CN105807774A - Intelligent service robot for workshop - Google Patents
Intelligent service robot for workshop Download PDFInfo
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- CN105807774A CN105807774A CN201610317501.1A CN201610317501A CN105807774A CN 105807774 A CN105807774 A CN 105807774A CN 201610317501 A CN201610317501 A CN 201610317501A CN 105807774 A CN105807774 A CN 105807774A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 25
- 239000013078 crystal Substances 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 2
- 238000004891 communication Methods 0.000 abstract description 13
- 238000001514 detection method Methods 0.000 abstract description 5
- 238000007405 data analysis Methods 0.000 abstract 1
- 238000013500 data storage Methods 0.000 abstract 1
- 239000007789 gas Substances 0.000 description 9
- 238000005461 lubrication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000002737 fuel gas Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
The invention discloses an intelligent service robot for a workshop.The intelligent service robot comprises a main component unit, an advancing unit, a monitoring unit, a control unit and a handheld unit.The main component unit is used for supporting and mounting of equipment.The advancing unit is used for achieving advancing and turning of the robot.The monitoring unit is used for monitoring the surroundings.The control unit is used for data storage, analysis and execution.The handheld unit is used for carrying out wireless communication with the control unit.According to the intelligent service robot for the workshop, swing arms are controlled by a steering engine to rotate, the size of the robot is reduced, and the robot can enter narrower space for detecting and shooting.The intelligent service robot for the workshop is high in intelligent degree, powerful in function and high in repairability, and can help workers to relive labor burdens in the workshop environment, detect the work environment condition, carry out intelligent detection in a dangerous environment, achieve safety protection and carry out intelligent workshop services.
Description
Technical field
The present invention relates to service robot field, particularly to a kind of workshop intellect service robot.
Background technology
The application in plant produced line of the current various industrial robot is more and more extensive, such as welding robot, put together machines people and spray robot etc., these robots substantially increase production efficiency and produce precision, but they simply repeat some operation in fixing production line, it is impossible to meet the otherwise demand of plant personnel.Such as, in Plant engineers keeps in repair in factory and safeguards equipment, generally requiring and carry heavy tool kit, lubrication wet goods material, this becomes a burden of engineer；There is potential danger in some workshop, plant personnel can not be discovered in time；When machinery equipment breaks down, for much narrow and small place, engineer is difficult to into check concrete condition.Therefore, factory floor is badly in need of a kind of intellect service robot, assists plant personnel to complete the work such as plant maintenance, workshop tour.
Summary of the invention
The present invention incorporates prior art resource, it is provided that a kind of intelligence degree is high, easy to use, can play the part of the intellect service robot of various rolls in factory floor.
In order to better service plant personnel, solving above-mentioned technical problem, the workshop intellect service robot of the present invention includes herein below.
Main member unit, is mainly made up of fuselage, vertical lower swing arm, vertical top link, horizontal swing arm and four steering wheels.Wherein, described fuselage is used for supporting robot, is additionally operable to place tool bag, lubrication wet goods article above fuselage, and fuselage interior is used for fixed placement control unit；Front fuselage centre position has fixedly mounted a steering wheel I, the output shaft of steering wheel I and a steering wheel and has been connected, and vertical lower swing arm is fixedly connected on the steering wheel of steering wheel I output shaft end by screw；Vertical lower swing arm upper end has fixedly mounted a steering wheel II, and vertical top link is fixedly connected on the steering wheel of steering wheel II output shaft end by screw；Vertical top link upper end has fixedly mounted a steering wheel III, and horizontal swing arm is fixedly connected on the steering wheel of steering wheel III output shaft end by screw；Back body centre position fixed installation steering wheel IV.
Traveling unit, is made up of 4 direct current generators, 4 decelerators, four driving wheels, 1 DC motor driver.Wherein, described 4 decelerators are connected with 4 driving wheels respectively, described 4 driving wheels independently be arranged on the front left of plant machinery people's fuselage bottom, front right, rear left and rear right, each driving wheel is connected with a decelerator respectively, each decelerator is also connected with a direct current generator respectively, four direct current generators are all connected in DC motor driver, and DC motor driver is placed in fuselage, and is connected with control unit.
