CN109345807A - A kind of environmental monitoring robot based on Internet of Things - Google Patents
A kind of environmental monitoring robot based on Internet of Things Download PDFInfo
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- CN109345807A CN109345807A CN201811325232.9A CN201811325232A CN109345807A CN 109345807 A CN109345807 A CN 109345807A CN 201811325232 A CN201811325232 A CN 201811325232A CN 109345807 A CN109345807 A CN 109345807A
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/02—Protecting privacy or anonymity, e.g. protecting personally identifiable information [PII]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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Abstract
The present invention provides the environmental monitoring robot based on Internet of Things, utilize central processing unit, image collecting device, Zigbee module, display device, storage device, reading data device, crawler belt, gas-detecting device, noise detection apparatus, dust investigating, user terminal, driving device, image processing apparatus and signal processing circuit, environment under hazardous environment can be monitored, and driving device is controlled using central processing unit, to control the crawler belt of robot, to allow the robot to flexibly move when monitoring environment, environment monitoring device is set to move freely in hazardous environment, so as to more accurately know the environmental state information of monitored environment, and collected environmental state information is transmitted to user terminal using Zigbee module, staff can be obtained in real time by user terminal Know environmental state information.
Description
Technical field
The present invention relates to environmental monitoring field more particularly to a kind of environmental monitoring robots based on Internet of Things.
Background technique
With society, the development of economic level, people are environmentally safe also increasingly to be paid attention to.Some specific occasions are to ring
The requirement in border is relatively high, such as warehouse, factory etc., needs to detect whether that fire occurs, if toxic gas is exceeded etc..At this point,
The system that ambient conditions can be monitored in real time if there is one ensures that the early discovery of some security risks is early and administers, to protection
Some property personal safeties etc. are played the role of vital.
Environmental unit detection is it is desirable that be able to detect that a variety of hazardous environments, the list that equipment on the market all compares at present
One, it tends not to comprehensively carry out many-sided detection to the environment on periphery, has very big shortcoming to protection property and personal safety.
In addition, the suitable environment of many environmental detectors is single, different environment needs different detection functions, increases workload
With consuming excessively for resource.In addition, use environment monitoring sensors sense environmental parameter also have become it is highly developed at present
Technical application, and obtain the popularization of large area, it is disclosed if the Chinese invention patent of Publication No. CN104121934A
A kind of application for a patent for invention of entitled " sensor unit ", however the existing application for this device can not reliable mobile,
So that the scope of application is limited.
Summary of the invention
Therefore, in order to overcome the above problem, the present invention provides a kind of environmental monitoring robot based on Internet of Things, in utilization
Entreat processing unit, image collecting device, Zigbee module, display device, storage device, reading data device, crawler belt, gas inspection
Survey device, noise detection apparatus, dust investigating, user terminal, driving device, image processing apparatus and signal processing electricity
Road can be monitored the environment under hazardous environment, and control driving device using central processing unit, to control robot
Crawler belt keeps environment monitoring device free in hazardous environment to allow the robot to flexibly move when monitoring environment
It is mobile, so as to more accurately know the environmental state information of monitored environment, and will be collected using Zigbee module
Environmental state information be transmitted to user terminal, staff can know in real time environmental state information by user terminal.
A kind of environmental monitoring robot based on Internet of Things according to the present invention, the environmental monitoring robot based on Internet of Things
Including central processing unit, image collecting device, Zigbee module, display device, storage device, reading data device, crawler belt,
At gas-detecting device, noise detection apparatus, dust investigating, user terminal, driving device, image processing apparatus and signal
Manage circuit.
Wherein, the input terminal of the output end of image collecting device and image processing apparatus connect, dust investigating it is defeated
The connection of the input terminal of outlet and signal processing circuit, the output end of image processing apparatus, the output end of gas-detecting device, noise
The output end of detection device and the output end of signal processing circuit with the input terminal of central processing unit, display device it is defeated
The input terminal for entering end, the input terminal of storage device and driving device is connect with the output end of central processing unit, storage dress
The output end set is connect with the input terminal of reading data device, the control signal output and crawler belt signal input part of driving device
Connection, central processing unit are connect with Zigbee module both-way communication, and Zigbee module is connect with user terminal both-way communication.
