CN103419203A - All-day domestic robot - Google Patents
All-day domestic robot Download PDFInfo
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- CN103419203A CN103419203A CN2012101565950A CN201210156595A CN103419203A CN 103419203 A CN103419203 A CN 103419203A CN 2012101565950 A CN2012101565950 A CN 2012101565950A CN 201210156595 A CN201210156595 A CN 201210156595A CN 103419203 A CN103419203 A CN 103419203A
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Abstract
An all-day domestic robot comprises a robot body, wherein the head of the top end of the robot body is provided with a camera and can emit light, electromagnetic wave sensors, infrared ray short sensors and CO2 and formaldehyde sensors are arranged in the front of and behind the robot body respectively, a smog sensor, a CO sensor, an infrared ray heat sensor, a dust sensor and a temperature and humidity sensor are arranged on the robot body left and right, and an ultrasonic nebulizer, a dehumidification cooler, an air purifier, a dust collector, a control circuit board, a touch display screen and a turning keyboard are arranged inside the robot body. The all-day domestic robot has the functions of dust collecting, dust removing, sweeping, disinfecting, organic-matter degrading, temperature and humidity sensing and regulating, detecting and cleaning of CO, CO2, formaldehyde and other poisonous gas, particulate matter sensing and removing, lighting, free travelling, action charging, infrared ray sensing, all-dimensional camera shooting, digital storage, language communication and the like, and the all-day domestic robot is controlled through an intelligent microcomputer, can perambulate indoor security and protection 24 hours, can conduct accurate identification, send site video and give an alarm when a fire disaster occurs and external articles invade, and is stable in performance, convenient to operate and high in work efficiency.
Description
Technical field
The present invention relates to a kind of whole day type domestic robot.
Background technology
Along with socioeconomic development, people's rhythm of life is more and more faster, and requires also more and more higher to quality of the life.The family floor cleaning, in air, dust, pernicious gas are removed, gas leakage, fire alarm, the daily housework such as safety monitoring, IAQ and fire-fighting security protection, to have influence on people's normal operation, and caused economic loss.Because of a little, some working clans employ cleaning worker cleaning ground, the professional and technical personnel separates kind IAQ, even employ the security personnel and are responsible for security protection.At present both at home and abroad also not for the robot of family.
Summary of the invention
The technical problem to be solved in the present invention is, the defect existed for prior art, provide a kind of whole day type domestic robot, and it has.There is dust suction, dedusting, cleaning, sterilization, organic substance decomposing, humiture induction and adjusting, CO, CO
2, formaldehyde toxic gas detection and removing, particle induction and remove, throw light on, the functions such as the charging of freely walking, take action, infrared induction, comprehensive shooting, stored digital, communication, intelligent microcomputer is controlled, can within 24 hours, make an inspection tour indoor security, when fire and exterior object invasion occurring, can accurately identify, transmit live video and report to the police, equipment performance is stable, easy to operate, high efficiency.
For achieving the above object, the technology used in the present invention solution is, a kind of whole day type domestic robot, left crawler belt, right-hand track chiain are equipped with respectively in described vehicle body both sides, but the robot head of universal rotational is equipped with in the upper end of described vehicle body, this head is equipped with infrared pick-up head, infrared lamp and optical camera, LED lamp, before and after described vehicle body dress, electromagnetic sensor, infrared ray low coverage sensor and CO is housed
2, formaldehyde sensor, Smoke Sensor, CO sensor, infrared heat energy sensor, dust sensor and Temperature Humidity Sensor are equipped with in left and right, and interior of body is equipped with ultrasonic ultrasonic delay line memory, dehumidifying and cooling device, air purifier, dust catcher and control circuit board, touch display screen, upset keyboard; Described LED lamp is selected high-brightness LED, and optical camera adopts the high definition pick-up head, and the infrared pick-up head adopts the high sensitivity camera.
Described head is connected with head pitching electric rotating machine by end rotation axle, head pitching rotary teeth wheel set, the end rotation frame horizontally rotates motor by end rotation base plate and head and is connected, but 0 °～360 ° rotations of head pitching, 0 °～360 ° rotations of level.
Described vehicle body lower right side right-hand track chiain holds front driving wheel, rear drive, regulating wheel, and is contained on front driving wheel, rear drive, regulating wheel; The left crawler belt in same structure bottom, left side holds front driving wheel, rear drive, regulating wheel, and is contained on front driving wheel, rear drive, regulating wheel; Described crawler belt adopts great friction coefficient, elastomeric rubber to make.Described regulating wheel is connected with the second regulating arm by regulating wheel shaft; Described the second regulating arm is connected with the first regulating arm by regulating arm axle; Described the first regulating arm is regulated motor shaft by crawler belt and is connected with crawler belt adjusting motor.Motor in described driving wheel, the motor in rear drive, crawler belt are regulated motor and are connected with vehicle body.
Under the control of drive circuit, the motor in driving wheel, the rotation of the motor in rear drive, thus drive right-hand track chiain, the running of left crawler belt, make a kind of whole day type domestic robot advance, retreat or turn to; Crawler belt is regulated motor and is rotarily driven the first regulating arm, the second regulating arm swing, thereby adjusts the regulating wheel position, realizes kind of a whole day type domestic appliance up/down steps.
The structure of described air purifier is that the clarifier air inlet is connected with air purifier by the clarifier air intake cover; Described air purifier is connected with the clean air outlet by clarifier blower fan, clean air duct;
Described air purifier be take wire netting as catalyst carrier, and a certain amount of nanoscale catalysis material of load and active carbon, make it have good chemical stability, abrasion resistance, translucidus, result of use significantly lasting.Utilize the ultraviolet light contained in sunshine to make excitaton source, thus make that it has antibiotic, sterilization, purifies air, sewage disposal, eliminate the unusual smell, the photocatalytic effect such as automatically cleaning.
As required, start the clarifier blower fan, air enters from the clarifier air inlet, and after active carbon, photocatalyst combined filtration, pure air is discharged by the clean air outlet.
The structure of described humidifier is that the humidification window is connected with ultrasonic ultrasonic delay line memory by humidification hood; The humidifier filler is connected with ultrasonic ultrasonic delay line memory by the humidifier filler pipe.
In the time of need to carrying out moistening processing to environment, start described ultrasonic ultrasonic delay line memory, water smoke is blown out from humidification window louvre blade seam, reaches the purpose of moist environment.
