CN105486355B - Indoor environment heat distribution three-dimensional detecting device - Google Patents
Indoor environment heat distribution three-dimensional detecting device Download PDFInfo
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- CN105486355B CN105486355B CN201610053480.7A CN201610053480A CN105486355B CN 105486355 B CN105486355 B CN 105486355B CN 201610053480 A CN201610053480 A CN 201610053480A CN 105486355 B CN105486355 B CN 105486355B
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- 230000007246 mechanism Effects 0.000 claims abstract description 97
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 230000000007 visual effect Effects 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims description 17
- 238000006243 chemical reaction Methods 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 2
- 238000003860 storage Methods 0.000 claims description 2
- 230000007613 environmental effect Effects 0.000 abstract description 5
- 238000005259 measurement Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 4
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- 241000218691 Cupressaceae Species 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2612—Data acquisition interface
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Abstract
The present invention relates to a kind of indoor environment heat distribution three-dimensional detecting devices comprising Visual retrieval mechanism, mobile robot, mounting bracket, temperature sensor, the humidity sensor for measuring humidity and the air velocity transducer for measuring wind speed for measuring temperature.The indoor environment heat distribution three-dimensional detecting device is by the way that temperature sensor, humidity sensor and air velocity transducer to be located in mobile robot, conveniently moving, using flexible, and each sensor is located at different height, it can be to carrying out three-dimensional humiture and wind speed measurement at the different height of indoor environment.The indoor environment heat distribution three-dimensional detecting device can complete the three-dimensional acquisition of environmental parameter, the space broad covered area of detection, to detection zone itself without any dependence, strong applicability using less sensor.
Description
Technical field
The present invention relates to environment measuring instrument fields, more particularly, to a kind of indoor environment heat distribution three-dimensional detecting device.
Background technology
Modern Interior industrial environment, which is often stored, precision instrument or power equipment, and large-scale logistic storage library, which is often stored, to be had
Combustible and explosive articles.The situation (humiture, air velocity) of such indoor environment be related to the normal work of the equipment or instrument with
And safety in production, therefore the heat distribution of environment is measured in real time seems and be even more important.Such current most of indoor environment
The technology layouted using distributed sensor carries out Indoor Environment Detection, but there are problems, such as sensor for the technology
Position, which is fixed, leads to the defects of detection zone is limited, required number of sensors is more, cost is higher.
Invention content
Based on this, it is necessary to provide a kind of indoor environment that can be flexibly detected to the heat distribution situation of indoor environment
Heat distribution three-dimensional detecting device.
A kind of indoor environment heat distribution three-dimensional detecting device, including：
Visual retrieval mechanism；
Mobile robot, it is interior to be equipped with control mechanism, data gather computer structure and data transmission mechanism；
Mounting bracket, the mounting bracket include mobile jib and cross bar, and the mobile jib is located in the mobile robot, described
Cross bar has more, and the more cross bars are located at the different height of the mobile jib；
For the temperature sensor of measuring temperature, the every cross bar is equipped with multiple temperature sensors, and every
Multiple temperature sensors on the cross bar are located at the different location of the cross bar；
Humidity sensor for measuring humidity, the every cross bar are equipped with multiple humidity sensors, and every
Multiple humidity sensors and the position of multiple temperature sensors on the cross bar are corresponding respectively；And
Air velocity transducer for measuring wind speed, the every cross bar are equipped at least one air velocity transducer；
The control mechanism is electrically connected with the data gather computer structure and the data transmission mechanism, the data gather computer
Structure is electrically connected with the temperature sensor, the humidity sensor and the air velocity transducer, and the control mechanism is for receiving
Temperature data, humidity data and the air speed data of the data gather computer structure acquisition, the control mechanism are additionally operable to described in control
Mobile robot autonomous, the control mechanism are additionally operable to the movement while controlling the mobile robot movement
The location data and temperature data of robot, humidity data and air speed data are passed after being packaged into data packet by the data
Transfer mechanism is sent to the long-range Visual retrieval mechanism.
The mobile jib has more in one of the embodiments, and the more mobile jibs are arranged in parallel in the mobile machine
On people.
The every mobile jib includes connector between more root unit bars and multiple bars in one of the embodiments, adjacent
Pass through connector detachable connection between the bar between the unit bar.