Preferably, it includes dust concentration that dust investigating, which is arranged in robot medium position, dust investigating,
Sensor, sensor of dust concentration acquire the dust concentration information of robot, and dust investigating is by above-mentioned dust
Concentration information is transmitted to signal processing circuit, and signal processing circuit successively carries out signal amplification to the dust concentration signal received
Processing and filtering processing, by treated, dust concentration signal is transmitted to central processing unit to signal processing circuit, central processing
Treated dust concentration signal by Zigbee module is transmitted to user terminal by device, and central processing unit is dense by above-mentioned dust
Degree information is stored to storage device, and central processing unit shows above-mentioned dust concentration information to display device.
Preferably, image processing apparatus includes image enhancing unit, image smoothing unit, image sharpening unit and ash
Spend converter unit.
Wherein, the signal output end of image collecting device and the input terminal of image enhancing unit connect, image enhancing unit
Output end connect with the input terminal of image smoothing unit, the input terminal of the output end of image smoothing unit and image sharpening unit
Connection, the output end of image sharpening unit are connect with the input terminal of greyscale transformation unit, and the output end of greyscale transformation unit is in
Entreat the input terminal connection of processing unit.
Wherein, image enhancing unit carries out brightness of image enhancing processing, figure to the image information of image acquisition device
As smooth unit carries out image definition enhancing processing, image sharpening list to by image enhancing unit treated image information
Member carries out image sharpening processing to the image information after image smoothing cell processing, and greyscale transformation unit is to sharp by image
Image information after changing cell processing carries out image grayscale extension process, and greyscale transformation unit by treated, transmit by image information
To central processing unit.
Preferably, in robot medium position, dust investigating is dust concentration sensing for dust investigating setting
Device, sensor of dust concentration acquire the dust concentration signal of robot, the dust concentration signal of acquisition are converted to
Voltage signal V0, and voltage signal V0 is transmitted to signal processing circuit, V1 are by signal processing circuit treated voltage
Signal, signal processing circuit include signal amplification unit and signal filter unit, the output end and signal of sensor of dust concentration
The input terminal of amplifying unit connects, and the output end of signal amplification unit is connect with the input terminal of signal filter unit, signal filtering
The output end of unit and the port ADC of central processing unit connect.
Preferably, signal amplification unit includes integrated transporting discharging A1-A2, resistance R1-R14, triode T1-T3 and capacitor
C1-C2；
Wherein, the output end of sensor of dust concentration is connect with one end of resistance R4, and the other end of resistance R4 is with triode T2's
Base stage connection, the output end of sensor of dust concentration are also connect with one end of resistance R2, the other end and integrated transporting discharging of resistance R2
The inverting input terminal of A1 connects, and one end of resistance R1 is connect with one end of resistance R12, the other end and integrated transporting discharging A1 of resistance R1
Non-inverting input terminal connection, capacitor C1 one end ground connection, after the other end of capacitor C1 is in parallel with the other end of resistance R1 and integrate
The non-inverting input terminal of amplifier A1 connects, and the other end of resistance R2 is also connect with one end of capacitor C2, the other end and electricity of capacitor C2
Hinder one end connection of R3, the other end of resistance R3 connect with one end of resistance R5, the other end of resistance R3 also with resistance R6 one
End connection, the output end of integrated transporting discharging A1 are connect with the base stage of triode T1, and the collector of triode T1 is connect with -15V power supply,
The other end of resistance R5 is also connect with the emitter of triode T1, and the other end of resistance R6 is connect with one end of resistance R7, resistance
One end of R8 is connect with the collector of triode T2, and one end of resistance R8 is also connect with the inverting input terminal of integrated transporting discharging A2, electricity
The other end of resistance R6 is also connect with the other end of resistance R8, and the other end of resistance R7 is connect with+15V power supply, one end of resistance R9
It is connect with the non-inverting input terminal of integrated transporting discharging A2, one end of resistance R9 is also connect with the collector of triode T3, and resistance R9's is another
One end is connect with+15V power supply, and one end of resistance R10 is connect with -15V power supply, the emitter of triode T2 and the hair of triode T3
It is connect after emitter-base bandgap grading connection with the other end of resistance R10, one end of resistance R11 is connect with one end of resistance R12, and resistance R11's is another
One end is connect with the base stage of triode T3, the one end resistance R13 ground connection, and the other end of resistance R12 and the other end of resistance R13 connect
It connects, the other end of resistance R12 is also connect with one end of resistance R14, and the other end of resistance R14 and the output end of integrated transporting discharging A2 connect
It connects.