The structure of described dehumidifying and cooling device is that the dehumidifying and cooling air inlet is connected with condenser pipe by the dehumidifying and cooling air intake cover; Described condenser pipe is connected with the dehumidifying and cooling air outlet by the dehumidifying and cooling outlet housing; Described condenser pipe is connected with fluid reservoir, compressor; The condenser pipe below is provided with condense water disk, and described condense water disk is connected with dehumidifying and cooling device discharge outlet; Open dehumidifying and cooling device discharge outlet, the ponding in condense water disk can be drained.
If need to carry out dehumidifying and cooling to surrounding environment, start described compressor, malaria and ice-cold condenser pipe meet, and airborne moisture content forms the globule on solidifying condenser pipe, and water droplet flow in condense water disk, reaches the purpose of dehumidifying and cooling.
The structure of described dust catcher is, but the dust suction wind wheel is connected with dust sucting motor; Described dust suction wind wheel is connected with the dust suction exhaust duct; This dust suction wind wheel air intake surface is equipped with dust suction filter; Described hairbrush motor is connected with brush plate by the hairbrush transmission gear for electric motor; Round hairbrush is equipped with in this brush plate below; One group of broad wool brush respectively is housed before and after the below of described fuselage, circle hairbrush; This broad wool brush has effectively increased the function of vacuum, dust suction.
Described a kind of whole day type domestic robot also comprises a charger, and this charger is electrically connected to civil power by charger power cord, and charger is selected existing commercially available charger.The charger upper end is provided with the light source of charger switch, power supply indicator and charging warning lamp, be provided with charger circuit board in charger, charger one side is provided with charging socket and is located at the charging jack in charging socket, and the charger opposite side also is provided with the charger radiator fan; Described light source of charger switch, power supply indicator, the charger warning lamp, charging socket, the charging jack, the charger radiator fan is electrically connected in order; Described charging jack can be contained in the vehicle body back on charging socket in charging contact dock charging.
Described Smoke Sensor is realized fire disasters protection for the concentration of monitoring smog; Described CO sensor prevents gas leakage for monitoring CO concentration; The infrared heat energy sensor is for taking precautions against stranger's invasion and fire; Whether electromagnetic sensor shuts for taking precautions against foreign object invasion and door and window; Infrared ray low coverage sensor is for preventing that machine from colliding, up/down steps is fallen and charging with the Automatic-searching charger; CO
2, formaldehyde sensor is for detection of indoor CO
2, formaldehyde poisonous gas concentration; Dust sensor is for perception dust size and how many; Temperature Humidity Sensor is for perception indoor temperature and humidity.
Described touch display screen and upset keyboard, can realize that machine can exchange between men normally.
Described control circuit comprises the first level shifting circuit, the second electrical level change-over circuit, single-chip microcomputer, the 12V DC power supply circuit, the 24V DC power supply circuit, camera and lighting lamp control circuit, circuit of display driving, vehicle body left side walk driving circuit, vehicle body right side walk driving circuit, crawler belt is regulated motor-drive circuit, the clarifier motor-drive circuit, the ultrasonic ultrasonic delay line memory drive circuit, compressor drive circuit, the hairbrush drive circuit, head pitching electric rotating machine drive circuit, head horizontally rotates motor-drive circuit, each sensor control circuit, these circuit are installed concentratedly in the control circuit board in vehicle body, the associated tracks such as its control signal output line and power line connect with corresponding load by plug receptacle or plug, and:
The signal input part that the output of the serial ports of microcomputer is connected to single-chip microcomputer through the first level shifting circuit and the second electrical level change-over circuit of interface circuit successively with signal cable.
The control signal interface of described single-chip microcomputer is also respectively with each sensor control circuit, camera and lighting lamp control circuit, circuit of display driving, vehicle body left side walk driving circuit, vehicle body right side walk driving circuit, crawler belt is regulated motor-drive circuit, clarifier motor-drive circuit, ultrasonic ultrasonic delay line memory drive circuit, compressor drive circuit, the hairbrush drive circuit, head pitching electric rotating machine drive circuit, the prime signal controlling end that head horizontally rotates motor-drive circuit connects.
The rear class signal controlling end of described camera and lighting lamp control circuit is respectively with described infrared lamp, the LED lamp, the infrared pick-up head, optical camera is connected with video frequency collection card, the rear class signal controlling end of each sensor control circuit is connected with corresponding sensor respectively, vehicle body left side walk driving circuit, vehicle body right side walk driving circuit, crawler belt is regulated motor-drive circuit rear class signal controlling end and is connected with the drive motors of corresponding commutation joint respectively, the rear class signal controlling end of head pitching electric rotating machine drive circuit is connected with head pitching electric rotating machine drive motors, the rear class signal controlling end that head horizontally rotates motor-drive circuit horizontally rotates the motor drive motors with head and is connected, the rear class signal controlling end of clarifier motor-drive circuit is connected with the clarifier motor, the rear class signal controlling end of ultrasonic ultrasonic delay line memory drive circuit is connected with the ultrasonic ultrasonic delay line memory motor, the rear class signal controlling end compressor electric motor of compressor drive circuit is connected, the rear class signal controlling end of hairbrush drive circuit is connected with the hairbrush motor, the rear class signal controlling end of circuit of display driving is connected with display, wherein the output signal of camera is delivered to microcomputer through video frequency collection card and is shown or store.
Described each sensor control circuit is Smoke Sensor control circuit, CO sensor control circuit, infrared heat energy sensor control circuit, electromagnetic sensor control circuit, infrared ray low coverage sensor control circuit, CO
2, formaldehyde sensor control circuit, dust sensor control circuit, Temperature Humidity Sensor output signal be connected to the signal input part of corresponding sensor control circuit.
Described 12V DC power supply circuit provides working power and provides working power through Voltage stabilizing module to single-chip microcomputer to each operating circuit of single-chip microcomputer left side in Figure 11, and the 24V DC power supply circuit provides working power to each operating circuit of single-chip microcomputer right side in Figure 11.
