CN101294974A - Intelligent mobile detection apparatus - Google Patents
Intelligent mobile detection apparatus Download PDFInfo
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- CN101294974A CN101294974A CNA200810115281XA CN200810115281A CN101294974A CN 101294974 A CN101294974 A CN 101294974A CN A200810115281X A CNA200810115281X A CN A200810115281XA CN 200810115281 A CN200810115281 A CN 200810115281A CN 101294974 A CN101294974 A CN 101294974A
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Abstract
The invention relates to intelligent mobile detecting equipment used for detecting the pollutants in indoor air, which belongs to the field for detecting the pollutants in the air and comprises a travelling part, a control part, a detecting part and an obstacle induction part, wherein, the control part, the detecting part and the obstacle induction part are all fixed on the travelling part; the obstacle induction part, the detecting part and the travelling part are all connected with the control part; the obstacle induction part transmits the inducted road information to the control part which controls the travelling lines of the travelling part according the road information; at the same time, the control part also controls the opening and the closing of the detecting part. The invention uses a mobile detecting method to replace the traditional fixed point detection; the collected sample has more representativeness; at the same time, the invention overcomes the difficulty that due to the arrangement of the goods such as furniture, etc., the detection point is hard to be distributed, especially that the air sample is collected in a room with larger area, the manpower and material resources can be saved further.
Description
Technical field
The present invention is a kind of intelligent mobile detection apparatus, this device can measuring cell in airborne pollutant, belong to pollutant detection range in the air.
Background technology
At present, the indoor online detection instrument of China is divided into hand-held and fixed two kinds.As methylene oxide detecting instrument, this instrument can be applicable to the mensuration of formaldehyde among the GB50325-2001 " civil building engineering indoor environmental pollution control standard ".Carbon monoxide, carbon dioxide indicator can be used for the real-time detection of indoor or outdoors carbon monoxide, carbon dioxide.But above-mentioned checkout equipment exists following shortcoming to be: during detection, at indoor layout several check points more than, because the distribution of pollutant is uneven in the room air, it is irrational representing the quality of whole room air with one or several fixing check point.
Summary of the invention
The objective of the invention is to overcome the existing defective of the online detection of indoor air pollutants, proposed a kind of intelligent mobile detection apparatus.This equipment uses intelligent removable checkout equipment to replace traditional hand-held or fixing online detection instrument, makes the result who is measured more become rationally, and is convenient to data are analysed in depth.
In order to achieve the above object, the present invention has taked following technical scheme.This checkout equipment includes travel unit, control part, test section and obstacle induction part.Wherein: control part, test section and obstacle induction part all are fixed on the travel unit, and the obstacle induction part is connected with control part, send the road information of sensing to control part.Control part links to each other with travel unit, and control part is according to the track route of road information control travel unit.Control part also links to each other with test section, the open and close of control detection portion.
What described control part was selected for use is single-chip microcomputer.
Described travel unit includes first motor, second motor, first driving wheel, second driving wheel, engaged wheel and body.Wherein: first driving wheel, second driving wheel, engaged wheel all link to each other with body.First motor, second motor link to each other with control part by circuit for controlling motor respectively, receive the operating instruction that is sent by control part and drive first driving wheel and second driving wheel respectively.
Described test section be gas at thread detector, gas is fixed on the upper surface of the body in the travel unit at thread detector.
Described obstacle induction part comprises horizontal checkout portion and height test department; Described horizontal checkout portion includes a plurality of horizontal infrared sensors, and a plurality of horizontal infrared sensors are the front end face that fan-shaped distribution is fixed on the body in the travel unit; Described height test department includes a plurality of height infrared sensors, and a plurality of height infrared sensors are the upper surface that fan-shaped distribution is fixed on the body in the travel unit.
Advantage of the present invention is: 1) walking of the present invention by travel unit drives test section and can move arbitrarily, replaces traditional point of fixity with the detection method that moves and detects, and the result of detection has more representativeness; 2) because this checkout equipment can move arbitrarily,, overcome the randomness and the contingency of putting the check point selection that causes of the article such as general layout, furniture in the traditional detection method because room so when detecting, do not need to arrange check point.3) in the bigger room of area, gather air sample, only need a cover checkout equipment more to use manpower and material resources sparingly than traditional method.