Preferably, signal filter unit includes resistance R15-R21, capacitor C3-C4 and integrated transporting discharging A3-A5；
Wherein, the output end of signal amplification unit is connect with one end of resistance R15, the other end of resistance R15 and the one of resistance R17
It being connect after end is in parallel with the non-inverting input terminal of integrated transporting discharging A3, the other end of resistance R17 is connect with the output end of integrated transporting discharging A3,
One end of resistance R16 is grounded, and is connect after the other end of resistance R16 is in parallel with resistance R21 with the non-inverting input terminal of integrated transporting discharging A3,
The other end of resistance R21 is connect with the output end of integrated transporting discharging A4, and the output end of the other end of resistance R17 and integrated transporting discharging A3 are simultaneously
It is connect after connection with one end of resistance R18, the reverse phase after the other end of resistance R18 is in parallel with one end of capacitor C3 with integrated transporting discharging A4
Input terminal connection connect with one end of resistance R19 after the other end of capacitor C3 is in parallel with the output end of integrated transporting discharging A4, integrates fortune
The non-inverting input terminal ground connection of A4 is put, it is defeated with the reverse phase of integrated transporting discharging A5 after the other end of resistance R19 is in parallel with one end of capacitor C4
Enter end connection, the non-inverting input terminal ground connection of integrated transporting discharging A5, the other end of capacitor C4 is connect with the output end of integrated transporting discharging A5, electricity
One end of resistance R20 is connect with the inverting input terminal of integrated transporting discharging A3, and the other end of resistance R20 and the output end of integrated transporting discharging A5 connect
It connects, one end of resistance R21 is connect with the non-inverting input terminal of integrated transporting discharging A3, and the other end of resistance R21 is defeated with integrated transporting discharging A4's
Outlet connection, the output end of integrated transporting discharging A5 and the port ADC of central processing unit connect, and signal processing unit will treated
Voltage signal V1 is transmitted to the port ADC of central processing unit.
Preferably, Zigbee module includes DEU data encryption unit, data transmission unit and data decryption unit；
Wherein, user terminal and Zigbee module both-way communication, central processing unit and Zigbee module both-way communication, in user terminal
When transferring data to central processing unit, user terminal sends data to DEU data encryption unit, and DEU data encryption unit passes data
Data transmission unit is transported to, encrypted data are transmitted to data decryption unit, data decryption unit pair by data transmission unit
Encrypted data are transmitted to central processing unit after being decrypted, when central processing unit transfers data to user terminal, in
Centre processing unit sends data to DEU data encryption unit, and DEU data encryption unit sends data to data transmission unit, data
Encrypted data are transmitted to data decryption unit by transmission unit, after encrypted data are decrypted in data decryption unit
It is transmitted to user terminal.
Preferably, image collecting device is set to robot upper part position, for acquiring the figure of robot
It is transmitted to image processing apparatus as information, and by the image information of acquisition, image processing apparatus carries out received image information
Treated image information by Zigbee module is transmitted to user terminal by image procossing, central processing unit, and central processing fills
Set will treated that image information stores to storage device, central processing unit will treated image information display to showing dress
It sets.
Preferably, it includes sulfur dioxide that gas-detecting device, which is arranged in robot medium position, gas-detecting device,
Sensor, nitrogen dioxide sensor, carbon dioxide sensor, carbon monoxide transducer and nitric oxide sensor, titanium dioxide
Sulfer sensor, nitrogen dioxide sensor, carbon dioxide sensor, carbon monoxide transducer and nitric oxide sensor harvester
Above-mentioned gas information is transmitted to central processing unit, central processing by the gas information of device people's ambient enviroment, gas-detecting device
Above-mentioned gas information is transmitted to user terminal by Zigbee module by device, central processing unit by above-mentioned gas information store to
Storage device, central processing unit show above-mentioned gas information to display device.
