CN103419202B - A kind of family expenses make an inspection tour intelligent robot - Google Patents
A kind of family expenses make an inspection tour intelligent robot Download PDFInfo
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- CN103419202B CN103419202B CN201310334031.6A CN201310334031A CN103419202B CN 103419202 B CN103419202 B CN 103419202B CN 201310334031 A CN201310334031 A CN 201310334031A CN 103419202 B CN103419202 B CN 103419202B
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Abstract
The present invention relates to robotics, refer to that a kind of family expenses make an inspection tour intelligent robot especially, comprise movable chassis mechanism and PC control mechanism, described PC control mechanism comprises and automatically controlling for implementing whole robot, to various input data and signal carry out analyzing and processing host computer and for user command being sent to the CPU of movable chassis mechanism; Described movable chassis mechanism comprises omni-directional wheel, actuating unit and electric control unit, described electric control unit, converts electrical energy into kinetic energy for controlling actuating unit; Actuating unit, runs for converting electrical energy into kinetic energy and controlling omni-directional wheel; Omni-directional wheel, moves for driving movable chassis mechanism.
Description
Technical field
The present invention relates to robotics, refer to that a kind of family expenses make an inspection tour intelligent robot especially.
Background technology
The robot of current application is in the majority with industrial robot, is mainly used to substitute inclement condition, the work that non-general intelligence and muscle power directly can complete.Its function singleness, special certain particular problem of solution, mostly without mobile matrix.Have the robot of mobile matrix, its move mode is generally legged, crawler type, wheeled construction.Movable structure is in stability and have the place of barrier to be difficult to give full play to its effectiveness.Crawler-type mobile structure is turned dumb, and volume is bigger than normal.Common wheel type mobile structure fluctuation of service, kinematic accuracy is not high, and direction inconvenience controls.
According to the deficiency that existing Robotics exists, the present invention aims at making an inspection tour in providing a kind of Robotics scheme to be mainly used in household safe, and remote monitoring and communication, solve people because of the careless and inadvertent or all kinds of safety problem of family caused of going on a journey.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of family and makes an inspection tour intelligent robot, this robot has mobile isotropic directivity, controls intelligent feature, can make an inspection tour house, by remote monitoring and communication, realize antitheft, the warning function such as auxiliary detection gas leak, burning things which may cause a fire disaster, also can be used for home entertaining.
For solving the problems of the technologies described above, embodiments of the invention provide a kind of family expenses to make an inspection tour intelligent robot, comprise movable chassis mechanism and PC control mechanism, described PC control mechanism comprises and automatically controlling for implementing whole robot, to various input data and signal carry out analyzing and processing host computer and for user command being sent to the CPU of movable chassis mechanism; Described movable chassis mechanism comprises omni-directional wheel, actuating unit and electric control unit, described electric control unit, converts electrical energy into kinetic energy for controlling actuating unit; Actuating unit, runs for converting electrical energy into kinetic energy and controlling omni-directional wheel; Omni-directional wheel, moves for driving movable chassis mechanism.
As preferably, described CPU, for receiving the information that movable chassis mechanism feeds back to, forming closed loop feedback and controlling.
As preferably, described electric control unit comprises:
Photoelectric sensor, for detecting left front and right front barrier and sending the first Detection Information;
Crash sensor, for detecting blind area barrier that left front and right front photoelectric sensor cannot detect and sending the second Detection Information;
Master controller, controls omni-directional wheel by actuating unit run for receiving the first Detection Information and the second Detection Information, hide left front and right front barrier.
As preferably, described electric control unit also comprises:
Temperature sensor, for detecting indoor temperature and sending the 3rd detection signal;
Smoke Sensor, sends the 4th detection signal for smokescope in sensing chamber,
Described master controller, also for receiving the 3rd Detection Information and the 4th Detection Information sends a warning, can avoid the generation of fire in time.
As preferably, described electric control unit also comprises:
Human body heat-releasing electric transducer, for detecting the region of diameter 4 ~ 5 meters and sending the 5th detection signal;
Camera, for taking indoor situations;
Liquid crystal display, for storing the picture captured by camera, and shows the picture that camera (16) takes,
Described master controller, also for receiving the 5th Detection Information and sending a warning, avoids someone to invade, and records the information of invader.
As preferably, described electric control unit also comprises:
Wireless module, picks for the signal between CPU and movable chassis mechanism, also for carrying out long-distance radio communication, and the transmission of remote monitoring signal and acceptance.
As preferably, described actuating unit is made up of three motors, and three motors are mutually 120 degree of installations, and the rotating shaft of described three motors is fixedly connected with omni-directional wheel respectively.
As preferably, described three omni-directional wheels are made up of two same plate wheels respectively, leave gap vertically between two-layer plate wheel.