Monitoring means, mainly includes the flame sensor of the photographic head for shooting workshop video, the monitoring pyroelectric human body infrared sensor of position of human body, the ultrasonic sensor of monitoring distance, monitoring smog and fire, for monitoring the temperature sensor of workshop ambient temperature, for monitoring the combustible gas sensor of workshop inflammable gas.Wherein, described photographic head is fixing with steering wheel IV to be connected, infrared sensor of the human body is installed on the centre position of vertical lower swing arm, and four ultrasonic sensor horizontal distribution are arranged in horizontal swing arm, and flame sensor, temperature sensor and combustible gas sensor are arranged on the side of fuselage.
Control unit, mainly includes microprocessor, crystal oscillator and reset circuit, memory module, WIFI wireless transport module, servos control module, image processing module, data acquisition module, alarm, supplying cell etc..Wherein, described microprocessor, crystal oscillator and reset circuit, memory module are integrated on a circuit board.Image processing module connects photographic head, and data acquisition module connects pyroelectric human body infrared sensor, ultrasonic sensor, flame sensor, temperature sensor, combustible gas sensor.Described all steering wheels are all connected with servos control module, and circuit board, servos control module, WIFI wireless transport module, image processing module, data acquisition module and supplying cell are installed in fuselage interior；Supplying cell is rechargeable battery, powers for circuit board.Described microprocessor and DC motor driver communication, it is possible to control the traveling of traveling unit and turn to.Described microprocessor and data acquisition module and image processing module communication, gather sensing data or video data, and preserve in the storage device.Alarm is arranged on the side of fuselage, and is connected with microprocessor, when the temperature data of microprocessor collection exceedes setting threshold value or collects and has fuel gas or flame in workshop, with alarm communication, will send alarm sound.Described microprocessor and WIFI wireless transport module communication, receive or send various wireless control signal.Described microprocessor can carry out communication with servos control module, controls all steering wheels clockwise or counterclockwise, and the anglec of rotation of steering wheel I, steering wheel II and steering wheel III is 90 degree, and steering wheel IV arbitrarily can rotate within the scope of 0-60 degree.After steering wheel I rotates, vertical lower swing arm can forward horizontal level to；After steering wheel II rotates, vertical top link can forward horizontal level to；After steering wheel III rotates, horizontal swing arm can forward vertical position to.Workshop intellect service robot as the present invention, it is necessary to when the small space in workshop is detected and makes an inspection tour, steering wheel I, steering wheel II and steering wheel III are by 90-degree rotation.After steering wheel I, steering wheel II and steering wheel III rotate, vertical lower swing arm, vertical top link and horizontal swing arm can fold, and level overlays above described fuselage.When steering wheel IV rotates, photographic head rotates accordingly, increases coverage.
Handheld unit, for communicating wirelessly with control unit, mainly include a smart mobile phone and mobile phone terminal APP software, wherein, described APP software can realize the direction controlling of workshop intellect service robot, also can show the information such as video, sensor parameters that robot gathers.By the WIFI wireless transport module in control unit, control unit and handheld unit set up wireless telecommunications, transmission of control signals and data message.
The workshop intellect service robot of the present invention, including two kinds of control models: remote control mode and automatic tracing mode.Under remote control mode, the direction controlling of workshop intellect service robot is manipulated by APP software push buttons；Under automatic tracing mode, described microprocessor is by reading the feedback signal of infrared sensor of the human body, four ultrasonic sensors, it is achieved the track route from motion tracking people of workshop intellect service robot.
The operation of the workshop intellect service robot of the present invention comprises the following steps.
(1) when the intellect service robot loading of needs workshop follow people walk time, it is first turned on the automatic tracing mode control knob of mobile phone terminal APP software, control unit by with 4 ultrasonic sensors and 1 infrared sensor of the human body communication, make robot carry article and follow user.
