CN104180855B - A kind of combination sensor device perceived for mobile robot near-earth - Google Patents
A kind of combination sensor device perceived for mobile robot near-earth Download PDFInfo
- Publication number
- CN104180855B CN104180855B CN201410455270.1A CN201410455270A CN104180855B CN 104180855 B CN104180855 B CN 104180855B CN 201410455270 A CN201410455270 A CN 201410455270A CN 104180855 B CN104180855 B CN 104180855B
- Authority
- CN
- China
- Prior art keywords
- air chamber
- end cover
- lower house
- air
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
It is an object of the invention to provide a kind of combination sensor device perceived for mobile robot near-earth, including upper shell, middle housing, lower house, upper shell, middle housing and lower house link together according to fashion of extrusion from top to bottom, pedestal and groove are set on lower house lateral wall, vavuum pump is installed on pedestal, air chamber is installed in lower house, air chamber passes through air chamber bottom end cover, air chamber and air chamber upper end cover are extruded from from bottom to top, baffle plate is installed on air chamber cavity outer wall, baffle plate gos deep into groove, air chamber upper end cover air inlet is set on air chamber upper end cover, air chamber bottom end cover air inlet is set on air chamber bottom end cover, air chamber bottom end cover air inlet lower section sets screen pack, screen pack is connected with lower house lower end by fashion of extrusion, the air entry of vavuum pump installs flexible pipe, flexible pipe is through lower house and connects air chamber upper end cover air inlet.The present invention can be acquired to the information of ground many aspects where robot, expand the near-earth perceptional function of mobile robot.
Description
Technical field
The present invention relates to a kind of sensor device, the combination sensor in mobile robot is specifically mounted in
Device.
Background technology
Sensor is the necessary means that robot completes to feel, by the sensation of sensor, by robot itself
The characteristic of correlation properties or object correlation is converted into robot and performs information required during a certain function.For detection operation pair
As and environment or robot and their relation, a series of sensors are installed in robot, and can to substantially improve machine artificial
Make situation, can more fully complete the work of complexity.Because external sensor is the product that integrates various subjects,
Also among exploration, further perfect with external sensor, the function of robot is stronger and stronger for some aspects, will permitted
It is multi-field for the mankind make bigger contribution.
Gas sensor array by with broad spectrum response characteristic, cross sensitivity it is larger, to different odor/gas sensitivity
Different gas sensor compositions.It is this array small volume, low in energy consumption, it is easy to concentrated collection and the treatment of signal.Single gas is passed
Sensor characteristically has the difference of matter with sensor array, and single gas sensor comes to the response usable intensity of smell/gas
Represent, and gas sensor array is formed in addition to the response of each sensor in the hyperspace of all sensors composition
Response modes, in the case where environmental condition is certain, it is one-to-one, this machine for making that the response modes on array are encouraged with it
Device people is identified as being possible to various smells and gas.
The content of the invention
It is an object of the invention to provide a kind of combination sensor device perceived for mobile robot near-earth.
The object of the present invention is achieved like this：
A kind of combination sensor device perceived for mobile robot near-earth of the present invention, it is characterized in that：Including upper shell,
Middle housing, lower house, upper shell, middle housing and lower house link together according to fashion of extrusion from top to bottom, lower house outside
Pedestal and groove are set on wall, vavuum pump is installed on pedestal, air chamber is installed in lower house, air chamber passes through air chamber bottom end cover, air chamber
Chamber and air chamber upper end cover are extruded from from bottom to top, and baffle plate is installed on air chamber cavity outer wall, and baffle plate gos deep into groove, air chamber upper end
Setting air chamber upper end cover air inlet is covered, air chamber bottom end cover air inlet is set on air chamber bottom end cover, under air chamber bottom end cover air inlet
Side sets screen pack, and screen pack is connected with lower house lower end by fashion of extrusion, and the air entry of vavuum pump installs flexible pipe, and flexible pipe is worn
Cross lower house and connect air chamber upper end cover air inlet.