As preferably, in described plate wheel outer peripheral lines, be all provided with nine dolioform rubber wheels, the axle of rubber wheel is near plate wheel outer peripheral lines, and the rubber wheel on two plate wheels offsets one from another the distribution circumferentially gapless of installation, rubber wheel in the circumferential.
The beneficial effect of technique scheme of the present invention is as follows: 1, movable chassis mechanism of the present invention has accurately mobile and multiple intelligent function, can be used as the intelligent mobile carrier of certain field professional machines people, eliminate mobile platform design and design the unreasonable problems brought.
2, the movable part of robot adopts the three-wheel Omni-mobile structure of precision machinery technology, makes it flexible operation, without arc turning phenomenon.Solving legged structure there being the place of barrier to be difficult to gives full play to its effectiveness; Track structure volume is large, turns dumb; There is fluctuation of service in common wheeled construction, the problem that direction inconvenience controls.
3, present invention employs multiple sensors technology and complex art, collection sensor information process, car body controls, communication, location, identify in integrally.Various signal is detected, compares and analyzed.Remote monitoring and communication can be implemented, there is the several functions such as safety and patrol warning.Solve general robot function singleness, wiring type fire equipment difficulty is installed, the little and position not malleable of general monitoring device monitoring range, and the problem having line traffic control to need people on duty.
4, the present invention proposes a kind of family robot application scheme, the insurmountable household safe problem because of trip that people generally worry can be solved well.Be robot for family's Added Management, the new try of home entertaining.
Accompanying drawing explanation
Fig. 1 is the principle schematic that a kind of family expenses of the present invention make an inspection tour intelligent robot embodiment.
Fig. 2 is the structural representation of movable part in Fig. 1.
［ main element symbol description ］ 1-movable chassis mechanism, 2-PC control mechanism, 3-omni-directional wheel, 4-actuating unit, 5-electric control unit, 6-CPU, 7-host computer, 8-master controller, 9-temperature sensor, 10-liquid crystal display, 11-crash sensor, 12-human body heat-releasing electric transducer, 13-photoelectric sensor, 14-Smoke Sensor, 15-wireless module, 16-camera, 17-rubber wheel.
Detailed description of the invention
For making the technical problem to be solved in the present invention, technical scheme and advantage clearly, be described in detail below in conjunction with the accompanying drawings and the specific embodiments.
The present invention is directed to existing deficiency provides a kind of family expenses to make an inspection tour intelligent robot, as shown in Figure 1, comprise movable chassis mechanism 1 and PC control mechanism 2, described PC control mechanism 2 comprises and automatically controlling for implementing whole robot, to various input data and signal carry out analyzing and processing host computer 7 and for user command being sent to the CPU 6 of movable chassis mechanism 1; Described movable chassis mechanism 1 comprises omni-directional wheel 3, actuating unit 4 and electric control unit 5, described electric control unit 5, converts electrical energy into kinetic energy for controlling actuating unit 4; Actuating unit 4, runs for converting electrical energy into kinetic energy and controlling omni-directional wheel 3; Omni-directional wheel 3, moves for driving movable chassis mechanism 1.
Described CPU 6, for receiving the information that movable chassis mechanism 1 feeds back to, forming closed loop feedback and controlling.
Described electric control unit 5 comprises:
Photoelectric sensor 13, for detecting left front and right front barrier and sending the first Detection Information;
Crash sensor 11, for detecting blind area barrier that left front and right front photoelectric sensor 13 cannot detect and sending the second Detection Information;
Master controller 8, controls omni-directional wheel 3 by actuating unit 4 run for receiving the first Detection Information and the second Detection Information, hide left front and right front barrier.
Described electric control unit 5 also comprises:
Temperature sensor 9, for detecting indoor temperature and sending the 3rd detection signal;
Smoke Sensor 14, sends the 4th detection signal for smokescope in sensing chamber,
Described master controller 8, also for receiving the 3rd Detection Information and the 4th Detection Information sends a warning, can avoid the generation of fire in time.
Described electric control unit 5 also comprises:
Human body heat-releasing electric transducer 12, for detecting the region of diameter 4 ~ 5 meters and sending the 5th detection signal;
Camera 16, for taking indoor situations;
Liquid crystal display 10, for storing the picture captured by camera 16, and shows the picture of camera 16 shooting,
Described master controller 8, also for receiving the 5th Detection Information and sending a warning, avoids someone to invade, and records the information of invader.
Described electric control unit 5 also comprises:
Wireless module 15, picks for the signal between CPU 6 and CPU 6, also for carrying out long-distance radio communication, and the transmission of remote monitoring signal and acceptance.