(2) when needs workshop intellect service robot helps plant personnel detection to take pictures or causes danger when being inconvenient to enter in somewhere, workshop, open the remote control mode control knob of mobile phone terminal APP software, mobile phone terminal APP software can be used to control robot ambulation and real-time capture, and the sensor of robot self band can also be transferred to the environmental data of the inside in mobile phone.Under remote control mode, operator remotely operate without entering scene, and the high-definition camera being installed on tail of the body is connected with steering wheel, provide the rotation within the scope of certain angle for photographic head, and by real-time Data Transmission to mobile phone unit together with sensor.
(3) when the small space needing workshop intellect service robot to enter workshop is detected and takes pictures, open the remote control mode control knob of mobile phone terminal APP software, mobile phone terminal APP software can be used to control the rotation of steering wheel I, steering wheel II and steering wheel III, make vertical lower swing arm, vertical top link and horizontal swing arm level overlay on fuselage.
(4) workshop condition also can be checked in the moment by workshop intellect service robot, and when exceeding set point, the alarm in robot will sound.
Compared with prior art, the workshop intellect service robot intelligence degree of the present invention is high, powerful, easy prosthetic is strong, workman can be helped in workshop condition to lighten one's labor burden, detection working environment situation, carries out intelligent detecting, it is achieved safety precaution and carry out workshop Intelligent Service under hazardous environment.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention.
Fig. 2 is the front view of the present invention.
Fig. 3 is the left view of the present invention.
Fig. 4 is the structural representation after the present invention folds.
Fig. 5 is the Control system architecture schematic diagram of the present invention.
Detailed description of the invention
In order to technical scheme is explained further, below by specific embodiment, the present invention will be described in detail.
The workshop intellect service robot of the present invention includes simultaneously: main member unit, is used for supporting and installing equipment；Traveling unit, is used for realizing robot and advances and turn to；Monitoring means, for realizing the monitoring to surrounding；Control unit, stores for data, analyzes and performs；Handheld unit, for communicating wirelessly with control unit.
Referring to Fig. 1 and Fig. 3, described main member unit is mainly made up of fuselage 1, vertical lower swing arm 5, vertical top link 9, horizontal swing arm 13 and four steering wheels.Described fuselage 1 is used for supporting robot, is additionally operable to place tool bag, lubrication wet goods article above fuselage 1, and fuselage 1 is internal for fixed placement control unit 21 and DC motor driver 20；Centre position, fuselage 1 front end is mounted with a steering wheel I 3, and described steering wheel I 3 is connected on the fuselage 1 by support 2 and bolt connection, and its output shaft and steering wheel 4 endoporus are connected, and vertical lower swing arm 5 is fixedly connected on steering wheel 4 by screw；Vertical lower swing arm 5 upper end is bolted the support 8 that has been connected, and support 8 is bolted and has fixedly mounted a steering wheel II 6, and the output shaft of described steering wheel II 6 and steering wheel 7 endoporus are connected, and vertical top link 9 lower end is fixedly connected on steering wheel 7 by screw；Vertical top link 9 upper end is bolted and has fixedly mounted support 10, support 10 is bolted and has fixedly mounted a steering wheel III 11, the output shaft of described steering wheel III 11 and steering wheel 12 endoporus are connected, and the centre position of horizontal swing arm 13 is fixedly connected on steering wheel 12 by screw.Centre position, fuselage 1 rear end is mounted with a steering wheel IV 19, and described steering wheel IV 19 is connected on the fuselage 1 by support 18 and bolt, and its output shaft and steering wheel 17 endoporus are connected.