The present invention can also include：
The 1st, demarcation strip is set in air chamber, and air chamber is separated into four miniature gas cells by demarcation strip, and described vavuum pump has
Four, the pedestal corresponding with vavuum pump, flexible pipe, air chamber upper end cover air inlet have four, described air chamber bottom end cover air inlet
Mouth has four, corresponding with four air chamber upper end cover air inlets respectively.
2nd, first substrate and second substrate are respectively provided with upper shell from top to bottom, the 3rd substrate is set in middle housing, the
The main control board that data exchange is realized with mobile robot is placed on one substrate, fixed pose detection sensing on second substrate
Device, is respectively mounted temperature sensor and laser range sensor on screen pack, the fan blown downwards is installed on the 3rd substrate, often
Gas sensor is respectively mounted in individual miniature gas cell；Gas sensor, laser range sensor, the simulation output of temperature sensor are drawn
Pin is connected with the A/D analog-to-digital conversion modules of master control borad, and data-interface and the master control borad I2C communication modules of attitude detecting sensor connect
Connect, fan and vavuum pump connect I/O mouthfuls of master control borad.
Advantage of the invention is that：Structure of the present invention is dexterous, easy installation and removal, can be multiple to ground where robot
The information of aspect is acquired, and realizes identification function of the robot to specific scent, and the near-earth for having expanded mobile robot is perceived
Function.
Brief description of the drawings
Fig. 1 a are explosive views of the invention, and Fig. 1 b are structural representations of the invention；
Fig. 2 is control circuit block diagram of the invention；
Fig. 3 a are that upper shell structural representation a, Fig. 3 b are upper shell structural representation b；
Fig. 4 a are that middle shell structure schematic diagram a, Fig. 4 b is middle shell structure schematic diagram b；
Fig. 5 a are that lower house structural representation a, Fig. 5 b are lower house structural representation b；
Fig. 6 a are that air chamber structural representation a, Fig. 6 b are air chamber structural representation b；
Fig. 7 a are that air chamber upper end cover structural representation a, Fig. 7 b are air chamber upper end cover structural representation b；
Fig. 8 a are that filter screen structure schematic diagram a, Fig. 8 b are filter screen structure schematic diagram b；
Fig. 9 is bindiny mechanism's schematic diagram；
Figure 10 is scheme of installation of the device in mobile robot；
Figure 11 a are that air chamber bottom end cover structural representation a, Figure 11 b are air chamber bottom end cover structural representation b.
Specific embodiment
Illustrate below in conjunction with the accompanying drawings and the present invention is described in more detail：
With reference to Fig. 1~11, the present invention includes upper shell 1, middle housing 2, vavuum pump 3, air chamber 4, screen pack 5, under air chamber
End cap 6, air chamber upper end cover 7, lower house 8 etc..Upper shell 1, middle housing 2, lower house 8 are connected successively up and down by extruding connected mode
Connect；Vavuum pump 3 is bolted on the pedestal 53 for being placed in lower casing body sidewall；On air chamber bottom end cover 6, air chamber 4 and air chamber
End cap 7 connects and composes air chamber by extruding connected mode, and air chamber is divided into 4 independent miniature gas cells by demarcation strip 71 in air chamber
72, air chamber is slided into lower house groove 52 by air chamber cavity outer wall baffle plate 73, is entered into lower house, screen pack 5 and lower casing
The lower end of body 8 is connected by extruding connected mode.
As shown in Figure 10, device is connected by bindiny mechanism 91 with wheels of mobile robot rocking arm, and bindiny mechanism includes two
The connection of individual multi-directional ball and one rotate secondary connection, can on request adjust the device with robot relative space position；
Main control board is placed on substrate 11；Attitude detecting sensor is fixed on the substrate 12；Temperature sensor and laser ranging are sensed
Device is separately mounted on two holes 81,82 on screen pack 5, makes probe parallel to mounting hole bus；Fan is installed on substrate 13,
Enable to be blown downwards during its work；The connection flexible pipe of air entry 14 of vavuum pump, flexible pipe enters inside device through hole 51, flexible pipe
The other end is connected with corresponding air chamber upper end cover gas outlet 61；4 gas sensor modules are individually positioned in respective miniature
In air chamber 72.