The rugosity of more root unit bars of the every mobile jib is sequentially reduced from bottom to up in one of the embodiments,.
The temperature sensor integrates composition humiture with the humidity sensor in one of the embodiments,
Sensor, the Temperature Humidity Sensor are electrically connected with the data transmission mechanism and the data gather computer structure.
The Temperature Humidity Sensor on the every cross bar uniformly divides along the cross bar in one of the embodiments,
Cloth, and the temperature sensor on the different cross bars is aligned in vertical direction and is arranged.
The mounting bracket further includes sensor attachment mechanism in one of the embodiments,；The sensor attachment
Structure includes fixed link, gasket, spring, sleeve and locking nut；The both ends of the fixed link have external screw thread, the every cross bar
Multiple equally distributed screw holes are equipped with, one end of the fixed link can be inserted into the screw hole to be threadedly coupled with the cross bar；
The gasket, the spring, the sleeve and the locking nut are sequentially sleeved in the fixed link；The air velocity transducer
It can be set in the fixed link and can limit between the spring and the sleeve；The Temperature Humidity Sensor is arranged
In the fixed link and limit between the sleeve and the locking nut, and can by the locking nut with it is described solid
The external screw thread of the fixed pole other end locks.
It is located on the sensor attachment mechanism in the middle part of every cross bar while is installed in one of the embodiments,
Air velocity transducer and the Temperature Humidity Sensor are stated, is only equipped on the sensor attachment mechanism of other positions described warm and humid
Spend sensor.
Analog-to-digital conversion mechanism, the analog-to-digital conversion machine are additionally provided in the mobile robot in one of the embodiments,
Structure is electrically connected with the data gather computer structure corresponding electric signal is converted to digital signal, and is transmitted to the data acquisition
Mechanism.
The Visual retrieval mechanism has input and indication mechanism in one of the embodiments, described to input and show
Show mechanism for inputting operation instruction, and the temperature sensor, the humidity sensor and the wind speed are shown for number
The detection data of sensor.
Above-mentioned indoor environment heat distribution three-dimensional detecting device is by by temperature sensor, humidity sensor and air velocity transducer
It is located in mobile robot, conveniently moving, using flexible, and each sensor is located at different height, it can be to indoor environment
Three-dimensional humiture and wind speed measurement are carried out at different height.The indoor environment heat distribution three-dimensional detecting device is using less
Sensor can complete environmental parameter three-dimensional acquisition, the space broad covered area of detection, to detection zone itself without it is any according to
Rely, strong applicability.
Description of the drawings
Fig. 1 is the structural schematic diagram of the indoor environment heat distribution three-dimensional detecting device of an embodiment；
Fig. 2 is the modular structure schematic diagram of indoor environment heat distribution three-dimensional detecting device shown in Fig. 1；
Fig. 3 is the structural schematic diagram of mobile jib in Fig. 1；
Fig. 4 is the sectional view of the line A-A along Fig. 3；
Fig. 5 is the assembling schematic diagram of sensor attachment mechanism and warm and humid sensor and air velocity transducer in Fig. 1.
Specific implementation mode
To facilitate the understanding of the present invention, below with reference to relevant drawings to invention is more fully described.In attached drawing
Give presently preferred embodiments of the present invention.But the present invention can realize in many different forms, however it is not limited to this paper institutes
The embodiment of description.Keep the understanding to the disclosure more thorough on the contrary, purpose of providing these embodiments is
Comprehensively.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present invention
The normally understood meaning of technical staff is identical.Used term is intended merely to description tool in the description of the invention herein
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein "and/or" includes one or more phases
Any and all combinations of the Listed Items of pass.
Incorporated by reference to Fig. 1 and Fig. 2, the indoor environment heat distribution three-dimensional detecting device 10 of an embodiment includes mobile robot
100, mounting bracket 200, Temperature Humidity Sensor 300, air velocity transducer 400 and Visual retrieval mechanism 500.
Mobile robot 100 can be controlled in ground and moves freely.The main element of mobile robot 100 can be to draw automatically
Lead transport vehicle (automated guided vehicle, AGV).There is navigation sector and storing mechanism in mobile robot 100.