Described vehicle body left side walk driving circuit, vehicle body right side walk driving circuit, the loop that crawler belt is regulated motor-drive circuit connects with the power end of the corresponding drive motors of organizing respectively, the loop of head pitching electric rotating machine drive circuit connects with the power end of the corresponding head pitching electric rotating machine of organizing respectively, the loop that head horizontally rotates motor-drive circuit horizontally rotates respectively the power end connection of motor with the head of corresponding group, the clarifier motor-drive circuit loop with the power end of the clarifier motor of corresponding group, connect respectively, the ultrasonic ultrasonic delay line memory drive circuit loop with the power end of the ultrasonic ultrasonic delay line memory motor of corresponding group, connect respectively, compressor drive circuit loop with the power end of the compressor electric motor of corresponding group, connect respectively, the loop of hairbrush drive circuit connects with the power end of the corresponding hairbrush motor of organizing respectively, circuit of display driving loop with the power end of the display of corresponding group, connect respectively.
Operation principle of the present invention is as follows:
Start the drive motors in front driving wheel, the drive motors in rear drive sprocket seesaws; Programme-control vehicle body right-hand track chiain, left crawler belt, can realize walking and the left and right turning before and after vehicle body.Start crawler belt and regulate motor, by controlling the first regulating arm, the second regulating arm is realized the adjustment of regulating wheel upper-lower position, to adapt to right-hand track chiain, left crawler belt up/down steps.
Start the work of clarifier Fan clarifier, start ultrasonic ultrasonic delay line memory and start humidification.
Start the compressor starts dehumidifying and cooling, start dust sucting motor, the rotation of dust suction wind wheel starts dust suction, starts the hairbrush motor, circle hairbrush rotary cleaning.
Start head pitching electric rotating machine, 0 °～360 ° rotations of programme-control head pitching, start head and horizontally rotate motor, 0 °～360 ° rotations of programme-control end rotation frame level
As known from the above, a kind of complete large-scale domestic robot of the present invention, have dust suction, dedusting, cleaning, sterilization, organic substance decomposing, humiture induction and adjusting, CO, CO
2, formaldehyde toxic gas detection and removing, particle induction and remove, throw light on, the functions such as the charging of freely walking, take action, infrared induction, comprehensive shooting, stored digital, communication, intelligent microcomputer is controlled, can within 24 hours, make an inspection tour indoor security, when fire and exterior object invasion occurring, can accurately identify, transmit live video and report to the police, equipment performance is stable, easy to operate, high efficiency.
The accompanying drawing explanation
Fig. 1 is the machine shape structural representation of an embodiment of the present invention;
Fig. 2 is the forward sight structural representation of Fig. 1 shown device;
Fig. 3 is the backsight structural representation of Fig. 1 shown device;
Fig. 4 is the main TV structure schematic diagram (analyse and observe on top) of Fig. 1 shown device;
Fig. 5 is the main TV structure schematic diagram (analyse and observe at middle part) of Fig. 1 shown device;
Fig. 6 is the main TV structure schematic diagram (analyse and observe top broken section and bottom) of Fig. 1 shown device;
Fig. 7 is the embodiment contour structures schematic diagram of charger of the present invention;
Fig. 8 is the left TV structure schematic diagram (band broken section) of Fig. 7;
Fig. 9 is the course of action schematic diagram of car body chin of the present invention;
Figure 10 is the course of action schematic diagram of car body stairwell descent of the present invention;
Figure 11 is the control circuit block diagram of a kind of embodiment;
Figure 12 is a kind of embodiment main control chip circuit diagram of single-chip microcomputer in Figure 11;
Figure 13 is a kind of embodiment circuit of the first level shifting circuit in Figure 11, second electrical level change-over circuit and power circuit, Voltage stabilizing module;
Figure 14 is a kind of embodiment circuit of camera and lighting lamp control circuit in Figure 11;
Figure 15 is one group of circuit in the drive circuit of doing motor drive power supply by the 24V DC power supply circuit in Figure 11;
Figure 16 is one group of circuit in the drive circuit of doing motor drive power supply by the 12V DC power supply circuit in Figure 11;
Figure 17 is a kind of embodiment circuit of Smoke Sensor signal processing circuit in Figure 11;
Figure 18 is a kind of embodiment circuit of CO sensor signal processing circuit in Figure 11;
Figure 19 is a kind of embodiment circuit of Figure 11 middle infrared (Mid-IR) body heat sensor signal processing circuit;
Figure 20 is a kind of embodiment circuit of electromagnetic sensor signal processing circuit in Figure 11;
Figure 21 is a kind of embodiment circuit of Figure 11 middle infrared (Mid-IR) low coverage sensor signal processing circuit;
Figure 22 is CO in Figure 11
2, the formaldehyde sensor signal processing circuit a kind of embodiment circuit;
Figure 23 is a kind of embodiment circuit of dust sensor signal processing circuit in Figure 11;
Figure 24 is a kind of embodiment circuit of Temperature Humidity Sensor signal processing circuit in Figure 11;
Figure 25 is a kind of embodiment circuit of image acquisition circuit in Figure 11;
Figure 26 is a kind of embodiment line map of the circuit of driving isolation described in Figure 11;
Figure 27 is the circuit block diagram of Figure 11 middle infrared (Mid-IR) low coverage sensor.
In the accompanying drawings:
The 1-head, 2-end rotation frame, 3, fuselage,
4-infrared pick-up head, the 5-infrared lamp, the 6-optical camera,
The 7-LED lamp, 8-end rotation axle, the 9-Smoke Sensor,
The 10-CO sensor, 11-infrared heat energy sensor, 12, the 34-electromagnetic sensor
13,35-infrared ray low coverage sensor, 14,36-CO
2, formaldehyde sensor,
The 15-trash repository, the 16-keyboard that overturns, the 17-touch display screen,
18,19-clean air outlet, 20-clarifier air inlet, 21-dehumidifying and cooling air outlet,
The 22-right-hand track chiain, the left crawler belt of 23-, the 24-front driving wheel,
The 25-rear drive sprocket, the 26-regulating wheel, the 27-crawler belt is regulated motor,
The 28-crawler belt is regulated motor shaft, 29-the first regulating arm, and 30-regulates arm axle,
31-the second regulating arm, 32-regulates wheel shaft, the 33-charging socket,
37-dehumidifying and cooling air inlet, 38-humidification window, 39-humidifier filler,
40-dehumidifying and cooling device discharge outlet, 41,42-dust catcher air outlet, the 43-humidification hood,
44-humidifier filler pipe, 45-ultrasonic ultrasonic delay line memory, 46,47-clarifier air intake cover
48-clarifier blower fan, 49, the 50-clean air duct, 51, the 52-air purifier,
53, the clean fan housing of 54-, 55,56-dehumidifying and cooling outlet housing, the 57-condenser pipe,
The 58-compressor, the 59-fluid reservoir, 60-dehumidifying and cooling air intake cover,
61-head pitching rotary teeth wheel set, 62-head pitching electric rotating machine,
63-head pitching spin motor shaft, the 64-head horizontally rotates base plate,
The 65-head horizontally rotates motor, the 66-dust suction filter, and 67-dust suction exhaust duct,
The 68-condense water disk, the 69-rechargeable battery, 70-hairbrush motor,
71-hairbrush transmission gear for electric motor, 72-brush plate, 73-circle hairbrush
74,75-broad wool brush, 76-dust suction wind wheel, the 77-dust sucting motor,
78-power supply indicator 79-charger warning lamp, the 80-charger socket,
The 81-jack that charges, the 82-charger power cord, the 84-charger circuit board,
The 85-charger, the 86-charger switch, the 87-dust sensor,
The 88-Temperature Humidity Sensor.