Description of drawings
Fig. 1 is a structural representation of the present invention
Fig. 2 is the travel unit structural representation
Fig. 3 is the test section synoptic diagram
Fig. 4 is an obstacle induction part synoptic diagram
Fig. 5 is horizontal infrared sensor position view
Fig. 6 is a height infrared sensor position view
Among the figure: 1, control part, 2, travel unit, 3, test section, 4, the obstacle induction part, 5, single-chip microcomputer, 6, body; 7, gas is at thread detector, 8, first motor, 9, second motor, 10, first driving wheel, 11, second driving wheel, 12, engaged wheel, 13, horizontal checkout portion, 14, the height test department, 15, horizontal infrared sensor, 16, the height infrared sensor.
Embodiment
The invention will be further described below in conjunction with Fig. 1～Fig. 6.
As shown in Figure 1, present embodiment comprises control part 1, travel unit 2, test section 3 and obstacle induction part 4.Travel unit 2, test section 3 and obstacle induction part 4 link to each other with control part 1.Control part 1, test section 3 and obstacle induction part 4 all are fixed on the travel unit 2.1 walking of control part 1 control travel unit, the obstacle induction part 4 that is fixed on the travel unit 1 sends the road information of being sensed to control part 1, and control part 1 is controlled the track route of travel unit 2, avoiding obstacles according to road information, simultaneously, control part 1 is gone back the startup of control detection portion 3 and is closed.
What travel unit 2 was in this example selected for use is Clean Mate 365QQ-1 humanoid robot, its structural representation as shown in Figure 2, this robot includes first motor 8, second motor 9, first driving wheel 10, second driving wheel 11, engaged wheel 12 and body 6.First driving wheel 10, second driving wheel 11 all are connected with body 6 with engaged wheel 12, first motor 8, second motor 9 are connected with control part 1 by circuit for controlling motor respectively, and first motor 8, second motor 9 drive first driving wheel 10 and second driving wheel 11 respectively.
The single-chip microcomputer that is that control part 1 in this example is selected for use, its model are 8051.Test section 3 be gas at thread detector 7, can be carbon dioxide indicator, carbon monoxide detector, formaldehyde detecting device, TOVC detecting device.Use HE-120 type formaldehyde analyser in this example, be installed in mobile robot's upper surface.The control interface of the single-chip microcomputer 5 in formaldehyde analyser and the control part 1 links to each other, and receives operating instruction, controls its operation by single-chip microcomputer 5, as shown in Figure 3.
Obstacle induction part 4 in the present embodiment comprises horizontal checkout portion 13 and height test department 14 two parts, as shown in Figure 4.Horizontal checkout portion 13 comprises that 15, five horizontal infrared sensors 15 of five horizontal infrared sensors are positioned at the front end face of the body 6 of travel unit, are fan-shaped array, as shown in Figure 5.Height test department 14 comprises five height infrared sensors 16, and they are positioned at the upper surface of mobile apparatus philtrum body 6, are fan-shaped array, as shown in Figure 6.Horizontal infrared sensor is connected with the pin of single-chip microcomputer 5 respectively with the height infrared sensor, and the signal that collects is transferred to single-chip microcomputer 5, and is made judgement and instruction is transferred to travel unit 2 according to relative program by single-chip microcomputer 5.Each infrared sensor respectively has an infraluminescence pipe and infrared receiving tube, by the continual infrared ray that sends certain frequency to certain direction of infraluminescence pipe, during barrier in running into certain distance, the infrared light of the sufficient intensity that reflects is received by infrared receiving tube, thereby control part 1 has been sent obstacle signal, finished real-time detection,, can well survey complaint message by the detection of horizontal infrared sensor and height infrared sensor to barrier.
During detection, methylene oxide detecting instrument is installed on the mobile robot, single-chip microcomputer 5 control robot start, and simultaneously, single-chip microcomputer 5 is transferred to methylene oxide detecting instrument, the operation of control methylene oxide detecting instrument with instruction.Travel unit 2 advances according to the route of command request, horizontal infrared sensor is passed to signal single-chip microcomputer 5 and is made judgement by single-chip microcomputer 5 when near the barrier of horizontal direction, and instruction is transferred to travel unit 2, first motor 10, second motor 11 are made corresponding actions according to instruction respectively, adjust the track route of robot, avoiding obstacles.When running into desk, during furniture such as stool and bed, possible horizontal checkout portion 13 can't find barrier, but when the front end of robot enters into the lower end of these barriers, height test department 14 will be found barrier, and give control part 1, thereby adjust the track route of robot, avoiding obstacles with information transmission.