For mobile robot 100 when a foreign environment is run for the first time, which is able to record the spatial parameter of the environment, such as records
The location information of the relatively-stationary object in the positions such as wall, object heap in the environment passes through the navigation that location information structure is three-dimensional
Map, and be stored in the storing mechanism.Storing mechanism can also store the operation of mobile robot 100 by the navigation sector
Track, to facilitate control mobile robot 100 to be moved according to specific track.
In the present embodiment, control mechanism 110, data gather computer structure 120, data are additionally provided in mobile robot 100 to pass
Transfer mechanism 130 and analog-to-digital conversion mechanism 140.
Control mechanism 110 is electrically connected with data gather computer structure 120 and data transmission mechanism 130, for receiving data acquisition
The data that mechanism 120 acquires, and receive the control instruction of the transmission of data transmission mechanism 130.Control mechanism 110 and mobile robot
Navigation sector in 100 and storing mechanism electrical connection, for controlling mobile robot 100 along specific rail according to the control instruction
Mark or new track autonomous.
Data gather computer structure 120 is used for collecting temperature data, humidity data and air speed data.Data transmission mechanism 130 uses
In the transmission data between control mechanism 110 and Visual retrieval mechanism 500, such as sent out to long-range Visual retrieval mechanism 500
Send location data and temperature data, the humidity data and air speed data etc. of mobile robot 100, when data are sent, preferably with
The form of data packet is sent；Request instruction that long-range Visual retrieval mechanism 500 is sent for another example is received to control mechanism 110,
To control the movement of mobile robot 100, and controls corresponding sensor and carry out Data Detection.
Analog-to-digital conversion mechanism 140 is electrically connected with data gather computer structure 120, data gather computer structure 120 is acquired corresponding
Electric signal be converted to digital signal, and be transmitted to data gather computer structure 120.Data gather computer structure 120 also has memory, with
For storing data acquisition and/or that analog-to-digital conversion mechanism 140 is sent.
10 accuracy A/D converters of switched capacitor of Ti companies can be used in the analog-to-digital conversion mechanism 140 of the present embodiment
TLC15543.Analog-digital converter TLC15543 has 11 channels, three kinds of built-in self test modes, provides EOC (converting)
Signal.The interface of analog-digital converter TLC15543 and microcontroller uses serial interface mode, and lead is few, and letter is connect with microcontroller
It is single.
The EZ-USB of the CY7C68013A-128AXC of CYPRESS companies can be used in the data gather computer structure 120 of the present embodiment
Chip is controlled, a 8051 enhanced kernels, the FIFO memory of RAM, 4KB of 16KB, intelligence USB is integrated with and serially draws
Hold up (SIE), USB2.0 data collectors, 58 I/O mouthfuls, 16 bit address lines, 8 position datawires, general programmable interface
(GPIF).8051 enhanced kernels are completely compatible with the 8051 of standard, and performance is up to 4 times or more of standard 8051, data
Processing is high with efficiency of transmission.
Incorporated by reference to Fig. 1 and Fig. 3, mounting bracket 200 includes mobile jib 210 and cross bar 220.Mobile jib 210 is located at mobile robot
On 100.Mobile jib 210 is vertically arranged.Specifically in the present embodiment, chassis 102 is installed in mobile robot 100.Chassis
102 have mounting groove (not shown).The shape of mounting groove is adapted with size with the shape of the bottom of mobile jib 210 with size, main
The bottom of bar 210 can be inserted into and be stuck in the mounting groove.In the present embodiment, mobile jib 210 has three, accordingly, mobile machine
There are three mounting grooves for chassis 102 or a tool of chassis 102 there are three being set on people 100.Three mobile jibs 210 are arranged in parallel in chassis
On 102.It is understood that in other embodiments, mobile jib 210 can also only have one, or there are two, four etc. more.
Incorporated by reference to Fig. 3 and Fig. 4, in the present embodiment, every mobile jib 210 includes connecting between more root unit bars 212 and multiple bars
Fitting 214.Pass through 214 detachable connection of connector between bar between adjacent unit bar 212.Mobile jib 210 is using detachable
Structure can need the height for adjusting mobile jib 210, and convenient disassembly according to specific application environment, and easy disassembly is to carry.