The specific embodiment
A kind of whole day type domestic robot, as shown in Fig. 1～6, left crawler belt 23, right-hand track chiain 22 are equipped with respectively in described vehicle body 3 both sides, but the robot head 1 of universal rotational is equipped with in the upper end of described vehicle body 3, this head 1 is equipped with infrared pick-up head 4, infrared lamp 5 and optical camera 6, LED lamp 7, before and after described vehicle body 3 dresses, electromagnetic sensor 12,34, infrared ray low coverage sensor 13,35 and CO is housed
2, formaldehyde sensor 14,36, Smoke Sensor 9, CO sensor 10, infrared heat energy sensor 11, dust sensor 87 and Temperature Humidity Sensor 88 are equipped with in left and right, and ultrasonic ultrasonic delay line memory 45, dehumidifying and cooling device, air purifier 51,52, dust catcher and control circuit board, touch display screen 17, upset keyboard 16 are equipped with in vehicle body 3 inside; Described LED lamp 7 is selected high-brightness LED, and optical camera 6 adopts the high definition pick-up head, and infrared pick-up head 4 adopts the high sensitivity camera.
Described head 1 is connected with head pitching electric rotating machine 62 by end rotation axle 8, head pitching rotary teeth wheel set 61, end rotation frame 2 horizontally rotates motor 65 by end rotation base plate 64 and head and is connected, but 0 °～360 ° rotations of head 1 pitching, 0 °～360 ° rotations of level.
As shown in Figures 1 to 3, described vehicle body 3 lower right side right-hand track chiains 22 hold front driving wheel 24, rear drive 25, regulating wheel 26, and are contained on front driving wheel 24, rear drive 25, regulating wheel 26; The left crawler belt 23 in bottom, same structure left side holds front driving wheel 24, rear drive 25, regulating wheel 26, and is contained on front driving wheel 24, rear drive 25, regulating wheel 26; Described crawler belt adopts great friction coefficient, elastomeric rubber to make.Described regulating wheel 26 is connected with the second regulating arm 31 by regulating wheel shaft 32; Described the second regulating arm 31 is connected with the first regulating arm 29 by regulating arm axle 30; Described the first regulating arm 29 is regulated motor shaft 28 by crawler belt and is connected with crawler belt adjusting motor 27.Motor in described driving wheel 24, the motor in rear drive 25, crawler belt are regulated motor 27 and are connected with vehicle body 3.
Under the control of drive circuit, the motor rotation in the motor in driving wheel 24, rear drive 25, thus drive right- hand track chiain 22,23 runnings of left crawler belt, make a kind of whole day type domestic robot advance, retreat or turn to; Crawler belt is regulated motor 27 and is rotarily driven the first regulating arm 29, the second regulating arm 31 swings, thereby adjusts regulating wheel 26 positions, realizes a kind of whole day type domestic appliance up/down steps.
Shown in Fig. 1～2, Fig. 4, the structure of described air purifier is that clarifier air inlet 20 is connected with air purifier 51,52 by clarifier air intake cover 46,47; Described air purifier 51,52 is connected with clean air outlet 18,19 by clarifier blower fan 48, clean air duct 49,50;
Described air purifier 51,52 be take wire netting as catalyst carrier, and a certain amount of nanoscale catalysis material of load and active carbon, make it have good chemical stability, abrasion resistance, translucidus, result of use significantly lasting.Utilize the ultraviolet light contained in sunshine to make excitaton source, thus make that it has antibiotic, sterilization, purifies air, sewage disposal, eliminate the unusual smell, the photocatalytic effect such as automatically cleaning.
As required, start the clarifier blower fan 48 shown in Fig. 4, air enters from clarifier air inlet 20, and after active carbon, photocatalyst combined filtration, pure air is discharged by clean air outlet 18,19.
Shown in Fig. 1, Fig. 3～4, the structure of described humidifier is that humidification window 38 is connected with ultrasonic ultrasonic delay line memory 45 by humidification hood 43; Humidifier filler 39 is connected with ultrasonic ultrasonic delay line memory 45 by humidifier filler pipe 44.
In the time of need to carrying out moistening processing to environment, start the described ultrasonic ultrasonic delay line memory 45 of Fig. 4, water smoke is blown out from humidification window 38 louvre blade seams, reaches the purpose of moist environment.
Shown in Fig. 1, Fig. 3, Fig. 5～6, the structure of described dehumidifying and cooling device is that dehumidifying and cooling air inlet 37 is connected with condenser pipe 57 by dehumidifying and cooling air intake cover 60; Described condenser pipe 57 is connected with dehumidifying and cooling air outlet 21 by dehumidifying and cooling outlet housing 55,56; Described condenser pipe 57 is connected with fluid reservoir 55, compressor 58; Condenser pipe 57 belows are provided with condense water disk 68, and described condense water disk 68 is connected with dehumidifying and cooling device discharge outlet 40; Open dehumidifying and cooling device discharge outlet 40, the ponding in condense water disk 68 can be drained.
If need to carry out dehumidifying and cooling to surrounding environment, start the described compressor 58 of Fig. 4, malaria and ice-cold condenser pipe 57 meet, and airborne moisture content forms the globule on solidifying condenser pipe 57, water droplet flow in condense water disk 68, reaches the purpose of dehumidifying and cooling.
