan-shaped cavity is provided with a concave surface recessed toward the side of the recovery hole, a plurality of recovery tracks are fixedly connected to the bottom of the disc body, the plurality of recovery tracks are arranged one-to-one corresponding to the recovery holes, and a plurality of through holes communicating with the recovery tracks are provided on the surface of the hollow disc.

[0015] As a preferred solution of the robot monitoring device described in the present invention, a frequency detection module is arranged in each of the fan-shaped cavities, and each time the ejection mechanism throws out a ball, the frequency detection module is ready to start detection, and when the ball contacts the frequency detection module, the first contact time is recorded.

[0016] As a preferred solution of the robot monitoring device described in the present invention, a central control module is also arranged on the hull, and each of the frequency detection modules corresponds to a wind direction number of an orientation individually. The central control module obtains orientation information based on the signals received from the frequency detection modules with different wind direction numbers, and adjusts the sail steering motor to control the steering of the sail fixing pole, thereby adjusting the sail to the optimal orientation.

[0017] As a preferred solution of the robot monitoring device described in the present invention, the shorter the time required for the frequency detection module to contact the ball interval, the greater the wind force, and the central control module adjusts the power output of the power module according to the contact frequency of the frequency detection module.

[0018] As a preferred solution of the robot monitoring device described in the present invention, the outer side of the disc body is also fixedly connected with a fence, and ventilation nets are evenly distributed in a ring shape on the fence.

[0019] The present invention also discloses a robot monitoring device and a method for using the same, which is applied to the robot monitoring device. The method comprises the following steps:

[0020] S1: When the robot performs a surveillance task on the water, it captures images through the monitor and transmits them to the cloud. At the same time, the telescopic cylinder drives the push rod to slide at a uniform speed in the lower pipe.

[0021] S2: Every time the ejector rod is ejected upward, a small ball will be thrown vertically out of the ejection hole;

[0022] S3: If there is wind on the water surface, the airflow will be guided by the wind deflector. When passing through the narrow channel, the airflow will speed up and the thrown ball will appear on the opposite side.

[0023] S4: The ball falls into the fan-shaped cavity and contacts the impact frequency detection module. The frequency detection module senses and records the first impact time. At the same time, the central control module obtains the direction information according to the signal of the wind direction number frequency detection module received by the impact, and controls the sail steering motor to control the sail fixing pole to turn, thereby adjusting the sail to the best direction;

[0024] S5: When the wind direction does not change, the time interval of each ball hitting the frequency detection module is recorded. The shorter the interval, the stronger the wind force. The central control module adjusts the output power of the power module through the power adjustment algorithm, thereby saving the energy loss of the robot.

[0025] As a preferred solution of the method for using the robot monitoring device of the present invention, wherein:

[0026] The power adjustment algorithm process is:

[0027] Initialize each frequency detection module and set the initial output power P of the power module max ,Each frequency detection module starts to detect the first contact time interval T i ;

[0028] According to the recorded T i value, judge the wind strength, the shorter the wind, the stronger the wind, find the T within the set unit time i The minimum value T in min ;

[0029] Set a minimum time threshold T threshold , for each frequency detection module, according to Ti The corresponding power output P i , the calculation formula is as follows:

[0030]

[0031] If T i >T threshold , then P i =P max .

[0032] Beneficial effects of the present invention:

[0033] 1. The present invention realizes intelligent adjustment of the power system by designing a disc mechanism and using the motion trajectory of the ball in the disc to detect the size and direction of the wind. It not only has the advantages of low cost and simple maintenance, but also can provide stable and reliable power adjustment function in complex water environments, improving the robot's endurance and operational flexibility in water patrols.

[0034] 2. The present invention records the time interval of the first contact of the ball through the frequency detection module, determines the wind force according to the length of the time interval, and adjusts the output power of the propeller through the central control module. In the case of strong wind, the output power of the propeller is reduced, thereby effectively saving energy and improving the robot's endurance and operating efficiency in water patrols. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0036] Figure 1 This is a schematic diagram of the overall structure of a robot monitoring device proposed by the present invention;

[0037] Figure 2 This is a schematic diagram of the structure of the other side of a robot monitoring device proposed by the present invention;

[0038] Figure 3 This is a schematic structural diagram of a disc body in a robot monitoring device proposed by the present invention;

[0039] Figure 4 This is a top view of the structure of a disk body in a robot monitoring device proposed by the present invention;

[0040] Figure 5 for Figure 4 A schematic diagram of the enlarged structure at A in the middle;

[0041] Figure 6 This is a schematic diagram of the distribution structure of a recovery track in a robot monitoring device proposed by the present invention;

[0042] Figure 7 A schematic diagram of an ejection action of an ejection mechanism in a robot monitoring device proposed by the present invention;

[0043] Figure 8 This is a schematic block diagram of power adjustment in a robot monitoring device proposed by the present invention.