As shown in Figure 2, described actuating unit 4 is made up of three motors, three motors are mutually 120 degree of installations, the rotating shaft of described three motors is fixedly connected with omni-directional wheel 3 respectively, described three omni-directional wheels 3 are made up of two same plate wheels respectively, gap is left vertically between two-layer plate wheel, in described plate wheel outer peripheral lines, nine dolioform rubber wheels 17 are all installed, the axle of rubber wheel 17 is near plate wheel outer peripheral lines, rubber wheel 17 on two plate wheels offsets one from another the distribution circumferentially gapless of installation, rubber wheel 17 in the circumferential.
The present invention is according to above-described technical scheme, there is the function realizing remote monitoring and communication: the order that host computer is responsible for user sends sends to mobile chassis, the control signal that mobile chassis is returned by the input Information and feedback received compares, form closed loop feedback to control, walking is located more accurate, make signal send in time and return.
This robot has safety and patrol function: it arranges Smoke Sensor, temperature sensor, human body heat-releasing electric transducer, and photoelectric sensor, crash sensor are made a video recording first-class, is used for detecting and input transducing signal for top level control.User can arrange robot automatic detecting at PC control software section, whether has the fortuitous event generation exceeding and pre-set in sensing chamber.Automatic detecting order wirelessly sends data by host computer, robot detects order data and receives order, master controller response command on it, control motor rotation, make robot at indoor autokinetic movement, automatic dodging barrier, also can hide ladder, prevent robot because drop causes falling, realize unmanned intervention and independently patrol and examine.In the process of patrolling and examining, utilize digital temperature sensor by patrol and detection indoor temperature, by relatively reporting to the police to exceeding situation about pre-seting.Also can assist a ruler in governing a country Smoke Sensor, improve the accuracy of detection of inside fire.
Human body heat-releasing electric transducer is when once when having (effective range of the present invention 4 ~ 5 meters) in people's intrusion detection region, human infrared radiation is by part mirror focusing, to be detected by detecting element and the infra-red radiation received is transformed into faint voltage signal, through amplifying backward outer output.
This robot has fault self-checking and certain for maintenance function: if system jam, the automatic record trouble of robot controller, on liquid crystal and host computer display, facilitates user's fault elimination fault.In the course of the work, as occurred, cell voltage is too low in robot, and charge in automatic charging depressed place of getting back under the guide in charging depressed place by system, after charging, robot will continue not completing last time of task.
This robot has the function of autokinetic movement to appointed place: user needs to allow and robot autonomously moves to appointed place, and user only need arrange the x of destination, y coordinate.Robot automatically calculates path according to Trajectory Arithmetic and completes movement, and can revise in real time according to motion path feedback data, and realize closed-loop control, its precision can reach 1mm.
Present invention employs the mechanics of communication based on wireless module: PC control part and mobile chassis adopt wireless telecommunications, so not only cost-saving the but also cable solving wire communication and need to grow caused cost high very much, very long cable to be pulled when mobile platform moves, the movement of robot is caused to the problem of very large obstacle.
The present invention additionally uses the complex art based on control technology: the present invention comprehensively have employed control technology, singlechip technology, multiple sensors technology, optical technology, precision machinery technology, simulation, digital circuit technique, radiotechnics (for Long-distance Control or data back) etc.The unlike signal input host controller experienced by various sensor, controller sends wirelessly or accepts feedback information, and control is movement accurately, and analyzes result, carries out alert process to unsafe situation.
Present invention employs the precision machinery technology of Omni-mobile: three are mutually 120 degree of single omni-directional wheels composition tricycle structures installed, and move upward flexibly in each side, omnirange moves, to place etc. without particular/special requirement.The double-decker that single omni-directional wheel is made up of two same plate wheels; In each plate wheel outer peripheral lines, nine approximate dolioform rubber wheels are respectively housed, and the axle of rubber wheel, near plate wheel outer peripheral lines, leaves gap vertically between two-layer plate wheel, freely rotates for rubber wheel; Rubber wheel on two plate wheels offsets one from another installation in the circumferential, and whole rubber wheel distributes circumferentially gapless, has a small amount of overlap.
