CN103487591A - Robot for detecting air quality - Google Patents
Robot for detecting air quality Download PDFInfo
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- CN103487591A CN103487591A CN201210190299.2A CN201210190299A CN103487591A CN 103487591 A CN103487591 A CN 103487591A CN 201210190299 A CN201210190299 A CN 201210190299A CN 103487591 A CN103487591 A CN 103487591A
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Abstract
The invention develops a robot for detecting the air quality. The robot comprises a small vehicle base seat, the small vehicle base seat is provided with a chassis kit, the chassis kit comprises three wheels, a motor, and a reduction box combination, the three wheels comprise a ball-shaped universal wheel and two differential driving wheels, the reduction box is composed of a small gear, a fit gear, and a big gear, the two differential driving wheels are fixed on two sides of the small vehicle base seat and transmitted through a belt, and the three wheels are each provided with a permanent magnet; the small vehicle base seat is provided with a robot system, the robot system comprises a power supply, a main control board, a control chip, an infrared tube trailing module, an optical switch module, a Hall element sampling module, an air collecting module, a liquid crystal display module, and a data storage module.
Description
Technical field
The present invention relates to the robot field, specifically, is a kind of Detection of Air Quality robot.
Background technology
Along with scientific and technological development, in life, increasing work can replace manually completing by robot, and robot can save people's time, makes life become convenient, intelligence; Along with the raising of living standard and quality, people are more and more to the concern of health, environment, air quality.
Summary of the invention
The present invention has developed a kind of Detection of Air Quality robot, this robot comprises the dolly pedestal, described dolly pedestal is provided with the chassis external member, described chassis external member comprises three wheels, motor and reducer casing combination, described three wheels comprise a globular universal wheel and two differential driving wheels, described reducer casing combination is by pinion wheel, meeting gear and gear wheel forms, described pinion wheel is arranged on the axle of described motor, gear wheel engagement with described compound gear, forming the first order slows down, the pinion wheel of described compound gear and the engagement of described gear wheel, forming the second level slows down, described two differential driving wheel is fixed on the right and left of described dolly pedestal, pass through belt gear, all place permanent magnet on described three wheels, described dolly pedestal is provided with robot system, described robot system comprises power supply, master control borad, control chip, infrared tube track module, optical switch module, Hall element sampling module, air acquisition module, LCD MODULE and data memory module, described air acquisition module comprises mini fan and sensor, and described LCD MODULE comprises liquid crystal display control chip and liquid crystal display.
Further improvement of the present invention is: described master control borad adopts the ARM development board.
Further improvement of the present invention also is: described power acquisition dual power supply, utilize photoelectric coupling technology, and a road powers to control section, and power supply is divided to motor driving part in a road, and altogether, its I/O mouth is inputted described control chip by control signal to two road power supplys.
Further improvement of the present invention also is: the described infrared tube module that tracks adopts the reflective infrared tube of one, and the reflective infrared tube of described one is that power valve and receiving tube are fixed together.
Further improvement of the present invention also is: the photoresistance that described optical switch module adopts semiconductor material to make.
Further improvement of the present invention also is: the described sensor of described air acquisition module adopts TP4 type normal temperature gas sensor.
Further improvement of the present invention also is: described liquid crystal display adopts monochromatic 84*48 lattice lcd screen.
Further improvement of the present invention also is: described data memory module adopts the TF draw-in groove of plug and play.
The present invention is usingd the ARM development board as development platform, provide power by direct supply, drive dolly by control chip, robot automatic tracking function be to realize by Hall element module and infrared tube module, wherein, infrared tube contrasts the poor definite track of black and white by scanning, the Hall element sampling module is realized the collection to wheel information by the permanent magnet on wheel, also realized the information acquisition to wind direction simultaneously, the air quality detection function of robot is to suck ambient air by mini fan, carry out the air quality data collection by sensor, and data transfer is arrived to master control borad, then by master control borad, according to the measured data of respectively organizing, be presented on liquid crystal display.
The accompanying drawing explanation
Fig. 1 is system module figure of the present invention.
Fig. 2 is the schematic diagram of Hall effect.
Wherein, I-electric current, B-magnetic induction density, U
h-Hall voltage.