Referring to Fig. 5～6, the structure of described dust catcher is, but dust suction wind wheel 76 is connected with dust sucting motor 77; Described dust suction wind wheel 76 is connected with dust suction exhaust duct 67; These dust suction wind wheel 76 air intake surfaces are equipped with dust suction filter 66; Described hairbrush motor 70 is connected with brush plate 72 by hairbrush transmission gear for electric motor 71; Round hairbrush 73 is equipped with in these brush plate 72 belows; One group of broad wool brush 74,75 respectively is equipped with in the below of described fuselage 3, circle hairbrush 73 front and back; This broad wool brush 74,75 has effectively increased the function of vacuum, dust suction.
Referring to Fig. 7～8, described a kind of whole day type domestic robot also comprises a charger 85, and this charger 85 is electrically connected to civil power by charger power cord 82, and charger 85 is selected existing commercially available charger.Charger 85 upper ends are provided with light source of charger switch 86, power supply indicator 78 and charging warning lamp 79, be provided with charger circuit board 84 in charger 85, charger 85 1 sides are provided with charging socket 80 and are located at the charging jack 81 in charging socket 80, and charger 85 opposite sides also are provided with charger radiator fan 83; Described light source of charger switch 86, power supply indicator 78, charger warning lamp 79, charging socket 80, charging jack 81, charger radiator fan 83 is electrically connected in order; Described charging jack 81 can be contained in vehicle body 3 back on charging socket 33 in charging contact dock charging.
Referring to Fig. 1～3, described Smoke Sensor 9 is realized fire disasters protection for the concentration of monitoring smog; Described CO sensor 10 prevents gas leakage for monitoring CO concentration; Infrared heat energy sensor 11 is for taking precautions against stranger's invasion and fire; Whether electromagnetic sensor 12,34 shuts for taking precautions against foreign object invasion and door and window; Infrared ray low coverage sensor 13,35 is for preventing that machine from colliding, up/down steps is fallen and charging with the Automatic-searching charger; CO
2, formaldehyde sensor 14,36 is for detection of indoor CO
2, formaldehyde poisonous gas concentration; Dust sensor 87 is for perception dust size and how many; Temperature Humidity Sensor 88 is for perception indoor temperature and humidity.
Referring to Fig. 1, described touch display screen 17 and upset keyboard 16, can realize that machine can exchange between men normally.
Referring to Figure 11, described control circuit comprises the first level shifting circuit, the second electrical level change-over circuit, single-chip microcomputer, the 12V DC power supply circuit, the 24V DC power supply circuit, camera and lighting lamp control circuit, circuit of display driving, vehicle body left side walk driving circuit, vehicle body right side walk driving circuit, crawler belt is regulated motor-drive circuit, the clarifier motor-drive circuit, the ultrasonic ultrasonic delay line memory drive circuit, compressor drive circuit, the hairbrush drive circuit, head pitching electric rotating machine drive circuit, head horizontally rotates motor-drive circuit, each sensor control circuit, these circuit are installed concentratedly in the control circuit board in vehicle body 3, the associated tracks such as its control signal output line and power line connect with corresponding load by plug receptacle or plug, and:
The signal input part that the output of the serial ports of microcomputer is connected to single-chip microcomputer through the first level shifting circuit and the second electrical level change-over circuit of interface circuit successively with signal cable.
The control signal interface of described single-chip microcomputer is also respectively with each sensor control circuit, camera and lighting lamp control circuit, circuit of display driving, vehicle body left side walk driving circuit, vehicle body right side walk driving circuit, crawler belt is regulated motor-drive circuit, clarifier motor-drive circuit, ultrasonic ultrasonic delay line memory drive circuit, compressor drive circuit, the hairbrush drive circuit, head pitching electric rotating machine drive circuit, the prime signal controlling end that head horizontally rotates motor-drive circuit connects.
The rear class signal controlling end of described camera and lighting lamp control circuit is respectively with described infrared lamp, the LED lamp, the infrared pick-up head, optical camera is connected with video frequency collection card, the rear class signal controlling end of each sensor control circuit is connected with corresponding sensor respectively, vehicle body left side walk driving circuit, vehicle body right side walk driving circuit, crawler belt is regulated motor-drive circuit rear class signal controlling end and is connected with the drive motors of corresponding commutation joint respectively, the rear class signal controlling end of head pitching electric rotating machine drive circuit is connected with head pitching electric rotating machine drive motors, the rear class signal controlling end that head horizontally rotates motor-drive circuit horizontally rotates the motor drive motors with head and is connected, the rear class signal controlling end of clarifier motor-drive circuit is connected with the clarifier motor, the rear class signal controlling end of ultrasonic ultrasonic delay line memory drive circuit is connected with the ultrasonic ultrasonic delay line memory motor, the rear class signal controlling end compressor electric motor of compressor drive circuit is connected, the rear class signal controlling end of hairbrush drive circuit is connected with the hairbrush motor, the rear class signal controlling end of circuit of display driving is connected with display, wherein the output signal of camera is delivered to microcomputer through video frequency collection card and is shown or store.
Described each sensor control circuit is Smoke Sensor control circuit, CO sensor control circuit, infrared heat energy sensor control circuit, electromagnetic sensor control circuit, infrared ray low coverage sensor control circuit, CO
2, formaldehyde sensor control circuit, dust sensor control circuit, Temperature Humidity Sensor output signal be connected to the signal input part of corresponding sensor control circuit.
Described 12V DC power supply circuit provides working power and provides working power through Voltage stabilizing module to single-chip microcomputer to each operating circuit of single-chip microcomputer left side in Figure 11, and the 24V DC power supply circuit provides working power to each operating circuit of single-chip microcomputer right side in Figure 11.
Described vehicle body left side walk driving circuit, vehicle body right side walk driving circuit, the loop that crawler belt is regulated motor-drive circuit connects with the power end of the corresponding drive motors of organizing respectively, the loop of head pitching electric rotating machine drive circuit connects with the power end of the corresponding head pitching electric rotating machine of organizing respectively, the loop that head horizontally rotates motor-drive circuit horizontally rotates respectively the power end connection of motor with the head of corresponding group, the clarifier motor-drive circuit loop with the power end of the clarifier motor of corresponding group, connect respectively, the ultrasonic ultrasonic delay line memory drive circuit loop with the power end of the ultrasonic ultrasonic delay line memory motor of corresponding group, connect respectively, compressor drive circuit loop with the power end of the compressor electric motor of corresponding group, connect respectively, the loop of hairbrush drive circuit connects with the power end of the corresponding hairbrush motor of organizing respectively, circuit of display driving loop with the power end of the display of corresponding group, connect respectively.