[0044] In the figure: 100-main body, 101-hull, 102-monitor, 103-sail fixing rod, 104-sail, 105-sail steering motor, 106-power module, 107-central control module, 200-disc mechanism, 201-disc body, 202-partition, 203-wind guide plate, 203a-narrow channel, 204-frequency detection module, 205-enclosure, 206-recovery hole, 207-center cone, 207a-ejection hole, 300-ball ejection mechanism, 301-mounting base, 302-telescopic cylinder, 303-piston rod, 304-hollow disk, 304a-through hole, 305-recovery track, 306-lower through pipe, 307-upper through pipe, 308-elevator, 309-small ball. DETAILED DESCRIPTION

[0045] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0046] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0047] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0048] Reference Figure 1-Figure 8 , which is an embodiment of the present invention, provides a robot monitoring device and a method of using the same. The device includes: a main body mechanism 100, a disc mechanism 200 and a ball throwing mechanism 300.

[0049] Among them, the main structure 100 includes: a hull 101, a monitor 102 fixedly installed on the hull 101, a sail steering motor 105 installed on the inner side of the hull 101, and a sail fixing rod 103 arranged on the output end of the sail steering motor 105, and a sail 104 is fixedly connected to the sail fixing rod 103. A power module 106 is also installed on the bottom side of the hull 101, and the power module 106 is composed of two sets of propellers.

[0050] The disc mechanism 200 comprises: a disc body 201, and a plurality of partitions 202 fixedly connected and arranged in the disc body 201, wherein the plurality of partitions 202 divide the disc body 201 into a plurality of fan-shaped cavities, a central cone 207 is fixedly connected at the center of the disc body 201, and a ejection hole 207a is provided on the central cone 207, and an air guide plate 203 flush with the central cone 207 is fixedly connected on the upper side of each partition 202, and the air guide plate 203 extends to the upper side of the central cone 207 area, and a narrow passage 203a is formed between every two air guide plates 203. It is used for airflow guidance, so that the airflow speed is accelerated when passing through the narrow passage 203a, thereby enhancing the force on the small ball 309, so that the small ball 309 is blown out from the narrow passage 203a on the other side, and a fence 205 is also fixedly connected to the outside of the disc body 201, and a ventilation net is evenly distributed in an annular manner on the fence 205. While ensuring normal air intake, prevent the ball from escaping.

[0051] The ball ejection mechanism 300 comprises: a mounting base 301 fixedly connected to the hull 101, a lower through pipe 306 fixedly arranged on the upper side of the mounting base 301, and a hollow disk 304 fixedly connected to the upper end of the lower through pipe 306, wherein the upper through pipe 307 is also fixedly connected to the upper end of the hollow disk 304, the upper through pipe 307 extends into the center cone 207 and communicates with the ejection hole 207a, a plurality of balls 309 are arranged in the hollow disk 304, a gap is left between the upper through pipe 307 and the lower through pipe 306 for only allowing the balls 309 to pass, and the balls 309 are ejected upward from the upper through pipe 307 through the ejection mechanism; the ejection mechanism comprises: a telescopic cylinder 302 fixedly mounted on the inner side of the mounting base 301, a piston rod 303 fixedly connected to the output end of the telescopic cylinder 302, and a push rod 308 fixedly connected to the upper end of the piston rod 303, and the push rod 308 is slidably inserted into the lower through pipe 306. That is to say, when the telescopic cylinder 302 drives the push rod 308 to slide up and down, the ball 309 can be pushed out.

[0052] A recovery hole 206 is provided in each fan-shaped cavity, and a concave surface that is sunken toward one side of the recovery hole 206 is provided on the bottom surface of the fan-shaped cavity. A plurality of recovery tracks 305 are fixedly connected to the bottom of the disc body 201, and the plurality of recovery tracks 305 are arranged one-to-one with the recovery holes 206. A plurality of through holes 304a that are interconnected with the recovery tracks 305 are provided on the surface of the hollow disc 304. After the ball rolls into the fan-shaped cavity, it will eventually fall back from the recovery hole 206 to the recovery track 305, and roll back to the hollow disc 304 along the recovery track 305. A central control module 107 for controlling the speed of the ship is also provided on the hull 101, and a frequency detection module 204 is provided in each fan-shaped cavity. After each time the ejection mechanism throws out a ball, the frequency detection module 204 is ready to start detection. When the ball contacts the frequency detection module, the first contact time is recorded. That is to say, each time the telescopic cylinder 302 is ejected upward, the frequency detection module 204 is responsible for recording the preparation time.