Preferably, it includes surveying sensing of making an uproar that noise detection apparatus, which is arranged in robot medium position, noise detection apparatus,
Device surveys the noise information for sensor acquisition robot of making an uproar, during above-mentioned noise information is transmitted to by noise detection apparatus
Processing unit is entreated, above-mentioned noise information is transmitted to user terminal, central processing unit by Zigbee module by central processing unit
Above-mentioned noise information is stored to storage device, central processing unit shows above-mentioned noise information to display device.
Preferably, the image definition that image collecting device is transmitted to the robot of image processing apparatus is
Two-dimensional function f (x, y), wherein x, y are space coordinates, and image enhancing unit carries out at brightness of image enhancing image f (x, y)
Reason is g (x, y) by brightness of image enhancing treated two-dimensional image function, wherein image p (x, y) is to image f (x, y)
Pretreated image is carried out,
；
。
Preferably, image smoothing unit carries out image definition enhancing processing to image g (x, y), by image clearly
Degree enhancing treated two-dimensional image function is h (x, y), wherein smooth function is q (x, y),
；
；
Wherein , ﹡ is convolution symbol,For customized adjustable constant, smooth effect is to pass throughCome what is controlled.
Preferably, image sharpening unit carries out image sharpening processing to image h (x, y), after image sharpening is handled
Two-dimensional image function be d (x, y), wherein
。
Preferably, gray shade unit carries out tonal range extension process, the ash of above-mentioned image d (x, y) to image d (x, y)
Angle value range is [a, b], the intensity value ranges of image d (x, y) is extended to [c, d], wherein a, b, c, d is constant, then converts
Two-dimensional image function afterwards is z (x, y), wherein
。
Wherein, by treated, image z (x, y) is transmitted to central processing unit to image processing apparatus, central processing unit
Image z (x, y) is transmitted to display device and storage device, also, image z (x, y) is passed through Zigbee by central processing unit
Module transfer is to user terminal.
Preferably, the reading data interface of reading data device is USB interface.
Preferably, user terminal is user mobile phone or tablet computer.
Preferably, driving device includes a servo motor, and servo motor is connect with crawler belt.
It preferably, include fpga chip inside central processing unit.
Compared with prior art, the present invention have it is following the utility model has the advantages that
(1) present invention provide the environmental monitoring robot based on Internet of Things, using central processing unit, image collecting device,
Zigbee module, display device, storage device, reading data device, crawler belt, gas-detecting device, noise detection apparatus, dust
Detection device, user terminal, driving device, image processing apparatus and signal processing circuit, can to the environment under hazardous environment into
Row monitoring, and driving device is controlled using central processing unit, to control the crawler belt of robot, to allow the robot to supervising
It is flexibly moved when surveying environment, so that environment monitoring device is moved freely in hazardous environment, so as to more accurately obtain
Know the environmental state information of monitored environment, and collected environmental state information is transmitted to user using Zigbee module
End, staff can know in real time environmental state information by user terminal；
(2) the environmental monitoring robot provided by the invention based on Internet of Things, image processing apparatus to the image of acquisition successively into
Row image enhancement, image smoothing, image sharpening and image gray-scale transformation processing, can efficiently, quickly extract image collecting device
Image information, the identification precision to environment monitoring device ambient enviroment image can be improved, efficiently reduce erroneous judgement and happen.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the environmental monitoring robot of the invention based on Internet of Things；
Fig. 2 is the system schematic of the environmental monitoring robot of the invention based on Internet of Things；
Fig. 3 is the circuit diagram of signal processing circuit of the invention；
Fig. 4 is the schematic diagram of the Zigbee module of the invention when user terminal transfers data to central processing unit；
Fig. 5 is the schematic diagram of the Zigbee module of the invention when central processing unit transfers data to user terminal；
Fig. 6 is the schematic diagram of image processing apparatus of the invention.
Appended drawing reference is as follows:
1- central processing unit；2- image collecting device；3- Zigbee module；4- display device；5- storage device；6- data
Reading device；7- crawler belt；8- gas-detecting device；9- noise detection apparatus；10- dust investigating；11- user terminal；12- drives
Dynamic device；13- image processing apparatus；14- signal processing circuit.
Specific embodiment
The environmental monitoring robot to provided by the invention based on Internet of Things carries out detailed with reference to the accompanying drawings and examples
Explanation.