Further, more root unit bars 212 of every mobile jib 210 rugosity (i.e. fineness, as unit bar 212 be cylindrical bar when, rugosity
The diameter of surface cell bar 212) it is sequentially reduced from bottom to up.It is designed using the rugosity of gradual change type, entire mobile jib 210 can be improved
Mounting stability on chassis 102 avoids shaking when moving.
Cross bar 220 is located on mobile jib 210.In the present embodiment, cross bar 220 has more.More cross bars 220 are respectively provided at master
At the different height of bar 210.The distance between adjacent cross bar 220 is preferably placed equidistant with.There is clamping device on cross bar 220
(not shown).The clamping device and 210 detachable connection of mobile jib.
In the present embodiment, more cross bars 220, which are arranged in parallel, constitutes planar detection network, and corresponding, more mobile jibs 210 are simultaneously
Row setting.It is understood that in other embodiments, which can also be arranged in a crossed manner, to constitute three-dimensional detection net
Network, corresponding, more mobile jibs 210 can surround column structure as needed.
Temperature Humidity Sensor 300 is used for the temperature and humidity of measuring environment.Every cross bar 220 is passed equipped with multiple humitures
Sensor 300.Multiple Temperature Humidity Sensors 300 on every cross bar 220 are located at the different location of cross bar 220.Different cross bars
Temperature Humidity Sensor 300 on 220 is aligned in vertical direction to be arranged.In the present embodiment, multiple warm and humid on every cross bar 220
Degree sensor 300 is evenly distributed on cross bar 220, and the Temperature Humidity Sensor 300 on different cross bars 220 is in vertical direction
Alignment setting.Temperature Humidity Sensor 300 is electrically connected with data gather computer structure 120, to send temperature number to data gather computer structure 120
According to, and the control data instruction of the transmission of control mechanism 110 can be received.
In the present embodiment, DHT21 digital hygro sensors may be used in Temperature Humidity Sensor 300.DHT21 number temperature
Humidity sensor is the compound sensor of the temperature and Humidity Detection that are exported containing calibrated digital signal.DHT21 numbers are warm and humid
It includes condenser type humidity sensing element and NTC (negative temperature coefficient thermistor) temperature element to spend sensor.DHT21 number humitures
Sensor has one wire system serial line interface, and signal transmission distance is up to 20m or more.It is understood that in other embodiments, temperature with
Humidity Detection can also use the temperature sensor of separation and humidity sensor realize respectively, corresponding, temperature sensor and wet
Degree sensor has multiple, and the position of the multiple temperature sensors and multiple humidity sensors on every cross bar is correspondingly arranged,
Temperature sensor is electrically connected with data gather computer structure 120 respectively with humidity sensor.
Air velocity transducer 400 is used to detect the air flow condition of environment.In the present embodiment, it is set on every cross bar 220
There is at least one air velocity transducer 400.Air velocity transducer 400 is electrically connected with data gather computer structure 120, with to data gather computer structure
120 send the wind velocity signal of acquisition.Data gather computer structure 120 is electrically connected with analog-to-digital conversion mechanism 140, analog-to-digital conversion mechanism 140
Corresponding electric signal is converted into digital signal and is sent to data gather computer structure 120, such as in the present embodiment, the analog-to-digital conversion machine
The wind speed electric signal that air velocity transducer 400 detects is converted to digital signal to data gather computer structure 120 by structure 140.Wind speed senses
Device 400 can also receive the control data instruction of the transmission of control mechanism 110.
The air velocity transducer 400 of the present embodiment uses LFES series voltage output type air velocity transducers, such as LFWS05A type wind
Fast sensor.The wind speed range of the measurement of air velocity transducer 400 is 0~10m/s, and the response time is less than 20ms, high sensitivity, can
Bidirectional measurement, and miniature design, are easily installed.
It is understood that in other embodiments, which can also use digital air velocity transducer, accordingly
, which can directly be electrically connected with data gather computer structure 120, to send wind to the data gather computer structure 120
Fast data, and receive the request instruction sent with response data collecting mechanism 120.