[0053] The hull 101 is also provided with a central control module 107. Each frequency detection module corresponds to a wind direction number of an orientation. The central control module 107 obtains orientation information according to the signals of the frequency detection modules 204 with different wind direction numbers received, and adjusts the sail steering motor 105 to control the sail fixing rod 103 to turn, thereby adjusting the sail 104 to the best orientation. If the hull 101 is traveling toward the south, we take the 12-equally divided fan-shaped cavity as an example in conjunction with the attached figure, then the frequency detection module 204 facing the hull corresponds to the south wind direction, and the frequency detection module 204 facing the stern corresponds to the north wind direction. By analogy, the shorter the time required for the frequency detection module 204 to contact the ball interval, the greater the wind force. The central control module 107 adjusts the power output of the power module 106 according to the contact frequency of the frequency detection module 204.

[0054] A method for using a robot monitoring device and a method for using the same, comprising the following steps:

[0055] S1: When the robot performs a monitoring task on the water, the monitor 102 captures images and transmits them to the cloud. At the same time, the telescopic cylinder 302 drives the top rod 308 to perform uniform telescopic sliding in the lower pipe 306;

[0056] S2: Every time the ejector rod 308 is ejected upward, a small ball 309 is driven to be ejected vertically from the ejection hole 207a;

[0057] S3: If there is wind on the water surface, the airflow will be guided by the wind guide plate 203. When passing through the narrow passage 203a, the airflow will accelerate and blow the thrown ball 309 to the opposite side;

[0058] S4: The ball falls into the fan-shaped cavity and contacts the impact frequency detection module 204. The frequency detection module 204 senses and records the first impact time. At the same time, the central control module 107 obtains the azimuth information according to the signal of the wind direction number frequency detection module 204 received by the impact, and adjusts the sail steering motor 105 to control the sail fixing rod 103 to turn, thereby adjusting the sail 104 to the best azimuth;

[0059] S5: When the wind direction does not change, the time interval of each ball hitting the frequency detection module 204 is recorded. The shorter the interval, the stronger the wind force. The central control module 107 adjusts the output power of the power module 106 through the power adjustment algorithm, thereby saving the energy loss of the robot.

[0060] Specifically, the power adjustment algorithm process is:

[0061] Initialize each frequency detection module and set the initial output power P of the power module 106 max ,Each frequency detection module starts to detect the first contact time interval T i ;

[0062] According to the recorded T i value, judge the wind strength, the shorter the wind, the stronger the wind, find the T within the set unit time i The minimum value T in min ;

[0063] Set a minimum time threshold T threshold , for each frequency detection module, according to T i The corresponding power output P i , the calculation formula is as follows:

[0064]

[0065] If T i >T threshold , then P i =P max .

[0066] In summary, the present invention realizes intelligent regulation of the power system by designing a disc mechanism and using the movement trajectory of the ball in the disc to detect the size and direction of the wind. It not only has the advantages of low cost and simple maintenance, but also can provide a stable and reliable power regulation function in complex water environments, improve the robot's endurance and operational flexibility in water patrols. The present invention records the time interval of the first contact of the ball through a frequency detection module, determines the size of the wind according to the length of the time interval, and adjusts the output power of the propeller through a central control module. In the case of strong winds, the propeller output power is reduced, thereby effectively saving energy and improving the robot's endurance and operating efficiency in water patrols.

[0067] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A robot monitoring device, characterized in that: include: A main body mechanism (100) comprises: a hull (101), a monitor (102) fixedly mounted on the hull (101), a sail steering motor (105) mounted on the inner side of the hull (101), and a sail fixing rod (103) arranged on the output end of the sail steering motor (105), a sail (104) being fixedly connected to the sail fixing rod (103), and a power module (106) being further mounted on the bottom side of the hull (101); A disc mechanism (200) comprises: a disc body (201), and a plurality of partitions (202) fixedly connected and arranged in the disc body (201), wherein the plurality of partitions (202) divide the disc body (201) into a plurality of fan-shaped cavities, a central cone (207) fixedly connected at the center of the disc body (201), and an ejection hole (207a) is provided on the central cone (207); The ball ejection mechanism (300) comprises: a mounting base (301) fixedly connected to a hull (101), a lower through pipe (306) fixedly arranged on the upper side of the mounting base (301), and a hollow disk (304) fixedly connected to the upper end of the lower through pipe (306); an upper through pipe (307) is also fixedly connected to the upper end of the hollow disk (304); the upper through pipe (307) extends into a central cone disk (207) and communicates with an ejection hole (207a); a plurality of balls (309) are arranged in the hollow disk (304); a gap is left between the upper through pipe (307) and the lower through pipe (306) for only the balls (309) to pass through; and the balls (309) are ejected upward from the upper through pipe (307) through the ejection mechanism; The hull (101) is also provided with a central control module (107) for controlling the ship speed.