As shown in Figs. 1-2, the environmental monitoring robot provided by the invention based on Internet of Things include central processing unit 1,
Image collecting device 2, Zigbee module 3, display device 4, storage device 5, reading data device 6, crawler belt 7, gas detection dress
It sets at 8, noise detection apparatus 9, dust investigating 10, user terminal 11, driving device 12, image processing apparatus 13 and signal
Manage circuit 14.
Wherein, the output end of image collecting device 2 is connect with the input terminal of image processing apparatus 13, dust investigating 10
Output end connect with the input terminal of signal processing circuit 14, the output end of image processing apparatus 13, gas-detecting device 8 it is defeated
Input of the output end of outlet, the output end of noise detection apparatus 9 and signal processing circuit 14 with central processing unit 1
End, the input terminal of the input terminal of display device 4, the input terminal of storage device 5 and driving device 12 with central processing unit 1
Output end connection, the output end of storage device 5 connect with the input terminal of reading data device 6, and the control of driving device 12 is believed
Number output end is connect with 7 signal input part of crawler belt, and central processing unit 1 is connect with 3 both-way communication of Zigbee module, Zigbee mould
Block 3 is connect with 11 both-way communication of user terminal.
In above embodiment, using central processing unit 1, image collecting device 2, Zigbee module 3, display device 4,
Storage device 5, reading data device 6, crawler belt 7, gas-detecting device 8, noise detection apparatus 9, dust investigating 10, user
End 11, driving device 12, image processing apparatus 13 and signal processing circuit 14, can supervise the environment under hazardous environment
It surveys, and controls driving device 12 using central processing unit 1, to control the crawler belt of robot, to allow the robot to supervising
It is flexibly moved when surveying environment, so that environment monitoring device is moved freely in hazardous environment, so as to more accurately obtain
Know the environmental state information of monitored environment, and collected environmental state information is transmitted to user using Zigbee module 3
End, staff can know in real time environmental state information by user terminal.
Specifically, staff can not only pass through 11 timely learning gas-detecting device 8 of user terminal, noise detection apparatus
9, the information that dust investigating 10 and image collecting device 13 acquire, moreover it is possible to robot crawler belt be carried out by user terminal 11
Control, to control the driving trace of robot.
Central processing unit 1, driving device 12, image processing apparatus 13 and signal processing circuit 14 are mounted on machine
Inside people.
In above embodiment, image collecting device 2 is set to robot upper part position, not only can be by acquiring machine
The image information of people's ambient enviroment makes staff know the environmental information around robot, moreover it is possible to make staff according to adopting
The image information control robot of the robot of collection is mobile, to avoid collision barrier.
In above embodiment, staff can be known in real time by user terminal 11 monitored environment gas information,
Noise information and dust concentration information are capable of the state parameter of the monitored environment of timely learning, and then can be to monitored ring
There is comprehensive understanding in border.
Further, staff is knowing gas-detecting device 8, noise detection apparatus 9 and dust investigating 10
While the ambient parameter information of acquisition, moreover it is possible to monitor model where knowing robot by the image that image collecting device 13 acquires
Interior ambient image information is enclosed, robot can not only be controlled convenient for staff accordingly, it also can be by the ring that receives
Border image information combining environmental parameter information further knows the ambient conditions that robot is monitored.
Specifically, it includes that dust is dense that dust investigating 10, which is arranged in robot medium position, dust investigating 10,
Sensor is spent, sensor of dust concentration acquires the dust concentration information of robot, and dust investigating 10 will be above-mentioned
Dust concentration information is transmitted to signal processing circuit 14, and signal processing circuit 14 successively carries out the dust concentration signal received
Signal enhanced processing and filtering processing, by treated, dust concentration signal is transmitted to central processing unit to signal processing circuit 14
1, treated dust concentration signal by Zigbee module 3 is transmitted to user terminal 11, central processing dress by central processing unit 1
It sets 1 to store above-mentioned dust concentration information to storage device 5, central processing unit 1 shows above-mentioned dust concentration information to aobvious
Showing device 4.
As shown in fig. 6, image processing apparatus 13 include image enhancing unit, image smoothing unit, image sharpening unit with
And greyscale transformation unit.