Embodiment
As shown in Figure 1, the invention discloses a kind of Detection of Air Quality robot, this robot comprises the circular dolly pedestal that diameter is 20cm, the dolly pedestal is provided with the chassis external member, the chassis external member comprises three wheels, FF-N20PA motor and secondary speed reduction box combination, three wheels comprise a globular universal wheel and two differential driving wheels, the reducer casing combination is by pinion wheel, meeting gear and gear wheel forms, pinion wheel is arranged on the axle of motor, gear wheel engagement with compound gear, forming the first order slows down, the pinion wheel of compound gear and gear wheel engagement, forming the second level slows down, two differential driving wheels are fixed on the right and left of dolly pedestal, pass through belt gear, belt one end is fixed in the groove of reducer casing take-off (propeller) shaft, the other end is fixed in the groove of wheel belt, the degree of tightness of belt can be regulated by the adjusting screw on chassis, pass through belt gear, can play the effect of deceleration, be used in conjunction with reducer casing the rotating speed that greatly reduces motor output.
The dolly pedestal is provided with robot system, robot system comprises dual power supply, ARM master control borad, LB1836M control chip, infrared tube track module, optical switch module, Hall element sampling module, air acquisition module, LCD MODULE and data memory module, the air acquisition module comprises mini fan and sensor, and LCD MODULE comprises liquid crystal display control chip and liquid crystal display.
Wherein, master control borad adopts the ARM development board.
Consider that direct-flow small motor starts immediate current excessive, can affect control chip part power supply, so employing dual power supply, pass through photoelectric coupling technology, divide and control part and motor driving part Fen Ge mono-road Power supply, altogether, the I/O mouth is exported control signal to two road power supplys, by photoelectric coupling control signal input LB1836M DC MOTOR CONTROL chip, by the DC MOTOR CONTROL chip to dolly advanced, retreated, a series of actions such as turning.
The infrared tube module that tracks adopts the reflective infrared tube of one, the reflective infrared tube of one is that power valve and receiving tube are fixed together, reflective principle of work is that the signal that receiving tube receives is that the infrared light that power valve sends obtains after the reflection of reverberation, so must be that white floor adds the black guide line while using infrared tube to be tracked, the signal that the ARM master control borad collects is treated signal, only have two values of low level and high level, facilitate the collection of ARM master control borad to signal, it when the signal finally obtained shines on black, is low level, while shining on white, it is high level.
The photoresistance that optical switch module adopts semiconductor material to make, light characteristics by photoresistance, when illumination, the characteristics that resistance reduces, add voltage between the metal electrode at photoresistance two ends, wherein just there is electric current to pass through, while being subject to the light irradiation of suitable wavelength, it is large that electric current will become with the increase of light intensity, thereby realize opto-electronic conversion, photoresistance does not have polarity, a resistance device purely, both can add DC voltage during use, also can add alternating voltage, when voltage reaches the 3V left and right, the OUT output low level, when photoresistance is subject to natural light irradiation, resistance is larger, assign to voltage more, therefore the voltage of input trigger just is less than 3V, output high level (supply voltage), when using illumination, such as electric torch irradiates, the resistance of photoresistance can sharply descend, during strong illumination, almost close to 0, so the variable resistor dividing potential drop becomes many, triggers the trigger output LOW voltage, just can control dolly by illumination with the low level triggering and advance, reach the effect of switch.
As shown in Figure 2, the Hall element sampling module, when electric current I by being placed on the semiconductor chip (Hall element) in magnetic field, and when direction of current is vertical with magnetic direction, produce Hall voltage UH on the transverse side of the semiconductor chip perpendicular to electric current and magnetic flux, the height of Hall voltage UH is directly proportional to the electric current I of passing through and magnetic induction density B, the amplitude that the signal amplifier that Hall opens the light in integrated circuit produces Hall element with the Hall voltage UH of change of magnetic field strength, amplify after again through signal converter, after driver carries out the shaping amplification, output amplitude equates, the square-wave signal of frequency change, utilize like this hall device just can realize the collection to wheel information by the permanent magnet on wheel.
The sensor of air acquisition module adopts TP4 type normal temperature gas sensor, by mini fan, sucks ambient air, carries out the air quality data collection by sensor, and is shown on liquid crystal display, is stored in memory module simultaneously.
Liquid crystal display adopts monochromatic 84*48 lattice lcd screen.
Data memory module adopts the TF draw-in groove of plug and play.
Claims (8)
1. a Detection of Air Quality robot, this robot comprises the dolly pedestal, it is characterized in that, described dolly pedestal is provided with the chassis external member, described chassis external member comprises three wheels, motor and reducer casing combination, described three wheels comprise a globular universal wheel and two differential driving wheels, described reducer casing combination is by pinion wheel, meeting gear and gear wheel forms, described pinion wheel is arranged on the axle of described motor, gear wheel engagement with described compound gear, forming the first order slows down, the pinion wheel of described compound gear and the engagement of described gear wheel, forming the second level slows down, described two differential driving wheel is fixed on the right and left of described dolly pedestal, pass through belt gear, all place permanent magnet on described three wheels, described dolly pedestal is provided with robot system, described robot system comprises power supply, master control borad, control chip, infrared tube track module, optical switch module, Hall element sampling module, air acquisition module, LCD MODULE and data memory module, described air acquisition module comprises mini fan and sensor, and described LCD MODULE comprises liquid crystal display control chip and liquid crystal display.