Referring to Fig. 1 and Fig. 2, described traveling unit is made up of 26,4 decelerators of 4 direct current generators, 25,1 DC motor driver 20 of 27, four driving wheels.Wherein, described 4 decelerators 27 are connected with 4 driving wheels 25 respectively, described 4 driving wheels 25 independently be arranged on the front left of plant machinery people's fuselage 1, front right, rear left and rear right, each driving wheel 25 is connected with a decelerator 27 respectively, each decelerator 27 is also connected with a direct current generator 26 respectively, four direct current generators 26 are all connected in DC motor driver 20, and DC motor driver 20 is placed in fuselage 1, and is connected with control unit 21.
Referring to Fig. 1 and Fig. 2, described monitoring means includes photographic head 16, pyroelectric human body infrared sensor 15, ultrasonic sensor 14, flame sensor 24, temperature sensor 23, combustible gas sensor 22.Wherein, photographic head 16 is used for shooting workshop video, pyroelectric human body infrared sensor 15 is used for monitoring position of human body, ultrasonic sensor 14 is for monitoring distance, flame sensor 24 is used for monitoring fire dangerous situation, temperature sensor 23 is for monitoring the ambient temperature in workshop, and combustible gas sensor 22 is for monitoring the inflammable gas in workshop.
Further, described photographic head 16 is fixing with the steering wheel 17 on steering wheel IV 19 to be connected, and when steering wheel IV 19 output shaft rotates, drives photographic head 16 to rotate with its steering wheel 17 being connected.Infrared sensor of the human body 15 is installed on vertical lower swing arm 9, and four ultrasonic sensor 14 horizontal distribution are arranged in horizontal swing arm 13, and flame sensor 24, temperature sensor 23 and combustible gas sensor 22 are arranged on the side of fuselage 1.
Referring to Fig. 1, Fig. 4 and Fig. 5, described control unit includes microprocessor, crystal oscillator and reset circuit, memory module, WIFI wireless transport module, servos control module, image processing module, data acquisition module, alarm, supplying cell etc..Wherein microprocessor, crystal oscillator and reset circuit, memory module are integrated on a circuit board.Image processing module connects photographic head 16, and data acquisition module connects pyroelectric human body infrared sensor 15, ultrasonic sensor 14, flame sensor 24, temperature sensor 23, combustible gas sensor 22.Described all steering wheels are all connected with servos control module, and it is internal that circuit board, servos control module, WIFI wireless transport module, image processing module, data acquisition module and supplying cell are installed in fuselage 1；Supplying cell is rechargeable battery, powers for circuit board.Described microprocessor and DC motor driver communication, it is possible to control the traveling of traveling unit and turn to.Described microprocessor and data acquisition module and image processing module communication, gather sensing data or video data, and preserve in the storage device.Alarm 28 is arranged on the side of fuselage 1, and is connected with microprocessor, when the temperature data of microprocessor collection exceedes setting threshold value or collects and has fuel gas or flame in workshop, with alarm 28 communication, will send alarm sound.Described microprocessor and WIFI wireless transport module communication, receive or send various wireless control signal.
Further, described microprocessor can carry out communication with servos control module, controlling all steering wheels clockwise or counterclockwise, the anglec of rotation of steering wheel I 3, steering wheel II 6 and steering wheel III 11 is 90 degree, and steering wheel IV 19 arbitrarily can rotate within the scope of 0-60 degree.When steering wheel I 3 output shaft rotates, driving vertical lower swing arm 5 to rotate with its steering wheel 4 being connected, vertical lower swing arm 5 can forward horizontal level to；When steering wheel II 6 output shaft rotates, driving vertical top link 9 to rotate with its steering wheel 7 being connected, vertical top link 9 can forward horizontal level to；When steering wheel III 11 output shaft rotates, driving horizontal swing arm 13 to rotate with its steering wheel 12 being connected, horizontal swing arm 13 can forward vertical position to.Steering wheel rotate after, vertical lower swing arm 5, vertical top link 9 and horizontal swing arm 13 can coincidence of a folding, level overlays above described fuselage 1.When steering wheel IV 19 rotates, photographic head 16 rotates accordingly, increases coverage.The workshop intellect service robot of the present invention is by reducing own vol, it is possible to allows robot enter more narrow space and goes detection and shooting.