Wherein, the signal output end of image collecting device 2 and the input terminal of image enhancing unit connect, image enhancing unit
Output end connect with the input terminal of image smoothing unit, the input terminal of the output end of image smoothing unit and image sharpening unit
Connection, the output end of image sharpening unit are connect with the input terminal of greyscale transformation unit, and the output end of greyscale transformation unit is in
Entreat the input terminal connection of processing unit 1.
Wherein, image enhancing unit carries out brightness of image enhancing processing, figure to the image information that image collecting device 2 acquires
As smooth unit carries out image definition enhancing processing, image sharpening list to by image enhancing unit treated image information
Member carries out image sharpening processing to the image information after image smoothing cell processing, and greyscale transformation unit is to sharp by image
Image information after changing cell processing carries out image grayscale extension process, and greyscale transformation unit by treated, transmit by image information
To central processing unit 1.
In above embodiment, the image of 13 pairs of image processing apparatus acquisitions successively carries out image enhancement, image smoothing, figure
It is handled as sharpening with image gray-scale transformation, can efficiently, quickly extract the image information of image collecting device 2, can be improved to ring
The identification precision of border monitoring device ambient enviroment image, efficiently reduces erroneous judgement and happens.
Further, the image that image collecting device 2 is transmitted to the robot of image processing apparatus 13 is determined
Justice is two-dimensional function f (x, y), and wherein x, y are space coordinates, and image enhancing unit carries out brightness of image increasing to image f (x, y)
Strength reason is g (x, y) by brightness of image enhancing treated two-dimensional image function, wherein image p (x, y) is to image f
(x, y) carries out pretreated image,
；
。
Further, image smoothing unit carries out image definition enhancing processing to image g (x, y), by image clearly
Degree enhancing treated two-dimensional image function is h (x, y), wherein smooth function is q (x, y),
；
；
Wherein , ﹡ is convolution symbol,For customized adjustable constant, smooth effect is to pass throughCome what is controlled.
Further, image sharpening unit carries out image sharpening processing to image h (x, y), after image sharpening is handled
Two-dimensional image function be d (x, y), wherein
。
Further, gray shade unit carries out tonal range extension process, the ash of above-mentioned image d (x, y) to image d (x, y)
Angle value range is [a, b], the intensity value ranges of image d (x, y) is extended to [c, d], wherein a, b, c, d is constant, then converts
Two-dimensional image function afterwards is z (x, y), wherein
。
Wherein, by treated, image z (x, y) is transmitted to central processing unit 1, central processing dress to image processing apparatus 13
It sets 1 and image z (x, y) is transmitted to display device 4 and storage device 5, also, central processing unit 1 passes through image z (x, y)
Zigbee module 3 is transmitted to user terminal 11.
As shown in figure 3, the setting of dust investigating 10, in robot medium position, dust investigating 10 is dust concentration
Sensor, sensor of dust concentration acquire the dust concentration signal of robot, and the dust concentration signal of acquisition is turned
It is changed to voltage signal V0, and voltage signal V0 is transmitted to signal processing circuit 14, V1 is to handle by signal processing circuit 14
Voltage signal afterwards, signal processing circuit 14 include signal amplification unit and signal filter unit, sensor of dust concentration it is defeated
The connection of the input terminal of outlet and signal amplification unit, the output end of signal amplification unit and the input terminal of signal filter unit connect
It connects, the output end of signal filter unit is connect with the port ADC of central processing unit 1.