2. A robot monitoring device according to claim 1, characterized in that: The ejection mechanism comprises: a telescopic cylinder (302) fixedly mounted on the inner side of a mounting base (301), a piston rod (303) fixedly connected to the output end of the telescopic cylinder (302), and a push rod (308) fixedly connected to the upper end of the piston rod (303), wherein the push rod (308) is slidably inserted into the lower through pipe (306).

3. A robot monitoring device according to claim 2, characterized in that: The upper side of each partition plate (202) is fixedly connected with an air guide plate (203) flush therewith, and the air guide plate (203) extends to the upper side of the central cone disk (207) area, and forms a narrow passage (203a) between every two air guide plates (203).

4. A robot monitoring device according to claim 3, characterized in that: A recovery hole (206) is provided in each of the fan-shaped cavities, and a concave surface is provided on the bottom surface of the fan-shaped cavity which is sunken toward one side of the recovery hole (206). A plurality of recovery tracks (305) are fixedly connected to the bottom of the disc body (201), and the plurality of recovery tracks (305) are arranged in a one-to-one correspondence with the recovery holes (206). A plurality of through holes (304a) which are interconnected with the recovery tracks (305) are provided on the surface of the hollow disc (304).

5. A robot monitoring device according to claim 4, characterized in that: A frequency detection module (204) is arranged in each of the fan-shaped cavities. After the ejection mechanism throws out a small ball each time, the frequency detection module (204) is ready to start detection. When the small ball contacts the frequency detection module, the first contact time is recorded.

6. A robot monitoring device according to claim 5, characterized in that: The hull (101) is also provided with a central control module (107), and each of the frequency detection modules corresponds to a wind direction number of an orientation. The central control module (107) obtains orientation information based on the received signals of the frequency detection modules (204) with different wind direction numbers, and adjusts the sail steering motor (105) to control the steering of the sail fixing pole (103), thereby adjusting the sail (104) to an optimal orientation.

7. A robot monitoring device according to claim 6, characterized in that: The shorter the time required for the frequency detection module (204) to contact the ball interval, the greater the wind force. The central control module (107) adjusts the power output of the power module (106) according to the contact frequency of the frequency detection module (204).

8. A robot monitoring device according to claim 7, characterized in that: The outer side of the disc body (201) is also fixedly connected to a baffle (205), and ventilation nets are evenly distributed in an annular shape on the baffle (205).

9. A method for using a robot monitoring device and a method for using the same, the method being applied to the robot monitoring device and the method for using the same as claimed in claim 8, the method comprising the following steps: S1: When the robot performs a monitoring task on the water, the monitor (102) captures images and transmits them to the cloud, while the telescopic cylinder (302) drives the top rod (308) to perform uniform telescopic sliding in the lower pipe (306); S2: Each time the ejector rod (308) is ejected upward, a small ball (309) is ejected vertically from the ejection hole (207a); S3: If there is wind on the water surface, the airflow will be guided by the wind guide plate (203). When passing through the narrow passage (203a), the airflow will speed up and blow the thrown ball (309) to the opposite side; S4: the ball falls into the fan-shaped cavity and contacts the impact frequency detection module (204), the frequency detection module (204) senses and records the first impact time, and the central control module (107) obtains the direction information according to the signal received from the frequency detection module (204) of the wind direction number of the impact, and adjusts the sail steering motor (105) to control the sail fixing pole (103) to turn, thereby adjusting the sail (104) to the best direction; S5: When the wind direction does not change, the time interval of each ball hitting the frequency detection module (204) is recorded. The shorter the interval, the stronger the wind force. The central control module (107) adjusts the output power of the power module (106) through the power adjustment algorithm, thereby saving the energy loss of the robot.

10. The method for using a robot monitoring device according to claim 9, wherein the power adjustment algorithm process is: Initialize each frequency detection module and set the initial output power P of the power module (106) max ,Each frequency detection module starts to detect the first contact time interval T i ; According to the recorded T i value, judge the wind strength, the shorter the wind, the stronger the wind, find the T within the set unit time i The minimum value T in min ; Set a minimum time threshold T hreshold , for each frequency detection module, according to T i The corresponding power output P i , the calculation formula is as follows: If T i >T threshold , then P i =P max .

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