2. a kind of Detection of Air Quality according to claim 1 robot, is characterized in that, described master control borad adopts the ARM development board.
3. a kind of Detection of Air Quality according to claim 2 robot, it is characterized in that, described power acquisition dual power supply, utilize photoelectric coupling technology, one tunnel powers to control section, power supply is divided to motor driving part in one tunnel, and altogether, its I/O mouth is inputted described control chip by control signal to two road power supplys.
4. a kind of Detection of Air Quality according to claim 3 robot, is characterized in that, the described infrared tube module that tracks adopts the reflective infrared tube of one, and the reflective infrared tube of described one is that power valve and receiving tube are fixed together.
5. a kind of Detection of Air Quality according to claim 4 robot, is characterized in that the photoresistance that described optical switch module adopts semiconductor material to make.
6. a kind of Detection of Air Quality according to claim 5 robot, is characterized in that, the described sensor of described air acquisition module adopts TP4 type normal temperature gas sensor.
7. a kind of Detection of Air Quality according to claim 6 robot, is characterized in that, described liquid crystal display adopts monochromatic 84*48 lattice lcd screen.
8. a kind of Detection of Air Quality according to claim 7 robot, is characterized in that, described data memory module adopts the TF draw-in groove of plug and play.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210190299.2A CN103487591A (en) | 2012-06-11 | 2012-06-11 | Robot for detecting air quality |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210190299.2A CN103487591A (en) | 2012-06-11 | 2012-06-11 | Robot for detecting air quality |
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| Publication Number | Publication Date |
|---|---|
| CN103487591A true CN103487591A (en) | 2014-01-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210190299.2A Pending CN103487591A (en) | 2012-06-11 | 2012-06-11 | Robot for detecting air quality |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104216408A (en) * | 2014-09-04 | 2014-12-17 | 兰州理工大学 | Wireless remote control terrain exploration trolley |
| CN105841735A (en) * | 2015-01-12 | 2016-08-10 | 芋头科技（杭州）有限公司 | Air quality detection system and method through robot |
| CN108775924A (en) * | 2018-07-03 | 2018-11-09 | 上海常仁信息科技有限公司 | A kind of indoor air quality monitoring system based on robot |
| CN110488688A (en) * | 2019-08-05 | 2019-11-22 | 华南理工大学 | Intelligent carriage mode of progression and system based on fluorescence reaction and photosensitive sensor |
| CN112327705A (en) * | 2020-11-12 | 2021-02-05 | 浙江工业大学 | Intelligent trolley parking control system and method based on copper wire dissolution |
| CN113674536A (en) * | 2021-10-20 | 2021-11-19 | 南通天正信息技术服务有限公司 | Lane detection system |
-
2012
- 2012-06-11 CN CN201210190299.2A patent/CN103487591A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104216408A (en) * | 2014-09-04 | 2014-12-17 | 兰州理工大学 | Wireless remote control terrain exploration trolley |
| CN105841735A (en) * | 2015-01-12 | 2016-08-10 | 芋头科技（杭州）有限公司 | Air quality detection system and method through robot |
| CN108775924A (en) * | 2018-07-03 | 2018-11-09 | 上海常仁信息科技有限公司 | A kind of indoor air quality monitoring system based on robot |
| CN110488688A (en) * | 2019-08-05 | 2019-11-22 | 华南理工大学 | Intelligent carriage mode of progression and system based on fluorescence reaction and photosensitive sensor |
| CN110488688B (en) * | 2019-08-05 | 2022-03-29 | 华南理工大学 | Intelligent trolley advancing method and system based on fluorescence reaction and photosensitive sensor |
| CN112327705A (en) * | 2020-11-12 | 2021-02-05 | 浙江工业大学 | Intelligent trolley parking control system and method based on copper wire dissolution |
| CN112327705B (en) * | 2020-11-12 | 2021-12-31 | 浙江工业大学 | Intelligent trolley parking control system and method based on copper wire dissolution |
| CN113674536A (en) * | 2021-10-20 | 2021-11-19 | 南通天正信息技术服务有限公司 | Lane detection system |
| CN113674536B (en) * | 2021-10-20 | 2021-12-24 | 南通天正信息技术服务有限公司 | Lane detection system |
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Application publication date: 20140101 |