Above the family expenses inspecting robot that inventive embodiments provides is described in detail, apply specific case herein to set forth structure of the present invention, principle and embodiment, the explanation of above embodiment just understands method of the present invention and core concept thereof for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (1)
1. family expenses make an inspection tour intelligent robot, comprise movable chassis mechanism (1) and PC control mechanism (2), it is characterized in that, described PC control mechanism (2) comprises and automatically controlling for implementing whole robot, to various input data and signal carry out analyzing and processing host computer (7) and for user command being sent to the CPU (6) of movable chassis mechanism (1); Described movable chassis mechanism (1) comprises omni-directional wheel (3), actuating unit (4) and electric control unit (5), described electric control unit (5), converts electrical energy into kinetic energy for controlling actuating unit (4); Actuating unit (4) runs for converting electrical energy into kinetic energy and controlling omni-directional wheel (3); Omni-directional wheel (3) is for driving movable chassis mechanism (1) mobile;
Described CPU (6), for receiving the information that movable chassis mechanism (1) feeds back to, forming closed loop feedback and controlling;
Described electric control unit (5) comprising:
Photoelectric sensor (13), for detecting left front and right front barrier and sending the first Detection Information;
Crash sensor (11), for detecting blind area barrier that left front and right front photoelectric sensor (13) cannot detect and sending the second Detection Information;
Master controller (8), controls omni-directional wheel (3) by actuating unit (4) run for receiving the first Detection Information and the second Detection Information, hide left front and right front barrier;
Temperature sensor (9), for detecting indoor temperature and sending the 3rd detection signal;
Smoke Sensor (14), sends the 4th detection signal for smokescope in sensing chamber,
Described master controller (8), also for receiving the 3rd Detection Information and the 4th Detection Information sends a warning, can avoid the generation of fire in time;
Human body heat-releasing electric transducer (12), for detecting the region of diameter 4 ~ 5 meters and sending the 5th detection signal;
Camera (16), for taking indoor situations;
Liquid crystal display (10), for storing the picture captured by camera (16), and shows the picture that camera (16) takes,
Described master controller (8), also for receiving the 5th Detection Information and sending a warning, avoids someone to invade, and records the information of invader;
Wireless module (15), picks for the signal between CPU (6) and movable chassis mechanism (1), also for carrying out long-distance radio communication, and the transmission of remote monitoring signal and acceptance;
Described actuating unit (4) is made up of three motors, and three motors are mutually 120 degree of installations, and the rotating shaft of described three motors is fixedly connected with omni-directional wheel (3) respectively;
Three omni-directional wheels (3) are made up of two same plate wheels respectively, leave gap vertically between two-layer plate wheel;
In described plate wheel outer peripheral lines, be all provided with nine dolioform rubber wheels (17), the axle of rubber wheel (17) is near plate wheel outer peripheral lines, and the rubber wheel (17) on two plate wheels offsets one from another the distribution circumferentially gapless of installation, rubber wheel (17) in the circumferential;
During the automatic detecting order that described master controller response host computer sends, control motor rotation, make robot at indoor autokinetic movement, automatic dodging barrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310334031.6A CN103419202B (en) | 2013-08-02 | 2013-08-02 | A kind of family expenses make an inspection tour intelligent robot |
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| CN201310334031.6A CN103419202B (en) | 2013-08-02 | 2013-08-02 | A kind of family expenses make an inspection tour intelligent robot |
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| Publication Number | Publication Date |
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| CN103419202A CN103419202A (en) | 2013-12-04 |
| CN103419202B true CN103419202B (en) | 2015-12-09 |
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| CN201310334031.6A Expired - Fee Related CN103419202B (en) | 2013-08-02 | 2013-08-02 | A kind of family expenses make an inspection tour intelligent robot |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103692429A (en) * | 2013-12-31 | 2014-04-02 | 武汉工程大学 | Household robot capable of helping aged people |
| CN104217519A (en) * | 2014-08-15 | 2014-12-17 | 国家电网公司 | Fire alarm robot for transformer substations and inflammable places |
| CN104526697A (en) * | 2014-11-08 | 2015-04-22 | 沈阳工业大学 | Excretion aid robot |
| CN105988447B (en) * | 2015-03-03 | 2019-05-07 | 上海电气自动化设计研究所有限公司 | A kind of system and method carrying out server cabinet maintenance based on industrial robot |
| CN105234937B (en) * | 2015-10-13 | 2017-12-22 | 宁波中创焊接技术有限公司 | General Mobile chassis control system |
| CN106305467A (en) * | 2016-08-21 | 2017-01-11 | 徐洪恩 | Home monitoring and automatic pet feeding robot |
| CN107797550A (en) * | 2016-09-01 | 2018-03-13 | 松下电器（美国）知识产权公司 | Autonomous formula robot, method and non-transient recording medium |
| CN106272435A (en) * | 2016-10-08 | 2017-01-04 | 莫颖琳 | A kind of remotely intelligently monitoring robot |
| CN107067635A (en) * | 2017-02-13 | 2017-08-18 | 张磊 | A kind of multimode control machine people |
| CN109031975A (en) * | 2018-09-14 | 2018-12-18 | 合肥梦龙电子科技有限公司 | A kind of smart home guard system |
| CN110096060A (en) * | 2019-05-14 | 2019-08-06 | 青岛黄海学院 | A kind of inspecting robot and its control method with monitoring function |
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