Fig. 2 is the circuit system block diagram of the device, and it is the master control borad of STM32F103 to use MCU, gas sensor array,
Laser range sensor, the simulation output pin of temperature sensor are connected with master control borad A/D analog-to-digital conversion modules, attitude transducer
Data-interface be connected with master control borad I2C communication modules, the working condition of fan and vavuum pump is main by master control borad I/O mouthfuls of control
Control plate realizes data exchange by network communication interface and robot.
When mobile robot is reached in designated area, robot sends work order to master control borad, and master control borad starts to each
Individual module starts power supply, makes it into working condition；Posture position sensor assembly detects that wheels of mobile robot and combination are passed
The attitude parameter of sensor arrangement；Temperature sensor module collects the temperature simulation amount signal of near-earth air by probe；Laser
Distance measuring sensor module acquisition device and the distance on ground；The realization of specific scent identification function：Attitude transducer detection means
Whether the attitude in normal work, meet after requiring, vavuum pump is powered start-up operation, according to the distance that laser range finder is measured
Determine the rotating speed of vaccum pump motor, distance is bigger, and rotating speed is faster, apart from smaller, rotating speed is smaller, it is ensured that near-earth gas can be abundant
It is drawn into air chamber, rotational speed regulation exports PWM ripples and controls vaccum pump motor to realize by master control borad；Vavuum pump air entry 14 passes through
Flexible pipe extracts gas in corresponding miniature gas cell out, and pressure reduces in miniature gas cell, and extraneous gas passes through filter screen 5 and air chamber bottom end cover
Air inlet 111 is entered into miniature gas cell 72 and reacted with gas sensor, while fan is blown under powering backward, forms air window
Curtain, it is to avoid the interference of remote smell, gas sensor exports corresponding response signal after fully being reacted with sample gas, will
Near-earth gas temperature parameter and sensor array response signal are sent to master control borad and carry out Signal Pretreatment and pattern-recognition, finally
Determine the concentration and composition of sample gas.
A kind of combination sensor device perceived for mobile robot near-earth of the present invention, including gas sensor array,
Temperature sensor, attitude detecting sensor, laser range sensor, master control borad, vavuum pump, fan, housing.Master control borad is arranged on
In upper shell 1 on substrate 11, attitude detecting sensor module is placed on the substrate 12, and temperature sensor module is passed with laser ranging
Sensor module is separately fixed on screen pack 5 on hole 81,82.By middle housing 2, vavuum pump 3, lower house 8, screen pack 5, by air chamber
Bottom end cover 6, air chamber 4, the air chamber of the composition of air chamber bottom end cover 7 and the fan installed on the substrate 13 constitute a set of gas sampling
System, 4 gas sensors are respectively disposed in each independent miniature gas cell 72.Device can be to the near the ground of many aspects
Information is acquired, and then realizes identification and the feedback of information near the ground of near-earth specific scent, has expanded mobile robot
Near-earth perceptional function.The device has gathered gas sensor, temperature sensor, attitude inspection with mobile robot as carrying platform
Sensor, laser range sensor are surveyed, multi-aspect information near the ground can be acquired.To realize robot specific scent
Identification function, devises a set of gas sampling system, disposes fan, fan to blow downwards on substrate 13, is kept away as air curtain
Exempt to disturb smell at a distance；Air chamber is made up of air chamber upper end cover 7, air chamber 4, air chamber bottom end cover 6, by baffle plate 71 by air chamber
It is separated into 4 independent miniature gas cells 72, it is ensured that each gas sensor module has single air chamber；System architecture is dexterous,
Easy to disassemble and more emat sensor, can realize the identification to various smells by changing different types of gas sensor；Temperature
Spend sensor participation can be effectively to smell analysis process carry out temperature-compensating, it is ensured that final output result it is accurate
Property；The coverage of device and ground is obtained in that by laser range sensor, size according to distance adjusts vavuum pump
Motor speed, it is ensured that gas near the ground is sufficiently sucked in air chamber, ensure that mobile robot under complicated terrain environment
Normal work.Fan has been disposed on the substrate 13, the flowing of device inner air has been accelerated while as air curtain, helped
In the radiating of each circuit board.