In described control circuit, also include for isolating the driving isolation circuit of microprocessor and motor.
Figure 12 is a kind of embodiment main control chip circuit diagram of single-chip microcomputer in Figure 11, the Master control chip that wherein U1 is robot, and the run action of robot and the acquisition and processing of various ambient parameters all will be processed processing by this microprocessor.
Figure 13 is a kind of embodiment circuit of the first level shifting circuit in Figure 11, second electrical level change-over circuit and 12V DC power supply circuit, 24V DC power supply circuit, Voltage stabilizing module.Wherein (a) is hardware watchdog circuit, and JPI is a hardware watchdog chip, its Main Function be after microprocessor is out of control due to fortuitous event from new startup microprocessor, thereby the safety of assurance system operation is leaned on; (b) be the line interface, J1 is the line interface of drive part and microprocessor portion; Instruction after J1 output conversion, (c) Voltage stabilizing module, the power input that wherein J2 is the control circuit part, J2 connects the serial ports of microcomputer (host computer), obtains stable+5V voltage carrying out voltage stabilizing by the integrated voltage-stabilized chip; Be respectively (d) and (e)+the 12V power supply ,+the 24V power supply, wherein J3, J4 are the integrated regulators of drive circuit, for motor drives, provide stable voltage.
Figure 14 is a kind of embodiment circuit diagram of camera and lighting lamp control circuit in Figure 11, wherein (a) is lighting control circuit, J5 is the gang socket of light, the switching of light is to realize by the shutoff of triode Q9, Q12 and conducting, and the adjusting of the power of light is to regulate to realize by PWM; (b) be the camera control circuit, the gang socket that J6 is camera, the switching of camera is to realize by the shutoff of triode Q1, Q5 and conducting.
Figure 15 is one group of circuit in the drive circuit of doing motor drive power supply by the 24V DC power supply circuit in Figure 11, the drive circuit that U1, U2 are the large-current electric machine, and mechanical motor wherein, the hairbrush motor, horizontal stage electric machine, all driven by them.
Figure 16 is one group of circuit in the drive circuit of doing motor drive power supply by the 12V DC power supply circuit in Figure 11, the drive circuit that U14, U15 are little current motor, and the electric rotating machine of illuminating lamp, camera is driven by this circuit.
Figure 17 is handle affairs a kind of example circuit of circuit of Smoke Sensor signal in Figure 11, adopts the MC14501 chip, and R20, C24 are respectively oscillation resistance and oscillating capacitance.
Figure 18 is handle affairs a kind of example circuit of circuit of CO sensor signal in Figure 11, adopts the MC68HCO5P9 chip, the closed structure design.
Figure 19 is handle affairs a kind of example circuit of circuit of Figure 11 middle infrared (Mid-IR) body heat sensor signal, the infrared ray of human body radiation by hot electric infrared sensing head VB picked-up after, enter YX4603 and amplify by 12 pin, 13 pin outputs.
Figure 20 is handle affairs a kind of example circuit of circuit of electromagnetic sensor signal in Figure 11, can measure ULF Magnetic field and electric field change amount, and frequency response is 0.01Hz～20Hz, and G is electromagnetic sensor.
Figure 21 is handle affairs a kind of example circuit of circuit of Figure 11 middle infrared (Mid-IR) low coverage sensor signal, and the detection sensitivity of light is reached to 0.5 lux, detects distance and be 25 to 200mm.
Figure 22 is CO in Figure 11
2, handle affairs a kind of example circuit of circuit of formaldehyde sensor signal, adopt the AT89S51 chip, 8 single-chip microcomputers of high-performance CMOS.
Figure 23 is handle affairs a kind of example circuit of circuit of dust sensor signal in Figure 11, and wherein LXK-3 is corresponding sensor interface.
Figure 24 is handle affairs a kind of example circuit of circuit of Temperature Humidity Sensor signal in Figure 11, adopt the AVR single-chip microcomputer to carry out Digital Signal Processing, temperature, the humidity signal of telecommunication collected carried out to filtering and amplification, control line RS, R/W, EN meet respectively PD0, PD1, PD3, infrared temperature signal connects the PAO mouth of single-chip microcomputer, the ambient temperature compensation signal connects the PAI mouth of single-chip microcomputer, and keyl is system control switch, and key2 is reset switch.
Figure 25 is a kind of example circuit of image acquisition circuit in Figure 11, the SAA7111A enhancement mode video input processor chip that adopts PHILIPS company to produce, four analog input end AI11 from SAA7111A, AI12, AI21, the video signal of AI22 input, after simulation process, one tunnel produces digital chrominance signal and luminance signal after A/D converter, carries out respectively luminance signal processing and carrier chrominance signal and processes.Chroma signal processor is delivered on result one tunnel that luminance signal is processed, and carries out integrated treatment, produces Y and UV signal, after format, from VPO (16), exports; Another road enters sync separator, through digital PLL, produces corresponding row and field sync signal HS and VS, and PLL drives clock generator simultaneously, produces clock signal LLC and LLC2 with the HS locking.All these functions all complete under the total line traffic control of I2C, and wherein SCL is serial clock signal, and SDA is serial data signal.
Figure 26 is a kind of embodiment line map of described driving isolation circuit, and wherein U10 plays isolation microprocessor and motor-driven effect.
Referring to Fig. 1 and Figure 27, described vehicle body 3 front and back are equipped with 2 infrared ray low coverage sensors altogether, each infrared ray low coverage sensor is comprised of infrared transmitting circuit and receiving circuit, described infrared ray low coverage sensor is comprised of infrared transmitting circuit and receiving circuit, as shown in Figure 27 (a), wherein infrared transmitting circuit is responsible for producing, regulates and is driven and sends high-frequency pulse signal, and as shown in Figure 27 (b), infrared receiving circuit is responsible for receiving the high-frequency pulse signal returned.Be as shown in figure 21 the circuit of a kind of infrared ray low coverage sensor embodiment in Figure 21, by crystal oscillator and not circuit, obtain a modulated pulse signal; The infrared light that transmitting tube sends is received by infrared receiving module after the object reflection; The integrated circuit carried by Receiver inside returns to a data signal after processing, and this data signal is input to the I/O mouth of microcontroller, and Receiver receives infrared pulse and returns to output low level, otherwise the output high level; By the detection to the I/O mouth, can judgment object have or not, detect whether step is arranged, and prevents from falling; Power-supply management system is housed in robot, and brownout can stop cleaning, and automatically gets back to a kind of whole day type domestic robot charger 85 places and charged.