Utilize the present invention that certain resident family is detected, and contrast under the situation of while fixed test point, find that its testing result exists difference.List testing result below, from following data as can be seen: because mobile detection apparatus can move to any corner in room, so mobile detection exists very large superiority really, can reflect the situation (result of the transfer point in the table 1) of certain pollutant in the indoor environment better for adopting the present invention to detect.
Table 1:(unit: mg/m
3)
| Formaldehyde | |
| Fixed point 1 | 0.076 |
| Fixed point 2 | 0.078 |
| Fixed point 3 | 0.080 |
| Fixed point is average | 0.078 |
| Transfer point | 0.073 |
Claims (5)
1, intelligent mobile detection apparatus includes travel unit (2); It is characterized in that: also include control part (1), test section (3) and obstacle induction part (4); Wherein: control part (1), test section (3) and obstacle induction part (4) all are fixed on the travel unit (2), and obstacle induction part (4) is connected with control part (1), sends the road information of sensing to control part (1); Control part (1) links to each other with travel unit (2), and control part (1) is according to the track route of road information control travel unit (2); Control part (1) also links to each other with test section (3), the open and close of control detection portion (3).
2, intelligent mobile detection apparatus according to claim 1 is characterized in that: what described control part (1) was selected for use is single-chip microcomputer (5).
3, intelligent mobile detection apparatus according to claim 1 is characterized in that: described travel unit (2) includes first motor (8), second motor (9), first driving wheel (10), second driving wheel (11), engaged wheel (12) and body (6); Wherein: first driving wheel (10), second driving wheel (11), engaged wheel (12) all link to each other with body (6); First motor (8), second motor (9) link to each other with control part (1) by circuit for controlling motor respectively, receive the operating instruction that is sent by control part (1) and drive first driving wheel (10) and second driving wheel (11) respectively.
4, according to claim 1 or the described intelligent mobile detection apparatus of claim 2, it is characterized in that: described test section (3) for gas in thread detector (7), gas is fixed on the upper surface of the body (6) in the travel unit (2) at thread detector (7).
5, the described or described a kind of intelligent mobile detection apparatus of claim 2 according to claim 1 is characterized in that: described obstacle induction part (4) comprises horizontal checkout portion (13) and height test department (14);
Described horizontal checkout portion (13) includes a plurality of horizontal infrared sensors (15), and a plurality of horizontal infrared sensors (15) are the front end face that fan-shaped distribution is fixed on the body (6) in the travel unit (2);
Described height test department (14) includes a plurality of height infrared sensors (16), and a plurality of height infrared sensors (16) are the upper surface that fan-shaped distribution is fixed on the body (6) in the travel unit (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA200810115281XA CN101294974A (en) | 2008-06-20 | 2008-06-20 | Intelligent mobile detection apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA200810115281XA CN101294974A (en) | 2008-06-20 | 2008-06-20 | Intelligent mobile detection apparatus |
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| Publication Number | Publication Date |
|---|---|
| CN101294974A true CN101294974A (en) | 2008-10-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA200810115281XA Pending CN101294974A (en) | 2008-06-20 | 2008-06-20 | Intelligent mobile detection apparatus |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102975961A (en) * | 2012-11-06 | 2013-03-20 | 无锡市羊尖兴达包装箱厂 | Intelligent magnetic suspension packing case |
| CN110823775A (en) * | 2019-11-28 | 2020-02-21 | 北京海益同展信息科技有限公司 | Robot for detecting air cleanliness |
-
2008
- 2008-06-20 CN CNA200810115281XA patent/CN101294974A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102975961A (en) * | 2012-11-06 | 2013-03-20 | 无锡市羊尖兴达包装箱厂 | Intelligent magnetic suspension packing case |
| CN110823775A (en) * | 2019-11-28 | 2020-02-21 | 北京海益同展信息科技有限公司 | Robot for detecting air cleanliness |
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Open date: 20081029 |