Incorporated by reference to Fig. 1 and Fig. 5, in the present embodiment, which further includes sensor attachment mechanism 230.Sensing
Device installing mechanism 230 includes fixed link 231, gasket 232, spring 233, sleeve 234 and locking nut 235.The two of fixed link 231
End has external screw thread.Every cross bar 220 is equipped with multiple equally distributed screw hole (not shown).One end of fixed link 231 can insert
Enter and is threadedly coupled with cross bar 220 in screw hole.Gasket 232, spring 233, sleeve 234 and locking nut 235 are sequentially sleeved at fixation
On bar 231.Air velocity transducer 400 can be set in fixed link 231 and can limit between spring 233 and sleeve 234.Temperature
Humidity sensor 300 is set in fixed link 231 and limits between sleeve 234 and locking nut 235, and can be by locking screw
Mother 235 and the external screw thread of 231 other end of fixed link lock.
In the present embodiment, it is located on the sensor attachment mechanism 230 at every 220 middle part of cross bar while wind speed biography being installed
Sensor 400 and Temperature Humidity Sensor 300 are only equipped with Temperature Humidity Sensor on the sensor attachment mechanism 230 of other positions
300.It is understood that in other embodiments, if having multiple air velocity transducers 400 on every cross bar 220, multiple air velocity transducers
400 are also not necessarily limited on the sensor attachment mechanism 230 for being only defined 220 middle part of cross bar, such as can be in the sensor adjacent with middle part
Installation etc. on installing mechanism 230.
Control mechanism 110 is used to receive temperature data, humidity data and the air speed data of the transmission of data gather computer structure 120,
And the location information of mobile robot 100 and the temperature are provided by data transmission mechanism 130, humidity data and wind speed number
The formation of data packet is sent to long-range Visual retrieval mechanism 500 according to this.In addition, control mechanism 110 is additionally operable to receive visually
The request instruction that change testing agency 500 is sent by data transmission mechanism 130 is to control mobile robot 100, temperature and humidity sensing
Device 300 and air velocity transducer 400 act.
Control mechanism 110 controls capture program in a manner of multithreading, can be with the Navigator side of mobile robot 100
Just it integrates, therefore the three-dimensional coordinate of collection point can be accurate right with collected environmental parameter (Celsius temperature, relative humidity, wind speed)
It answers, significant data is provided for nephanalysis.
In the present embodiment, which includes input and indication mechanism.Input with indication mechanism with
Control mechanism 110 is electrically connected.Input is used to input operation instruction with indication mechanism, and is used for digital display humiture sensor
300 and air velocity transducer 400 testing result.
In the present embodiment, Temperature Humidity Sensor 300 passes through insert row and data gather computer structure 120 with air velocity transducer 400
Electrical connection.Data gather computer structure 120 is electrically connected by GPIO with analog-to-digital conversion mechanism 140.Believe when receiving data harvesting request
Number when, data gather computer structure 120 according to the communication protocol of each sensor obtain Temperature Humidity Sensor 300 digital signal and wind speed
The voltage signal of sensor 400, GPIO control analog-to-digital conversion mechanism 140 and complete the modulus turn that air velocity transducer 400 acquires signal
It changes, control mechanism 110 completes initialization and the parameter setting of USB endpoints with data gather computer structure 120 by api function, sends
Data packet and handshake.Each sensor signal is by USB tandem engines (SIE) and USB2.0 data collectors to control mechanism
110 send.
In addition, in the present embodiment, which is additionally provided with alarm mechanism, and (figure is not
Show).Alarm mechanism is electrically connected with control mechanism 110 and/or data gather computer structure 120, when control mechanism 110 and/or data are adopted
When collecting mechanism 120 detects that the environmental parameter of acquisition exceeds preset value, alarm mechanism action, signal an alert.