Claims (2)
1. it is a kind of for mobile robot near-earth perceive combination sensor device, it is characterized in that：Including upper shell, middle housing,
Lower house, upper shell, middle housing and lower house link together according to fashion of extrusion from top to bottom, are set on lower house lateral wall
Pedestal and groove, install vavuum pump on pedestal, air chamber is installed in lower house, and air chamber passes through air chamber bottom end cover, air chamber and air chamber
Upper end cover is extruded from from bottom to top, and baffle plate is installed on air chamber cavity outer wall, and baffle plate gos deep into groove, is set on air chamber upper end cover
Air chamber upper end cover air inlet, sets air chamber bottom end cover air inlet on air chamber bottom end cover, air chamber bottom end cover air inlet lower section was set
Filter screen, screen pack is connected with lower house lower end by fashion of extrusion, and the air entry of vavuum pump installs flexible pipe, and flexible pipe passes through lower house
On hole enter lower house inside and connect air chamber upper end cover air inlet；
First substrate and second substrate are respectively provided with upper shell from top to bottom, the 3rd substrate, first substrate are set in middle housing
The main control board of data exchange, fixed pose detection sensor on second substrate, filtering are realized in upper placement with mobile robot
Temperature sensor and laser range sensor are respectively mounted on the net, the fan blown downwards is installed on the 3rd substrate, each is miniature
Gas sensor is respectively mounted in air chamber；Gas sensor, laser range sensor, the simulation output pin of temperature sensor and master
The A/D analog-to-digital conversion modules connection of plate is controlled, the data-interface of attitude detecting sensor is connected with master control borad I2C communication modules, wind
Fan and vavuum pump connect I/O mouthfuls of master control borad.
2. it is according to claim 1 it is a kind of for mobile robot near-earth perceive combination sensor device, it is characterized in that：
Demarcation strip is set in air chamber, and air chamber is separated into four miniature gas cells by demarcation strip, and described vavuum pump there are four, with vacuum
The corresponding pedestal of pump, flexible pipe, air chamber upper end cover air inlet have four, and described air chamber bottom end cover air inlet has four, point
It is not corresponding with four air chamber upper end cover air inlets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410455270.1A CN104180855B (en) | 2014-09-09 | 2014-09-09 | A kind of combination sensor device perceived for mobile robot near-earth |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410455270.1A CN104180855B (en) | 2014-09-09 | 2014-09-09 | A kind of combination sensor device perceived for mobile robot near-earth |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104180855A CN104180855A (en) | 2014-12-03 |
| CN104180855B true CN104180855B (en) | 2017-06-20 |
Family
ID=51962085
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410455270.1A Active CN104180855B (en) | 2014-09-09 | 2014-09-09 | A kind of combination sensor device perceived for mobile robot near-earth |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104180855B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019113419A (en) * | 2017-12-22 | 2019-07-11 | 太陽誘電株式会社 | Sensing system, vehicle, program, information processor, method for processing information, and sensor device |
| CN109708701A (en) * | 2019-01-18 | 2019-05-03 | 深圳矽递科技股份有限公司 | A kind of multipurpose environment monitoring device based on low-power consumption wide area network |
| CN111289702A (en) * | 2020-04-13 | 2020-06-16 | 四川智动木牛智能科技有限公司 | Gas detection system based on mobile robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6459955B1 (en) * | 1999-11-18 | 2002-10-01 | The Procter & Gamble Company | Home cleaning robot |