Referring to Fig. 1 and Fig. 5, described handheld unit includes a smart mobile phone and mobile phone terminal APP software, and wherein APP software can realize the direction controlling of workshop intellect service robot, also can show the information such as video, sensor parameters that robot gathers.When needs workshop intellect service robot helps user detection to take pictures or cause danger when being inconvenient to enter in somewhere, workshop, open the remote control mode control knob of mobile phone terminal APP software, mobile phone terminal APP software can be used to control robot ambulation and real-time capture, and the sensor of robot self band can also be transferred to the environmental data of the inside in mobile phone.Under remote control mode, operator remotely operate without entering scene, and the photographic head 16 being installed on tail of the body is connected with steering wheel IV 19, provide directive direction of rotation for photographic head 16, and by real-time Data Transmission to mobile phone unit together with sensor；When the loading of needs workshop service robot follow people walk time, be first turned on the automatic mode control knob of mobile phone terminal APP software, control unit by with 4 ultrasonic sensors 14 and infrared sensor of the human body 15 communication, make robot carry article and follow user.Infrared sensor of the human body 15 makes workshop intellect service robot and people be maintained in certain distance range, on the right of microprocessor monitors to horizontal swing arm 13, two ultrasonic sensors have signal, and two, left side ultrasonic sensor is not when having signal, microprocessor will control dc motor 26 by DC motor driver 20, make fuselage 1 turn right；When microprocessor monitors has signal to two ultrasonic sensors in horizontal swing arm 13 left side, and when two, the right ultrasonic sensor does not have signal, microprocessor controls fuselage 1 and turns left；When microprocessor monitors to 4 ultrasonic sensor has signal, microprocessor controls fuselage 1 and directly walks.
The above; it is only the specific embodiment of the present invention; such as; although the rotation of robot swinging arm utilizes servos control; example is (after steering wheel II rotation; vertical top link can forward horizontal level to), but the rotation that the application is not limited to swing arm only uses servos control, adopts other structure controlling motor or other turning function being capable of the present invention to belong to protection scope of the present invention.Therefore, those of ordinary skill in the art in the scope that the invention discloses, the change that can readily occur in, all should be encompassed within the protection domain of invention.
Claims (5)
1. a workshop intellect service robot, including main member unit, traveling unit, monitoring means, control unit and handheld unit, it is characterised in that:
One main member unit, it is made up of fuselage, vertical lower swing arm, vertical top link, horizontal swing arm and four steering wheels, vertical lower swing arm lower end is fixedly mounted on fuselage by steering wheel, vertical top link lower end is fixedly mounted on vertical top link upper end by steering wheel, horizontal swing arm centre position is connected with vertical top link upper end by steering wheel, one steering wheel of back body centre position fixed installation；
One traveling unit, it is made up of 4 direct current generators, 4 decelerators, 4 driving wheels, 1 DC motor driver, 4 driving wheels independently be arranged on the front left of plant machinery people's fuselage bottom, front right, rear left and rear right, each driving wheel is connected with a decelerator respectively, each decelerator is also connected with a direct current generator respectively, and four direct current generators are all connected in DC motor driver；
One monitoring means, mainly include the flame sensor of the photographic head for shooting workshop video, the monitoring pyroelectric human body infrared sensor of position of human body, the ultrasonic sensor of monitoring distance, monitoring smog and fire, for monitoring the temperature sensor of workshop ambient temperature, for monitoring the combustible gas sensor of workshop inflammable gas；
One control unit, mainly includes microprocessor, crystal oscillator and reset circuit, memory module, WIFI wireless transport module, servos control module, image processing module, data acquisition module, alarm, supplying cell etc.；
One handheld unit, including a smart mobile phone and mobile phone terminal APP software, by the WIFI wireless transport module in control unit, control unit and handheld unit set up wireless telecommunications, transmission of control signals and data message.
2. workshop according to claim 1 intellect service robot, including remote control mode and two kinds of control models of automatic tracing mode, under remote control mode, the direction controlling of workshop intellect service robot is manipulated by APP software push buttons；Under automatic tracing mode, control unit controls workshop intellect service robot from the track route of motion tracking people.
3. workshop according to claim 1 intellect service robot, vertical lower swing arm, vertical top link and horizontal swing arm can fold, and level overlays above fuselage, reduce own vol.
4. workshop according to claim 1 intellect service robot, photographic head is fixedly mounted on rear side of fuselage by steering wheel, and photographic head arbitrarily can rotate within the scope of 0-60 degree, increases coverage.
5. workshop according to claim 1 intellect service robot, control unit, by monitoring the feedback signal of 4 ultrasonic sensors and 1 infrared sensor of the human body, makes workshop intellect service robot follow the track route walking of people.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610317501.1A CN105807774A (en) | 2016-05-16 | 2016-05-16 | Intelligent service robot for workshop |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610317501.1A CN105807774A (en) | 2016-05-16 | 2016-05-16 | Intelligent service robot for workshop |
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| CN105807774A true CN105807774A (en) | 2016-07-27 |
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| CN201610317501.1A Pending CN105807774A (en) | 2016-05-16 | 2016-05-16 | Intelligent service robot for workshop |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945058A (en) * | 2017-05-25 | 2017-07-14 | 福建卫斯特环保科技有限公司 | A kind of refuse landfill toxic and harmful gas monitoring special purpose robot and control information system |
| CN107030712A (en) * | 2017-05-10 | 2017-08-11 | 广州和实生物技术有限公司 | A kind of artificial intelligence monitoring monitored for the artificial production monitoring of medical device product, GMP workshop conditions and error correction system |
| CN107214450A (en) * | 2017-06-12 | 2017-09-29 | 上海电力学院 | The mobile welding robot wireless control system of fuel cell hybrid driving |
| CN107838927A (en) * | 2017-10-25 | 2018-03-27 | 成都大学 | A kind of intelligent wireless environmental monitoring robot |
| CN109032011A (en) * | 2018-07-20 | 2018-12-18 | 青岛恒星仪表有限公司 | A kind of data acquisition device of intelligent manufacturing system |
| CN109619075A (en) * | 2018-12-24 | 2019-04-16 | 安徽中科智能感知大数据产业技术研究院有限责任公司 | A kind of field crops management small vehicle with accurate spraying function |
| CN109658679A (en) * | 2018-12-24 | 2019-04-19 | 安徽中科智能感知大数据产业技术研究院有限责任公司 | A kind of multimode data acquisition device for the unmanned small vehicle of field crops growth data information collection |
| CN109677505A (en) * | 2018-12-24 | 2019-04-26 | 安徽中科智能感知大数据产业技术研究院有限责任公司 | A kind of field crops growth data information collection small vehicle |
| CN109696914A (en) * | 2019-01-02 | 2019-04-30 | 安徽师范大学 | A kind of indoor patrol robot based on electromagnetic navigation |
| CN111332386A (en) * | 2020-03-31 | 2020-06-26 | 平湖丞士机器人有限公司 | Self-following dual-purpose fire-fighting robot |
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| CN109619075B (en) * | 2018-12-24 | 2021-02-12 | 安徽中科智能感知产业技术研究院有限责任公司 | Small-size vehicle of field crop management with accurate function of spraying |
| CN109619075A (en) * | 2018-12-24 | 2019-04-16 | 安徽中科智能感知大数据产业技术研究院有限责任公司 | A kind of field crops management small vehicle with accurate spraying function |
| CN109696914A (en) * | 2019-01-02 | 2019-04-30 | 安徽师范大学 | A kind of indoor patrol robot based on electromagnetic navigation |
| CN111332386A (en) * | 2020-03-31 | 2020-06-26 | 平湖丞士机器人有限公司 | Self-following dual-purpose fire-fighting robot |
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