Above-mentioned indoor environment heat distribution three-dimensional detecting device 10 is by by Temperature Humidity Sensor 300 and air velocity transducer 400
It is located in mobile robot 100, conveniently moving, using flexible, and each sensor is located at different height, it can be to indoor environment
Different height at carry out three-dimensional humiture and wind speed measurement.The indoor environment heat distribution three-dimensional detecting device 10 using compared with
Few sensor can complete the three-dimensional acquisition of environmental parameter, and the space broad covered area of detection appoints detection zone nothing itself
What is relied on, strong applicability.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (8)
1. a kind of indoor environment heat distribution three-dimensional detecting device, which is characterized in that including：
Visual retrieval mechanism；
Mobile robot, it is interior to be equipped with control mechanism, data gather computer structure and data transmission mechanism；
Mounting bracket, the mounting bracket include mobile jib and cross bar, and the mobile jib is located in the mobile robot, the cross bar
There are more, the more cross bars are located at the different height of the mobile jib；
For the temperature sensor of measuring temperature, the every cross bar is equipped with multiple temperature sensors, and described in every
Multiple temperature sensors on cross bar are located at the different location of the cross bar；
Humidity sensor for measuring humidity, the every cross bar are equipped with multiple humidity sensors, and described in every
Multiple humidity sensors and the position of multiple temperature sensors on cross bar are corresponding respectively；And
Air velocity transducer for measuring wind speed, the every cross bar are equipped at least one air velocity transducer；
The mounting bracket further includes sensor attachment mechanism；The sensor attachment mechanism include fixed link, gasket, spring,
Sleeve and locking nut；There is external screw thread, the every cross bar to be equipped with multiple equally distributed spiral shells at the both ends of the fixed link
Hole, one end of the fixed link can be inserted into the screw hole to be threadedly coupled with the cross bar；It is the gasket, the spring, described
Sleeve and the locking nut are sequentially sleeved in the fixed link；The air velocity transducer can be set in the fixed link
And it can limit between the spring and the sleeve；The temperature sensor integrates structure with the humidity sensor
At Temperature Humidity Sensor；The Temperature Humidity Sensor is set in the fixed link and limits in the sleeve and the locking screw
Between mother, and it can be locked by the external screw thread of the locking nut and the fixed link other end；
The control mechanism is electrically connected with the data gather computer structure and the data transmission mechanism, the data gather computer structure with
The temperature sensor, the humidity sensor and air velocity transducer electrical connection, the control mechanism are described for receiving
Temperature data, humidity data and the air speed data of data gather computer structure acquisition, the control mechanism are additionally operable to control the movement
Robot autonomous movement, the control mechanism are additionally operable to the mobile machine while controlling the mobile robot movement
The location data and temperature data of people, humidity data and air speed data are packaged into after data packet through the data-set
Structure is sent to the long-range Visual retrieval mechanism, and the control mechanism, which is additionally operable to receive the Visual retrieval mechanism, to be passed through
The request instruction that the data transmission mechanism is sent is to control the mobile robot, the Temperature Humidity Sensor and the wind speed
The action of sensor；
There is navigation sector and storing mechanism, the mobile robot to be run for the first time in a foreign environment in the mobile robot
When, the navigation sector is able to record the spatial parameter of the environment, and builds three-dimensional navigation map, is stored in the storage machine
In structure, the storing mechanism can also store the running orbit of mobile robot by the navigation sector, to facilitate control institute
Mobile robot is stated to move according to specific track.
2. indoor environment heat distribution three-dimensional detecting device as described in claim 1, which is characterized in that the mobile jib has more,
The more mobile jibs are arranged in parallel in the mobile robot, and the more cross-car settings, multiple mobile jibs surround
Column structure.
3. indoor environment heat distribution three-dimensional detecting device as claimed in claim 2, which is characterized in that the every mobile jib includes
Connector between more root unit bars and multiple bars passes through the detachable company of connector between the bar between the adjacent unit bar
It connects.
4. indoor environment heat distribution three-dimensional detecting device as claimed in claim 3, which is characterized in that every mobile jib it is more
The rugosity of root unit bar is sequentially reduced from bottom to up.
5. indoor environment heat distribution three-dimensional detecting device as described in claim 1, which is characterized in that on the every cross bar
The Temperature Humidity Sensor is uniformly distributed along the cross bar, and the temperature sensor on the different cross bars is in vertical side
It is arranged to alignment.
6. indoor environment heat distribution three-dimensional detecting device as described in claim 1, which is characterized in that be located in the middle part of every cross bar
The sensor attachment mechanism on simultaneously the air velocity transducer and the Temperature Humidity Sensor, the institute of other positions are installed
It states and the Temperature Humidity Sensor is only installed on sensor attachment mechanism.