| CN1413809A (en) * | 2001-10-24 | 2003-04-30 | 吴志明 | Control method for building environmental protection robot and robot using the method |
| CN102966038A (en) * | 2012-11-23 | 2013-03-13 | 南京理工大学 | Bridge detecting robot based on negative-pressure absorption |
| CN103383274A (en) * | 2012-05-03 | 2013-11-06 | 徐世铭 | Underground coal mine searching robot multi-sensor environment detection system |
| CN204177413U (en) * | 2014-09-09 | 2015-02-25 | 哈尔滨工程大学 | A kind of combination sensor device for the perception of mobile robot's near-earth |
-
2014
- 2014-09-09 CN CN201410455270.1A patent/CN104180855B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6459955B1 (en) * | 1999-11-18 | 2002-10-01 | The Procter & Gamble Company | Home cleaning robot |
| CN1413809A (en) * | 2001-10-24 | 2003-04-30 | 吴志明 | Control method for building environmental protection robot and robot using the method |
| CN103383274A (en) * | 2012-05-03 | 2013-11-06 | 徐世铭 | Underground coal mine searching robot multi-sensor environment detection system |
| CN102966038A (en) * | 2012-11-23 | 2013-03-13 | 南京理工大学 | Bridge detecting robot based on negative-pressure absorption |
| CN204177413U (en) * | 2014-09-09 | 2015-02-25 | 哈尔滨工程大学 | A kind of combination sensor device for the perception of mobile robot's near-earth |
Non-Patent Citations (1)
| Title |
|---|
| 《五轮铰接式移动机器人的重构特性及分析》;徐贺等;《哈尔滨工程大学学报》;20110930;第32卷(第9期);第1233-1237页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104180855A (en) | 2014-12-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104180855B (en) | A kind of combination sensor device perceived for mobile robot near-earth | |
| CN105021501B (en) | Detect the sensor and detection method of suspended particulate substance quality concentration in air | |
| CN204740358U (en) | Weather station is gathered to field long -range environment of intelligence | |
| CN110031904B (en) | Indoor personnel presence detection system based on low-resolution infrared thermal imaging | |
| CN108594331A (en) | A kind of weather environment monitoring device based on Internet of Things | |
| CN106323372A (en) | Intelligent household indoor environment information wireless collection device | |
| CN203872684U (en) | Maitake mushroom house structure allowing temperature and humidity to be adjusted | |
| CN208239855U (en) | Clean room environment monitor | |
| CN205720162U (en) | A kind of air detection system of indoor air environment monitoring device | |
| CN107476217A (en) | The parking stake of multifunctional residential area | |
| CN204177413U (en) | A kind of combination sensor device for the perception of mobile robot's near-earth | |
| KR20170002524U (en) | Device for observing microclimate | |
| CN209387060U (en) | A kind of urban environment data monitoring system based on LoRa | |
| CN209215932U (en) | A kind of clean room environment measuring control system | |
| CN207181384U (en) | A kind of split type formaldehyde sensing display apparatus | |
| CN217358930U (en) | Air resistance detection device of gas filter | |
| CN216748566U (en) | Wisdom is control subassembly for green house based on thing networking | |
| CN102137512A (en) | Automatic weather station based on wireless sensor network | |
| CN108318940A (en) | A kind of enviromental monitoring equipment | |
| CN211478236U (en) | Air quality monitoring device | |
| CN209988112U (en) | Unmanned aerial vehicle for atmospheric environment linkage monitoring | |
| CN212843722U (en) | Crop growth environment monitoring system | |
| CN109342667B (en) | Large-range gas dynamic detection device based on unmanned aerial vehicle and detection method thereof | |
| CN210426819U (en) | Ambient air detection device | |
| CN210148081U (en) | Intelligent household robot capable of automatically searching light and charging |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |