CN109015702B

CN109015702B - Wheeled usher robot of science and technology center with temperature monitoring function

Info

Publication number: CN109015702B
Application number: CN201811145076.8A
Authority: CN
Inventors: 王鹏; 罗鹏; 刘然; 黎晓强; 宋春宵
Original assignee: Harbin University of Science and Technology
Current assignee: Harbin University of Science and Technology
Priority date: 2018-09-29
Filing date: 2018-09-29
Publication date: 2022-03-18
Anticipated expiration: 2038-09-29
Also published as: CN109015702A

Abstract

The invention relates to a wheel-type greeting robot with a temperature monitoring function in a science and technology museum, which aims to solve the problems that the greeting robot on the market at present needs a large moving space and is single in function and the freshness of people is reduced, the robot comprises a head, a body, an omnidirectional moving chassis and a control system, wherein the head comprises a shell, an LCD screen, a broadcasting device, a digital thermometer module and a eyebrow picking mechanism, the body comprises an arm, an ultrasonic module and a main support, the omnidirectional moving chassis comprises an auxiliary support and a moving device, the control system takes a main control chip STM32F103C8T as a main part and is connected with the LCD screen, the broadcasting device, the digital thermometer module, the eyebrow picking mechanism, the ultrasonic module, the arm and the omnidirectional moving chassis in a control way, the robot can move flexibly, has strong appearance structure interestingness and has the functions of temperature monitoring and temperature broadcasting, the invention is applied to the fields of temperature monitoring and welcoming guests.

Description

Wheeled usher robot of science and technology center with temperature monitoring function

Technical Field

The invention relates to the field of intelligent service robots, in particular to a wheel-type greeting robot with a temperature monitoring function for a science and technology museum.

Background

The meeting can speak, can move and walk, can also be called and sold the sprout … … and say the usher robot, and not only do not few people recall the auspicious mascot 'sea treasure' of the world exposition of the great world in 2010, but the usher robot rapidly leaps red since then, and all places of meeting, hotels, markets, science and technology halls and the like strive to add the 'live treasure' full of freshness, but the usher robot that walks in the urban area in the near day and once is red to the utmost now either sells the voice track or becomes a setting.

The invention discloses a wheel-type welcome robot with a temperature monitoring function for a science and technology center, aiming at the problem that the movement space of the robot with more visitors in the science and technology center is limited, the robot is composed of an omnidirectional moving chassis formed by three self-driven omnidirectional wheels which are distributed on an auxiliary support in a triangular manner, and compared with the common chassis layout of the traditional welcome robot with two driving wheels and one guide wheel, the robot is more flexible to move, can realize in-situ steering and is concise and reasonable in structure and layout; for the problem that the traditional guest greeting robot is single in function, the digital thermometer module can realize real-time monitoring of the temperature in a science and technology center, a temperature analog signal is converted into a digital signal to be displayed on the LCD screen, the historical temperature is displayed on the left side of the LCD screen, the current temperature is displayed on the right side of the LCD screen, the broadcasting device comprises a temperature broadcasting device and a guest greeting broadcasting device, the temperature broadcasting device can broadcast the current indoor venue temperature displayed on the LCD screen, and the guest greeting broadcasting device can feed back position information of a visitor of a control system according to the ultrasonic module to realize voice broadcasting of guests; aiming at the problem that freshness of the welcome robot is reduced by people, the robot eyebrow picking mechanism can realize that the robot performs facial action of picking eyebrows, and the arms can realize the action of picking up the hands of the welcome, so that the whole robot is very dynamic.

Disclosure of Invention

The invention discloses a science and technology museum welcome robot which can be flexibly moved, has a strong appearance structure and is high in interestingness and has temperature monitoring and temperature reporting functions, and aims to solve the problems that the welcome robot on the market at present needs a large moving space and single functions, and people feel less fresh.

The technical scheme adopted by the invention to solve the problems is as follows: the robot comprises a head, a body, an omnidirectional moving chassis and a control system, wherein the head comprises a shell, an LCD screen, a broadcasting device, a digital thermometer module and a brow picking mechanism, the broadcasting device comprises a temperature broadcasting device and a guest greeting broadcasting device, the temperature broadcasting device comprises a temperature monitoring controller and a first loudspeaker, the guest greeting broadcasting device comprises a broadcasting module and a second loudspeaker, the broadcasting device is installed at the position of a lower bottom plate of the shell, the LCD screen is installed at the position of a middle plate of the shell, the digital thermometer module is fixedly connected with an upper plate of the shell, the brow picking mechanism comprises a first steering engine bracket, a steering engine, an eyebrow component and a steering wheel, the steering engine is fixedly connected with the upper plate of the shell through the first steering engine bracket, an output shaft of the steering engine is fixedly connected with the steering wheel, and the steering wheel is fixedly connected with the eyebrow component;

the body comprises an arm, an ultrasonic module and a main support, the arm comprises an all-metal large-torque steering engine, a steering wheel, an arm component and a second steering engine support, the main support comprises a main support upper plate and a main support middle plate, the all-metal large-torque steering engine is fixedly connected with the main support middle plate through the second steering engine support, the main support upper plate is fixedly connected with the head, and the ultrasonic module is fixedly installed on the main support middle plate;

the omnidirectional moving chassis comprises an auxiliary support and a moving device, wherein the auxiliary support comprises an auxiliary support upper plate, an auxiliary support lower plate, three motor fixed supports and three support columns, the moving device comprises three two-phase stepping motors, six couplers, a driver, three omnidirectional wheels, three groups of belt transmission devices and a battery module, the three two-phase stepping motors are arranged on the auxiliary support in a triangular mode and are fixedly supported by the corresponding three motors, output shafts of the three two-phase stepping motors are in transmission connection with input shafts of the three groups of corresponding belt transmission devices through the couplers, output shafts of the belt transmission devices are in transmission connection with the corresponding omnidirectional wheels through the couplers, the driver is arranged on the battery module, and the battery module is placed on the auxiliary support lower plate;

the control system is mainly provided with a main control chip STM32F103C8T, is matched with an STC89C52 chip, a DS18B20 chip, an XFS5152CE chip, an AT24C02 chip and a TPA2005DIDRBR chip, and is in control connection with the LCD screen, a broadcasting device, a digital thermometer module, a brow picking mechanism, an ultrasonic module, an arm and an omnidirectional moving chassis, wherein the broadcasting device comprises a temperature broadcasting device and a welcome broadcasting device, the temperature broadcasting device comprises a temperature monitoring controller and a first loudspeaker, the temperature monitoring controller is mainly provided with an XFS5152CE chip and a TPA2005DIDRBR chip and is connected with the main control chip STM32F103C8T for broadcasting the internal temperature of a venue; the welcome broadcasting device is connected with a main control chip STM32F103C8T and is used for broadcasting welcome voice; the LCD screen is connected with the digital thermometer module and is used for displaying the current venue temperature and the historical temperature; the digital thermometer module is mainly based on an STC89C52 chip, a DS18B20 chip and an AT24C02 chip and is used for monitoring and storing the current temperature; the eyebrow picking mechanism is connected with the main control chip STM32F103C8T and is used for realizing the changeable face expression of a pretty skin; the ultrasonic module is connected with a main control chip STM32F103C8T and is used for detecting the position information of surrounding visitors; the all-metal large-torque steering engine included by the arm is in control connection with a main control chip STM32F103C8T and is used for completing the actions of welcoming and lifting hands; the omnidirectional mobile chassis comprises an auxiliary support and a mobile device, and the mobile device is controlled by a main control chip STM32F103C8T to move;

pins PA2/USART2_ TX and PA3/USART2_ RX of a main control chip STM32F103C8T of the control system are respectively connected with RXD and TXD pins of the STC89C52 chip to carry out double-chip machine communication and share the ground, the P2.2 pin of the STC89C52 chip is connected with the I/O pin of the DS18B20 chip, the P2.0/SCL and P2.1/SDA pins of the STC89C52 chip are connected to the SCL and SDA pins of the AT24C02 chip respectively according to IIC communication protocol, the PB15/SPI2_ MOSI pin, PB14/SPI2_ MISO pin, PB13/SPI2_ SCK pin and PB12/SPI2_ NSS pin of the main control chip STM32F103C8T are respectively connected with the SPI _ SI pin, SP1_ SO pin, SPI _ SCK pin and SPI _ SSEL pin of the XFS5152CE chip, the AO _ N pin and the AO _ P pin of the XFS5152CE chip are connected with the NI + and NI-pins of the TPA2005DIDRBR chip, the VO + pin and the VO-pin of the TPA2005DIDRBR chip are respectively connected with the capacitor C1 and the resistor R1 in parallel and connected with the positive and negative input ends of the first horn;

the welcome broadcasting device comprises a sound reproduction module and a second loudspeaker, pins PB6/I2C1_ SCL/TIM4_ CH1 and pins PB7/I2C1_ SDA/TIM4_ CH2 of the main control chip STM32F103C8T are respectively connected with pins SDA and SCL of the sound reproduction module, and pins OUT + and OUT-of the sound reproduction module are respectively connected with positive and negative input ends of the second loudspeaker;

pins P1.0, P1.1, P1.2, P1.3, P1.4, P1.5, P1.6, P1.7, P0.0, P0.1 and P0.2 of the STC89C52 chip are respectively connected with pins D7, D6, D5, D4, D3, D2, D1, D0, RS, RW and E of an LCD screen;

the S1 pin of the steering engine at the left eyebrow position in the eyebrow picking mechanism is connected with the PB3 pin of the main control chip STM32F103C8T, and the S2 pin of the steering engine at the right eyebrow position in the eyebrow picking mechanism is connected with the PB10 pin of the main control chip STM32F103C 8T;

the Trig pin and the Echo pin of the ultrasonic module are respectively connected with the PB8 pin and the PB9 pin of a main control chip STM32F103C 8T;

the SIG1 pin of the all-metal large-torque steering engine at the left side of the arm is connected with the PB11 pin of the main control chip STM32F103C8T, and the SIG2 pin of the all-metal large-torque steering engine at the right side of the arm is connected with the PA15 pin of the main control chip STM32F103C 8T;

the driver of the mobile device mainly comprises an LV8731_2 chip, pins PC13, PC14, PC15, PA4, PA5, PA6, PB0, PB1 and PB2 of a main control chip STM32F103C8T are respectively connected with three pins STEP/DC22, FR/DC21 and ST of the three LV8731_2 chips, and pins OUT1A, OUT1B, OUT2A and OUT2B of the three LV8731_2 chips are respectively connected with

pins

1, 2, 3 and 4 of three two-phase stepping MOTORs MOTOR _1, MOTOR _2 and MOTOR _ 3.

The invention has the following beneficial effects: 1. the omnidirectional moving chassis designed by the invention can realize the in-situ steering of the welcome robot, the two-phase stepping motor is in transmission connection with the omnidirectional wheel through the belt transmission device, the limited space of the auxiliary support lower plate is reasonably utilized, the structure is compact and simple, and the stability and the shock absorption are greatly improved compared with the common chassis layout of the traditional welcome robot with two driving wheels and one guide wheel; 2. compared with the traditional guest greeting robot which is stiff and rigid in facial expression and is fixed as a furnishing arm structure, the eyebrow picking mechanism on the head can realize that the robot performs vivid facial actions of picking eyebrows, and the arm can realize the actions of picking up hands of guests; 3. compared with the problems that the traditional welcome robot has single function and does not have a temperature monitoring function, and the temperature monitoring equipment generally does not have a moving function, the invention can realize the moving monitoring of the real-time temperature in the science and technology museum by the welcome robot.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the head according to the present invention;

FIG. 3 is a partial schematic view of an omni-directional mobile chassis of the present invention;

FIG. 4 is a schematic view of the control system of the present invention;

FIG. 5 is a schematic circuit diagram of a main control chip STM32D103C8T, an ultrasonic module HC _ SR04 and a broadcasting device of the control system of the invention;

FIG. 6 is a schematic circuit diagram of the digital thermometer module and LCD screen of the control system of the present invention;

FIG. 7 is a schematic circuit diagram of three LV8731_2 chips and three two-phase stepping MOTORs MOTOR _1, MOTOR _2, and MOTOR _3 of the control system of the present invention;

FIG. 8 is a schematic circuit diagram of a left eyebrow position steering engine, a right eyebrow position steering engine, a left all-metal high-torque steering engine, and a right all-metal high-torque steering engine of the control system of the present invention.

Detailed Description

The first embodiment is as follows: the embodiment is described with reference to fig. 1, fig. 2 and fig. 3, the wheel-type usher robot with a temperature monitoring function in a science and technology museum according to the embodiment includes a head 1, a body 2, an omnidirectional moving chassis 3 and a control system 4, the head includes a housing 1-1, an LCD screen 1-2, a broadcasting device 1-3, a digital thermometer module 1-4 and a brow picking mechanism 1-5, the broadcasting device 1-3 includes a temperature broadcasting device 1-31 and an usher broadcasting device 1-32, the temperature broadcasting device 1-31 includes a temperature monitoring controller 1-31A and a first loudspeaker 1-31B, the usher broadcasting device 1-32 includes a broadcasting module 1-32A and a second loudspeaker 1-32B, the broadcasting device 1-3 is installed at a position of a lower bottom plate of the housing 1-1, the LCD screen 1-2 is installed at the position of the middle plate of the shell 1-1, the digital thermometer module 1-4 is fixedly connected with the upper plate of the shell 1-1, the eyebrow picking mechanism 1-5 comprises a first steering engine support 1-51, a steering engine 1-52, eyebrow components 1-53 and a steering wheel 1-54, the steering engine 1-52 is fixedly connected with the upper plate of the shell 1-1 through the first steering engine support 1-51, the output shaft of the steering engine 1-52 is fixedly connected with the steering wheel 1-54, and the steering wheel 1-54 is fixedly connected with the eyebrow components 1-53.

In the embodiment, the LCD screen 1-2 is the prior art, the manufacturer is Shenzhen display electronics Limited, and the model is LCD16x04 (G).

The welcome broadcasting devices 1-32 in the embodiment are in the prior art, the manufacturer is Shenzhen Qiongxiong science and technology Limited company, and the model is MPER.

In the embodiment, the steering engines 1 to 52 are in the prior art, and the manufacturer is a super-high-quality robot model science and technology company with the model number of DS 3115.

The second embodiment is as follows: the embodiment is described with reference to fig. 1, the body 2 of the embodiment includes an arm 2-1, an ultrasonic module 2-2 and a main support 2-3, the arm 2-1 includes an all-metal large-torque steering engine 2-1A, a steering wheel 2-1B, an arm component 2-1C and a second steering engine support 2-1D, the main support 2-3 includes a main support upper plate 2-3A and a main support middle plate 2-3B, the all-metal large-torque steering engine 2-1A is fixedly connected with the main support middle plate 2-3B through the second steering engine support 2-1D, the main support upper plate 2-3A is fixedly connected with the head 1, and the ultrasonic module 2-2 is fixedly mounted on the main support middle plate 2-3B.

In the embodiment, the all-metal high-torque steering engine 2-1A is the prior art, and the manufacturer is Leillusion Soll technologies, Inc., and the model is LF-20 MG.

In the embodiment, the ultrasonic module 2-2 is the prior art, and the manufacturer is the Beijing micro-control Tianxiang electronic Co Ltd, and the model is HC-SR 04.

The third concrete implementation mode: the embodiment is described with reference to fig. 1 and fig. 3, the omnidirectional moving chassis 3 of the embodiment includes an auxiliary support 3-1 and a moving device 3-2, the auxiliary support 3-1 includes an auxiliary support upper plate 3-1A, an auxiliary support lower plate 3-1B, three motor fixing supports 3-1C, and three pillars 3-1D, the moving device 3-2 includes three two-phase stepping motors 3-2A, six couplers 3-2B, a driver 3-2C, three omnidirectional wheels 3-2D, three sets of belt transmission devices 3-2E, and a battery module 3-2F, the three two-phase stepping motors 3-2A are arranged on the auxiliary support 3-1 in a triangular shape and are fixed by the corresponding three motor fixing supports 3-1C, and output shafts of the three two-phase stepping motors 3-2A and the three sets of corresponding belt transmission devices 3-2 The input shaft of the belt transmission device 3-2E is in transmission connection with the corresponding omnidirectional wheel 3-2D through a coupler 3-2B, the output shaft of the belt transmission device 3-2E is in transmission connection with the corresponding omnidirectional wheel 3-2D through a coupler 3-2B, the driver 3-2C is arranged on the battery module 3-2F, and the battery module 3-2F is placed on the auxiliary support lower plate 3-1B.

In the embodiment, the two-phase stepping motor 3-2A is the prior art, and the manufacturer is Shenzhen Shangxuan electromechanical finite company with the model number of FY42EM 150A.

The fourth concrete implementation mode: referring to fig. 4, 5, 6, 7, and 8, the control system 4 of the present embodiment mainly uses a main control chip STM32F103C8T, and matches with an STC89C52 chip, a DS18B20 chip, an XFS5152CE chip, an AT24C02 chip, and a TPA2005 didbr chip, is connected with the LCD screen 1-2, the broadcasting device 1-3, the digital thermometer module 1-4, the eyebrow picking mechanism 1-5, the ultrasonic module 2-2, the arm 2-1 and the omnidirectional moving chassis 3 in a control way, the broadcasting device 1-3 comprises a temperature broadcasting device 1-31 and a welcome broadcasting device 1-32, the temperature reporting device 1-31 comprises a temperature monitoring controller 1-31A and a first loudspeaker 1-31B, the temperature monitoring controllers 1-31A mainly use an XFS5152CE chip and a TPA2005DIDRBR chip, the intelligent terminal is connected with a main control chip STM32F103C8T and is used for broadcasting the temperature inside the venue; the welcome broadcasting devices 1-32 are connected with a main control chip STM32F103C8T and are used for broadcasting welcome voices; the LCD screen 1-2 is connected with the digital thermometer module 1-4 and used for displaying the current venue temperature and the historical temperature; the digital thermometer modules 1-4 mainly use an STC89C52 chip, a DS18B20 chip and an AT24C02 chip and are used for monitoring and storing the current temperature; the eyebrow raising mechanism 1-5 is connected with the main control chip STM32F103C8T and is used for realizing the changeable facial expression of the naughty; the ultrasonic module 2-2 is connected with a main control chip STM32F103C8T and is used for detecting the position information of surrounding visitors; the all-metal large-torque steering engine 2-1A included by the arm 2-1 is in control connection with a main control chip STM32F103C8T and is used for completing the actions of welcoming and hand-lifting; the omnidirectional mobile chassis 3 comprises an auxiliary support 3-1 and a mobile device 3-2, and the mobile device 3-2 is controlled by a main control chip STM32F103C8T to move;

pins PA2/USART2_ TX, PA3/USART2_ RX of a main control chip STM32F103C8T of the control system 4 are connected to pins RXD, TXD of the STC89C52 chip, respectively, for single-chip dual-machine communication and common ground, pin P2.2 of the STC89C52 chip is connected to pin I/O of the DS18B20 chip, pins P2.0/SCL, P2.1/SDA of the STC89C52 chip are connected to pins SCL, SDA of the AT24C02 chip, respectively, according to the IIC communication protocol, pin TPA 15/SPI2_ MOSI, 14/SPI2_ MISO, PB 13/2 _ SCK, PB12/SPI2_ NSS, pin is connected to pin SPI _ SI 686 52, pin SP _ SI, pin SP 2_ SO, pin SP 5151 _ sl, pin TPA 5151 + vsp 51 + vsp chip, pin TPA 5151 + vsp 51 + vsp chip, pin, TPA 5151 + vsp 51 chip, and pin of the main control chip STM32F103C T chip, respectively, the XFS 52 chip, the XFS 52 chip, the SPI pint 32F103C 3527 chip, the SPI The input ends are connected;

the welcome broadcasting device 1-32 comprises a sound playing module 1-32A and a second loudspeaker 1-32B, pins PB6/I2C1_ SCL/TIM4_ CH1 and PB7/I2C1_ SDA/TIM4_ CH2 of a main control chip STM32F103C8T are respectively connected with pins SDA and SCL of the sound playing module 1-32A, and pins OUT + and OUT-of the sound playing module 1-32A are respectively connected with positive and negative input ends of the second loudspeaker 1-32B;

pins P1.0, P1.1, P1.2, P1.3, P1.4, P1.5, P1.6, P1.7, P0.0, P0.1 and P0.2 of the STC89C52 chip are respectively connected with pins D7, D6, D5, D4, D3, D2, D1, D0, RS, RW and E of the LCD screen 1-2;

s1 pins of steering engines 1-52 at the left eyebrow position in the eyebrow picking mechanisms 1-5 are connected with PB3 pins of a main control chip STM32F103C8T, and S2 pins of steering engines 1-52 at the right eyebrow position in the eyebrow picking mechanisms 1-5 are connected with PB10 pins of the main control chip STM32F103C 8T;

the Trig pin and the Echo pin of the ultrasonic module 2-2 are respectively connected with the PB8 pin and the PB9 pin of the main control chip STM32F103C 8T;

a SIG1 pin of the full-metal large-torque steering engine 2-1A at the left side of the arm 2-1 is connected with a PB11 pin of a main control chip STM32F103C8T, and a SIG2 pin of the full-metal large-torque steering engine 2-1A at the right side of the arm 2-1 is connected with a PA15 pin of the main control chip STM32F103C 8T;

the driver 3-2C of the mobile device 3-2 mainly uses an LV8731_2 chip, pins PC13, PC14, PC15, PA4, PA5, PA6, PB0, PB1, and PB2 of the main control chip STM32F103C8T are respectively connected to three pins STEP/DC22, FR/DC21, and ST of three LV8731_2 chips, and pins OUT1A, OUT1B, OUT2A, and OUT2B of the three LV8731_2 chips are respectively connected to three two-phase stepping motors 3-2A:

pins

1, 2, 3, and 4 of MOTOR _1, MOTOR _2, and MOTOR _3 are connected.

Principle of operation

The temperature monitoring and controlling process of the invention is as follows:

the digital thermometer module mainly comprises an STC89C52 chip, a DS18B20 chip and an AT24C02 chip, wherein the DS18B20 chip adopts a single bus technology, namely a transmission clock can also realize data transmission, the STC89C52 chip is written in by software programming to acquire data related to the temperature monitored by the DS18B20 chip, the STC89C52 chip reads 16 bits of 2 bytes AT a time when reading the data, the read data is multiplied by 0.0625 to be converted into a current actual temperature value, the STC89C52 chip converts the converted temperature value to be displayed to a visitor of a science and technology center through an LED screen, a P0.0 pin of the STC89C52 chip is connected with an RS pin of the LED screen and used for controlling information reading or information writing on the LED screen, a RW pin on the LED screen is a write-message when being AT a low level, the RS and RW pins are configured, the temperature information is transmitted to a data line bus, a high pulse is transmitted to the E pin to the temperature information to the LED screen, and finally the current indoor temperature is displayed on the left side of the LCD screen, the AT24C02 chip is communicated with the STC89C52 chip through an IIC bus protocol, an SDA serial data input/output end of the AT24C02 chip is connected with a P2.1/SDA serial data input/output end of the STC89C52 chip and used for the STC89C52 chip to write or read temperature information in the AT24C02 chip, an SCL serial clock input end of the AT24C02 chip is connected with a P2.0/SCL serial clock end of the STC89C52 chip and used for realizing synchronous serial communication between two chips of ICs, the STC89C52 chip sends read real-time temperature data to an I2C data bus through an SDA end, and the AT24C02 chip stores the temperature data and then is read by the STC89C52 chip to be displayed on the left side of an LCD screen for displaying historical temperature.

The control process of the temperature broadcasting device for broadcasting the current temperature of the indoor venue is as follows:

the main control chip STM32F103C8T and the STC89C52 chip are connected by a cross serial port line and are connected in common to reach the same reference voltage, the STC89C52 chip sends temperature information acquired by the DS18B20 chip to a PA3/USART2_ RX data receiving end of the STM32F103C8T chip through TXD, the STM32F103C8T chip converts the temperature information of a text format into an audio file through a voice synthesis chip XFS5152CE and outputs the audio file to a power amplification chip TPA2005DIDRBR, and an electric signal amplified by the TPA2005DIDRBR chip is finally transmitted to the first loudspeaker to finish the work of broadcasting the current indoor venue temperature.

The robot of the invention has the following working procedures:

when the ultrasonic sensor HC-SR04 detects that a visitor is in front of the robot by 5m, position information is fed back to the main control chip STM32F103C8T, the main control chip STM32F103C8 controls the LV8731_2 chip in the driver to drive the three two-phase stepping motors to act, the omnidirectional moving chassis is controlled to move forwards, meanwhile, a sound playing module in the welcome broadcasting device plays welcome voices, the arms complete dynamic welcome and hand-lifting actions, the eyebrow picking mechanism performs vivid facial actions of 'picking eyebrows', when the visitor is detected in front of the robot by 1m, the omnidirectional moving chassis stops moving, the temperature broadcasting device broadcasts the temperature of the current indoor scene, and when the visitor leaves, the omnidirectional moving chassis moves backwards to the original position, and the arms and the eyebrow picking mechanism recover the original angular position and stop acting.

Claims

1. Wheeled usher robot of science and technology center with temperature monitoring function, its characterized in that: the wheel-type usher robot with the temperature monitoring function for the science and technology museum comprises a head (1), a body (2), an omnidirectional moving chassis (3) and a control system (4), wherein the head comprises a shell (1-1), an LCD screen (1-2), a broadcasting device (1-3), a digital thermometer module (1-4) and a eyebrow picking mechanism (1-5), the broadcasting device (1-3) comprises a temperature broadcasting device (1-31) and a usher broadcasting device (1-32), the temperature broadcasting device (1-31) comprises a temperature monitoring controller (1-31A) and a first loudspeaker (1-31B), the usher broadcasting device (1-32) comprises a sound playing module (1-32A) and a second loudspeaker (1-32B), and the broadcasting device (1-3) is installed at the position of a lower bottom plate of the shell (1-1), the LCD screen (1-2) is installed at the position of a middle plate of the shell (1-1), the digital thermometer module (1-4) is fixedly connected with an upper plate of the shell (1-1), the eyebrow picking mechanism (1-5) comprises a first steering engine support (1-51), a steering engine (1-52), eyebrow components (1-53) and a steering wheel (1-54), the steering engine (1-52) is fixedly connected with the upper plate of the shell (1-1) through the first steering engine support (1-51), an output shaft of the steering engine (1-52) is fixedly connected with the steering wheel (1-54), the steering wheel (1-54) is fixedly connected with the eyebrow components (1-53), and the steering engine (1-52) is DS3115 in model;

the body (2) comprises an arm (2-1), an ultrasonic module (2-2) and a main support (2-3), the arm (2-1) comprises an all-metal large-torque steering engine (2-1A), a steering wheel (2-1B), an arm component (2-1C) and a second steering engine bracket (2-1D), the main support (2-3) comprises a main support upper plate (2-3A) and a main support middle plate (2-3B), the all-metal large-torque steering engine (2-1A) is fixedly connected with a main support middle plate (2-3B) through a second steering engine bracket (2-1D), a main support upper plate (2-3A) is fixedly connected with the head part 1, the ultrasonic module (2-2) is fixedly arranged on the main support middle plate (2-3B);

the omnidirectional moving chassis (3) comprises an auxiliary support (3-1) and a moving device (3-2), the auxiliary support (3-1) comprises an auxiliary support upper plate (3-1A), an auxiliary support lower plate (3-1B), three motor fixing supports (3-1C) and three support columns (3-1D), the moving device (3-2) comprises three two-phase stepping motors (3-2A), six couplers (3-2B), a driver (3-2C), three omnidirectional wheels (3-2D), three groups of belt transmission devices (3-2E) and a battery module (3-2F), the three two-phase stepping motors (3-2A) are arranged on the auxiliary support (3-1) in a triangular shape and are fixed by the corresponding three motor fixing supports (3-1C), the output shafts of the three two-phase stepping motors (3-2A) are in transmission connection with the input shafts of three groups of corresponding belt transmission devices (3-2E) through couplers (3-2B), the output shafts of the belt transmission devices (3-2E) are in transmission connection with corresponding omnidirectional wheels (3-2D) through couplers (3-2B), the drivers (3-2C) are arranged on the battery modules (3-2F), and the battery modules (3-2F) are placed on the auxiliary support lower plate (3-1B);

the control system (4) mainly comprises a main control chip STM32F103C8T, an STC89C52 chip, a DS18B20 chip, an XFS5152CE chip, an AT24C02 chip and a TPA2005DIDRBR chip, is connected with the LCD screen (1-2), the broadcasting device (1-3), the digital thermometer module (1-4), the eyebrow picking mechanism (1-5), the ultrasonic module (2-2), the arm (2-1) and the omnidirectional moving chassis (3) in a control way, the broadcasting device (1-3) comprises a temperature broadcasting device (1-31) and a welcome broadcasting device (1-32), the temperature reporting device (1-31) comprises a temperature monitoring controller (1-31A) and a first loudspeaker (1-31B), the temperature monitoring controller (1-31A) mainly comprises an XFS5152CE chip and a TPA2005DIDRBR chip, the intelligent terminal is connected with a main control chip STM32F103C8T and is used for broadcasting the temperature inside the venue; the welcome broadcasting devices (1-32) are connected with a main control chip STM32F103C8T and are used for broadcasting welcome voices; the LCD screen (1-2) is connected with the digital thermometer module (1-4) and is used for displaying the current venue temperature and the historical temperature; the digital thermometer modules (1-4) mainly comprise an STC89C52 chip, a DS18B20 chip and an AT24C02 chip and are used for monitoring and storing the current temperature; the eyebrow raising mechanism (1-5) is connected with the main control chip STM32F103C8T and is used for realizing the changeable facial expression of the pretty; the ultrasonic module (2-2) is connected with a main control chip STM32F103C8T and is used for detecting the position information of surrounding visitors; the all-metal large-torque steering engine (2-1A) included by the arm (2-1) is in control connection with a main control chip STM32F103C8T and is used for completing the actions of welcoming and hand lifting; the omnidirectional moving chassis (3) comprises an auxiliary support (3-1) and a moving device (3-2), and the moving device (3-2) is controlled to move by a main control chip STM32F103C 8T;

the pins PA2/USART2_ TX and PA3/USART2_ RX of the STC 32F103C8T of the control system (4) are respectively connected with the RXD and TXD pins of the STC89C52 chip to perform single-chip dual-machine communication and share the ground, the P2.2 pin of the STC89C52 chip is connected with the I/O pin of the DS18B20 chip, the P2.0/SCL and P2.1/SDA pins of the STC89C52 chip are respectively connected with the SCL and SDA pins of the AT24C02 chip according to the IIC communication protocol, the PB15/SPI2_ MOSI pin, the PB14/SPI 84 _ MISO pin, the PB13/SPI2_ SCK pin, the PB12/SPI2_ NSS pin is respectively connected with the XFS5152 pin, the SP1_ SO pin, the SP pin, the SPI 24 _ MISO pin, the SPI _ SPI 51 _ SNO pin, the TPA chip and the SPI 2005 _ SPI pin are respectively connected with the SPI 2005 _ SPI 51 _ 5 chip and the DROP chip, The VO-pin is respectively connected with a capacitor C1 and a resistor R1 in parallel and connected with the positive and negative input ends of the first horn (1-31B);

the welcome broadcasting device (1-32) comprises a sound reproduction module (1-32A) and a second loudspeaker (1-32B), wherein pins PB6/I2C1_ SCL/TIM4_ CH1 and PB7/I2C1_ SDA/TIM4_ CH2 of a main control chip STM32F103C8T are respectively connected with pins SDA and SCL of the sound reproduction module (1-32A), and pins OUT + and OUT-of the sound reproduction module (1-32A) are respectively connected with positive and negative input ends of the second loudspeaker (1-32B);

pins P1.0, P1.1, P1.2, P1.3, P1.4, P1.5, P1.6, P1.7, P0.0, P0.1 and P0.2 of the STC89C52 chip are respectively connected with pins D7, D6, D5, D4, D3, D2, D1, D0, RS, RW and E of an LCD screen (1-2);

s1 pin of a steering engine (1-52) at the left eyebrow position in the eyebrow picking mechanism (1-5) is connected with PB3 pin of a main control chip STM32F103C8T, and S2 pin of the steering engine (1-52) at the right eyebrow position in the eyebrow picking mechanism (1-5) is connected with PB10 pin of the main control chip STM32F103C 8T;

the Trig pin and the Echo pin of the ultrasonic module (2-2) are respectively connected with the PB8 pin and the PB9 pin of a main control chip STM32F103C 8T;

a SIG1 pin of the full-metal large-torque steering engine (2-1A) at the left side of the arm (2-1) is connected with a PB11 pin of a main control chip STM32F103C8T, and a SIG2 pin of the full-metal large-torque steering engine (2-1A) at the right side of the arm (2-1) is connected with a PA15 pin of the main control chip STM32F103C 8T;

the driver (3-2C) of the mobile device (3-2) mainly comprises an LV8731_2 chip, pins PC13, PC14, PC15, PA4, PA5, PA6, PB0, PB1 and PB2 of the main control chip STM32F103C8T are respectively connected with three pins STEP/DC22, FR/DC21 and ST of the three LV8731_2 chips, and pins OUT1A, OUT1B, OUT2A and OUT2B of the three LV8731_2 chips are respectively connected with pins 1, 2, 3 and 4 of the three two-phase stepping MOTORs 3-2A, MOTOR _1, MOTOR _2 and MOTOR _ 3.