Such scheme adopts microcomputer to control, and has the operating platform of intellectuality, automation and software implementation, flexible and convenient to use, and walking, cleaning accurate positioning, shooting and video recording are convenient in time, can send video files.
The mechanical mechanism course of work of the present invention is as follows:
Referring to Fig. 1 to Figure 10, start the drive motors in front driving wheel 24 shown in Fig. 1, the drive motors in rear drive sprocket 25 seesaws; Programme-control vehicle body 3 right-hand track chiains 22, left crawler belt 23, can realize vehicle body 3 front and back walkings and left and right turning.Start crawler belt and regulate motor 27, by controlling the first regulating arm 29, the second regulating arm 31 is realized regulating wheel 26 upper-lower position adjustment, to adapt to right-hand track chiain 22, left crawler belt 23 up/down steps.
Referring to Fig. 1, Fig. 4, start shown in Fig. 4 and start the 48 clarifier work of clarifier blower fan, start ultrasonic ultrasonic delay line memory 45 and start humidification.
Referring to Fig. 1, figure～6, start compressor shown in Fig. 4 58 and start dehumidifying and cooling, start dust sucting motor 77 shown in Fig. 6,76 rotations of dust suction wind wheel start dust suction, start hairbrush motor 70, circle hairbrush 73 rotary cleanings.
Referring to Fig. 1, Fig. 6, start head pitching electric rotating machine 62 shown in Fig. 6,0 °～360 ° rotations of programme-control head 1 pitching, start head and horizontally rotate motor 65,0 °～360 ° rotations of programme-control end rotation frame 2 level
A kind of whole day type domestic robot technical parameter of the present invention has:
1, drive part index: irregular slalom thing obstacle clearing capability is greater than 10cm, and climbing capacity is greater than 45 °.
2, monitor part index number: camera 800 everything elements; 120 ° of pitching rotations.
3, the single charge working time is greater than 8 hours.
Claims (11)
1. a whole day type domestic robot, left crawler belt (23), right-hand track chiain (22) are equipped with respectively in described vehicle body (3) both sides, described vehicle body (3) but upper end the robot head (1) of universal rotational is housed, this head (1) is equipped with infrared pick-up head (4), infrared lamp (5) and optical camera (6), LED lamp (7), before and after described vehicle body (3) dress, electromagnetic sensor (12,34), infrared ray low coverage sensor (13,35) and CO is housed
2, formaldehyde sensor (14,36), Smoke Sensor (9), CO sensor (10), infrared heat energy sensor (11), dust sensor (87) and Temperature Humidity Sensor (88) are equipped with in left and right, and ultrasonic ultrasonic delay line memory (45), dehumidifying and cooling device, air purifier (51,52), dust catcher and control circuit board, touch display screen (17), upset keyboard (16) are housed in vehicle body (3).
2. a kind of whole day type domestic robot according to claim 1, it is characterized in that, described head (1) is connected with head pitching electric rotating machine (62) by end rotation axle (8), head pitching rotary teeth wheel set (61), end rotation frame (2) horizontally rotates motor (65) by end rotation base plate (64) and head and is connected, head (1) but 0 °～360 ° rotations of pitching, 0 °～360 ° rotations of level.
3. a kind of whole day type domestic robot according to claim 1, it is characterized in that, described vehicle body (3) lower right side right-hand track chiain (22) holds front driving wheel (24), rear drive (25), regulating wheel (26), and is contained on front driving wheel (24), rear drive (25), regulating wheel (26); The same structure left side left crawler belt in bottom (23) holds front driving wheel (24), rear drive (25), regulating wheel (26), and is contained on front driving wheel (24), rear drive (25), regulating wheel (26); Described regulating wheel (26) is connected with the second regulating arm (31) by regulating wheel shaft (32); Described the second regulating arm (31) is connected with the first regulating arm (29) by regulating arm axle (30); Described the first regulating arm (29) is regulated motor shaft (28) by crawler belt and is connected with crawler belt adjusting motor (27).Motor in described driving wheel (24), the motor in rear drive (25), crawler belt are regulated motor (27) and are connected with vehicle body (3); Under the control of drive circuit, the motor in driving wheel (24), the rotation of the motor in rear drive (25), thus drive right-hand track chiain (22), left crawler belt (23) running, make a kind of whole day type domestic robot advance, retreat or turn to; Crawler belt is regulated motor (27) and is rotarily driven the first regulating arm (29), the second regulating arm (31) swing, thereby adjusts regulating wheel (26) position, realizes a kind of whole day type domestic appliance up/down steps.
4. a kind of whole day type domestic robot according to claim 1, is characterized in that, the structure of described air purifier is that clarifier air inlet (20) is connected with air purifier (51,52) by clarifier air intake cover (46,47); Described air purifier (51,52) is connected with clean air outlet (18,19) by clarifier blower fan (48), clean air duct (49,50).
5. a kind of whole day type domestic robot according to claim 1, is characterized in that, the structure of described humidifier is that humidification window (38) is connected with ultrasonic ultrasonic delay line memory (45) by humidification hood (43); Humidifier filler (39) is connected with ultrasonic ultrasonic delay line memory (45) by humidifier filler pipe (44).
6. a kind of whole day type domestic robot according to claim 1, is characterized in that, the structure of described dehumidifying and cooling device is that dehumidifying and cooling air inlet (37) is connected with condenser pipe (57) by dehumidifying and cooling air intake cover (60); Described condenser pipe (57) is connected with dehumidifying and cooling air outlet (21) by dehumidifying and cooling outlet housing (55,56); Described condenser pipe (57) is connected with fluid reservoir (55), compressor (58); Condenser pipe (57) below is provided with condense water disk (68), and described condense water disk (68) is connected with dehumidifying and cooling device discharge outlet (40).