7. such as indoor environment heat distribution three-dimensional detecting device according to any one of claims 1 to 6, which is characterized in that described
It is additionally provided with analog-to-digital conversion mechanism in mobile robot, the analog-to-digital conversion mechanism is electrically connected with the data gather computer structure with by phase
The electric signal answered is converted to digital signal, and is transmitted to the data gather computer structure.
8. such as indoor environment heat distribution three-dimensional detecting device according to any one of claims 1 to 6, which is characterized in that described
There is input and indication mechanism, the input to be used to input operation instruction with indication mechanism for Visual retrieval mechanism, and for counting
Word shows the detection data of the temperature sensor, the humidity sensor and the air velocity transducer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610053480.7A CN105486355B (en) | 2016-01-26 | 2016-01-26 | Indoor environment heat distribution three-dimensional detecting device |
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| CN201610053480.7A CN105486355B (en) | 2016-01-26 | 2016-01-26 | Indoor environment heat distribution three-dimensional detecting device |
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| CN105486355A CN105486355A (en) | 2016-04-13 |
| CN105486355B true CN105486355B (en) | 2018-11-02 |
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| CN201610053480.7A Expired - Fee Related CN105486355B (en) | 2016-01-26 | 2016-01-26 | Indoor environment heat distribution three-dimensional detecting device |
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| CN106404072A (en) * | 2016-11-09 | 2017-02-15 | 上海允登信息科技有限公司 | Room environment detection device |
| CN108170703A (en) * | 2017-11-21 | 2018-06-15 | 华南农业大学 | A kind of data center's three-dimensional humiture map constructing method |
| CN109631970A (en) * | 2018-12-26 | 2019-04-16 | 国网北京市电力公司 | Environmental detection set and system |
| CN113029240A (en) * | 2021-03-12 | 2021-06-25 | 沈阳农业大学 | Rice test field microenvironment monitoring system based on wireless sensing technology |
| CN113375720A (en) * | 2021-06-15 | 2021-09-10 | 浙江水利水电学院 | Indoor information acquisition method and device for indoor design |
| CN113820094B (en) * | 2021-11-23 | 2022-02-22 | 中国飞机强度研究所 | Environment field measuring device and method for indoor blowing test of airplane |
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| CN202057352U (en) * | 2011-05-16 | 2011-11-30 | 中国农业大学 | Fixing support for multiple sensors |
| CN102749146A (en) * | 2012-07-04 | 2012-10-24 | 成都欧林生物科技股份有限公司 | Assembled-type probe fixing device and method |
| CN203191092U (en) * | 2013-03-14 | 2013-09-11 | 杭州市质量技术监督检测院 | Support used for placing temperature sensor |
| CN203799030U (en) * | 2014-03-27 | 2014-08-27 | 中国科学院寒区旱区环境与工程研究所 | Multichannel remote surface flux collector of crop canopies |
| EP2813870A1 (en) * | 2013-06-11 | 2014-12-17 | Ceská Zemedelská Univerzita V Praze | Device for measuring of the time course of snow height, air temperature and temperature profile of snow layer |
| CN105203164A (en) * | 2015-11-11 | 2015-12-30 | 南京军理科技股份有限公司 | Movable columnar temperature and humidity measurement device |
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| CN202057352U (en) * | 2011-05-16 | 2011-11-30 | 中国农业大学 | Fixing support for multiple sensors |
| CN102749146A (en) * | 2012-07-04 | 2012-10-24 | 成都欧林生物科技股份有限公司 | Assembled-type probe fixing device and method |
| CN203191092U (en) * | 2013-03-14 | 2013-09-11 | 杭州市质量技术监督检测院 | Support used for placing temperature sensor |
| EP2813870A1 (en) * | 2013-06-11 | 2014-12-17 | Ceská Zemedelská Univerzita V Praze | Device for measuring of the time course of snow height, air temperature and temperature profile of snow layer |
| CN203799030U (en) * | 2014-03-27 | 2014-08-27 | 中国科学院寒区旱区环境与工程研究所 | Multichannel remote surface flux collector of crop canopies |
| CN105203164A (en) * | 2015-11-11 | 2015-12-30 | 南京军理科技股份有限公司 | Movable columnar temperature and humidity measurement device |
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