7. a kind of whole day type domestic robot according to claim 1, is characterized in that, the structure of described dust catcher is, but dust suction wind wheel (76) is connected with dust sucting motor (77); Described dust suction wind wheel (76) is connected with dust suction exhaust duct (67); This dust suction wind wheel (76) air intake surface is equipped with dust suction filter (66); Described hairbrush motor (70) is connected with brush plate (72) by hairbrush transmission gear for electric motor (71); Round hairbrush (73) is equipped with in this brush plate (72) below; Before and after the below of described fuselage (3), circle hairbrush (73), one group of broad wool brush (74,75) respectively is housed.
8. a kind of whole day type domestic robot according to claim 1, is characterized in that, described a kind of whole day type domestic robot also comprises a charger (89) for a kind of whole day type domestic robot charging.
9. a kind of whole day type domestic robot according to claim 1, is characterized in that, described Smoke Sensor (9) is realized fire disasters protection for the concentration of monitoring smog; Described CO sensor 10 prevents gas leakage for monitoring CO concentration; Infrared heat energy sensor (11) is for taking precautions against stranger's invasion and fire; Whether electromagnetic sensor (12,34) shuts for taking precautions against foreign object invasion and door and window; Infrared ray low coverage sensor (13,35) is for preventing that machine from colliding, up/down steps is fallen and charging with the Automatic-searching charger; CO
2, formaldehyde sensor (14,36) is for detection of indoor CO
2, formaldehyde poisonous gas concentration; Dust sensor (87) is for perception dust size and how many; Temperature Humidity Sensor (88) is for perception indoor temperature and humidity.
10. a kind of whole day type domestic robot according to claim 1, is characterized in that, described touch display screen (17) and upset keyboard (16), can realize that machine can exchange between men normally.
11. according to the described a kind of whole day type domestic robot of one of claim 1～9, it is characterized in that, described control circuit comprises the first level shifting circuit, the second electrical level change-over circuit, single-chip microcomputer, the 12V DC power supply circuit, the 24V DC power supply circuit, camera and lighting lamp control circuit, circuit of display driving, vehicle body left side walk driving circuit, vehicle body right side walk driving circuit, crawler belt is regulated motor-drive circuit, the clarifier motor-drive circuit, the ultrasonic ultrasonic delay line memory drive circuit, compressor drive circuit, the hairbrush drive circuit, head pitching electric rotating machine drive circuit, head horizontally rotates motor-drive circuit, each sensor control circuit, these circuit are installed concentratedly in the control circuit board in vehicle body 3, the associated tracks such as its control signal output line and power line connect with corresponding load by plug receptacle or plug, and:
The signal input part that the output of the serial ports of microcomputer is connected to single-chip microcomputer through the first level shifting circuit and the second electrical level change-over circuit of interface circuit successively with signal cable.
The control signal interface of described single-chip microcomputer is also respectively with each sensor control circuit, camera and lighting lamp control circuit, circuit of display driving, vehicle body left side walk driving circuit, vehicle body right side walk driving circuit, crawler belt is regulated motor-drive circuit, clarifier motor-drive circuit, ultrasonic ultrasonic delay line memory drive circuit, compressor drive circuit, the hairbrush drive circuit, head pitching electric rotating machine drive circuit, the prime signal controlling end that head horizontally rotates motor-drive circuit connects.
The rear class signal controlling end of described camera and lighting lamp control circuit is respectively with described infrared lamp, the LED lamp, the infrared pick-up head, optical camera is connected with video frequency collection card, the rear class signal controlling end of each sensor control circuit is connected with corresponding sensor respectively, vehicle body left side walk driving circuit, vehicle body right side walk driving circuit, crawler belt is regulated motor-drive circuit rear class signal controlling end and is connected with the drive motors of corresponding commutation joint respectively, the rear class signal controlling end of head pitching electric rotating machine drive circuit is connected with head pitching electric rotating machine drive motors, the rear class signal controlling end that head horizontally rotates motor-drive circuit horizontally rotates the motor drive motors with head and is connected, the rear class signal controlling end of clarifier motor-drive circuit is connected with the clarifier motor, the rear class signal controlling end of ultrasonic ultrasonic delay line memory drive circuit is connected with the ultrasonic ultrasonic delay line memory motor, the rear class signal controlling end compressor electric motor of compressor drive circuit is connected, the rear class signal controlling end of hairbrush drive circuit is connected with the hairbrush motor, the rear class signal controlling end of circuit of display driving is connected with display, wherein the output signal of camera is delivered to microcomputer through video frequency collection card and is shown or store.
Described each sensor control circuit is Smoke Sensor control circuit, CO sensor control circuit, infrared heat energy sensor control circuit, electromagnetic sensor control circuit, infrared ray low coverage sensor control circuit, CO
2, formaldehyde sensor control circuit, dust sensor control circuit, Temperature Humidity Sensor output signal be connected to the signal input part of corresponding sensor control circuit.
Described 12V DC power supply circuit provides working power and provides working power through Voltage stabilizing module to single-chip microcomputer to each operating circuit of single-chip microcomputer left side in Figure 11, and the 24V DC power supply circuit provides working power to each operating circuit of single-chip microcomputer right side in Figure 11.
Described vehicle body left side walk driving circuit, vehicle body right side walk driving circuit, the loop that crawler belt is regulated motor-drive circuit connects with the power end of the corresponding drive motors of organizing respectively, the loop of head pitching electric rotating machine drive circuit connects with the power end of the corresponding head pitching electric rotating machine of organizing respectively, the loop that head horizontally rotates motor-drive circuit horizontally rotates respectively the power end connection of motor with the head of corresponding group, the clarifier motor-drive circuit loop with the power end of the clarifier motor of corresponding group, connect respectively, the ultrasonic ultrasonic delay line memory drive circuit loop with the power end of the ultrasonic ultrasonic delay line memory motor of corresponding group, connect respectively, compressor drive circuit loop with the power end of the compressor electric motor of corresponding group, connect respectively, the loop of hairbrush drive circuit connects with the power end of the corresponding hairbrush motor of organizing respectively, circuit of display driving loop with the power end of the display of corresponding group, connect respectively.
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| CN2012101565950A CN103419203A (en) | 2012-05-21 | 2012-05-21 | All-day domestic robot |
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Application publication date: 20131204 |