Specifically, signal amplification unit includes integrated transporting discharging A1-A2, resistance R1-R14, triode T1-T3 and capacitor
C1-C2。
Wherein, the output end of sensor of dust concentration is connect with one end of resistance R4, the other end and triode of resistance R4
The base stage of T2 connects, and the output end of sensor of dust concentration also connect with one end of resistance R2, the other end of resistance R2 with integrate
The inverting input terminal of amplifier A1 connects, and one end of resistance R1 is connect with one end of resistance R12, the other end of resistance R1 and integrated fortune
Put A1 non-inverting input terminal connection, capacitor C1 one end ground connection, after the other end of capacitor C1 is in parallel with the other end of resistance R1 and
The non-inverting input terminal of integrated transporting discharging A1 connects, and the other end of resistance R2 is also connect with one end of capacitor C2, the other end of capacitor C2
Connect with one end of resistance R3, the other end of resistance R3 is connect with one end of resistance R5, the other end of resistance R3 also with resistance R6
One end connection, the output end of integrated transporting discharging A1 connect with the base stage of triode T1, the collector and -15V power supply of triode T1
Connection, the other end of resistance R5 are also connect with the emitter of triode T1, and the other end of resistance R6 is connect with one end of resistance R7,
One end of resistance R8 is connect with the collector of triode T2, and one end of resistance R8 also connects with the inverting input terminal of integrated transporting discharging A2
It connects, the other end of resistance R6 is also connect with the other end of resistance R8, and the other end of resistance R7 is connect with+15V power supply, resistance R9's
One end is connect with the non-inverting input terminal of integrated transporting discharging A2, and one end of resistance R9 is also connect with the collector of triode T3, resistance R9
The other end connect with+15V power supply, one end of resistance R10 is connect with -15V power supply, the emitter of triode T2 and triode T3
Emitter connection after connect with the other end of resistance R10, one end of resistance R11 is connect with one end of resistance R12, resistance R11
The other end connect with the base stage of triode T3, the one end resistance R13 ground connection, the other end of the other end of resistance R12 and resistance R13
Connection, the other end of resistance R12 are also connect with one end of resistance R14, the other end of resistance R14 and the output end of integrated transporting discharging A2
Connection.
Specifically, signal filter unit includes resistance R15-R21, capacitor C3-C4 and integrated transporting discharging A3-A5.
Wherein, the output end of signal amplification unit is connect with one end of resistance R15, the other end and resistance R17 of resistance R15
One end it is in parallel after connect with the non-inverting input terminal of integrated transporting discharging A3, the other end of resistance R17 and the output end of integrated transporting discharging A3
Connection, one end ground connection of resistance R16, the non-inverting input terminal after the other end of resistance R16 is in parallel with resistance R21 with integrated transporting discharging A3
Connection, the other end of resistance R21 connect with the output end of integrated transporting discharging A4, and the other end of resistance R17 is defeated with integrated transporting discharging A3's
Connect after outlet is in parallel with one end of resistance R18, after the other end of resistance R18 is in parallel with one end of capacitor C3 with integrated transporting discharging A4
Inverting input terminal connection, the other end of capacitor C3 connect with after the parallel connection of the output end of integrated transporting discharging A4 with one end of resistance R19,
The non-inverting input terminal of integrated transporting discharging A4 is grounded, with integrated transporting discharging A5's after the other end of resistance R19 is in parallel with one end of capacitor C4
Inverting input terminal connection, the non-inverting input terminal ground connection of integrated transporting discharging A5, the other end of capacitor C4 and the output end of integrated transporting discharging A5
Connection, one end of resistance R20 are connect with the inverting input terminal of integrated transporting discharging A3, and the other end of resistance R20 is with integrated transporting discharging A5's
Output end connection, one end of resistance R21 are connect with the non-inverting input terminal of integrated transporting discharging A3, the other end of resistance R21 and integrated fortune
The output end connection of A4 is put, the output end of integrated transporting discharging A5 is connect with the port ADC of central processing unit 1, signal processing unit
By the port ADC of treated voltage signal V1 is transmitted to central processing unit 1.
In above embodiment, the noise of signal processing circuit 14 drifts about within 40nV as 0.5 μ V/ DEG C, integrated transporting discharging
A1 is LTC1150 low drifting amplifier, and integrated transporting discharging A2 is LT1097 high speed amplifier, and integrated transporting discharging A3, A4 and A5 are
LT1097 amplifier, since direct current offset and the drift of integrated transporting discharging A1 will not influence the overall offset of circuit, so that electric
There are extremely low offset and drift in road.
The resistance value of resistance R1 is 100K Ω, and the resistance value of resistance R2 is 100K Ω, and the resistance value of resistance R3 is 1K Ω, resistance R4's
Resistance value is 1.5K Ω, and the resistance value of resistance R5 is 7.5K Ω, and the resistance value of R6 is 1K Ω, and the resistance value of resistance R7 is 200 Ω, resistance R8
Resistance value be 450 Ω, the resistance value of resistance R9 is 900 Ω, and the resistance value of resistance R10 is 750 Ω, and the resistance value of resistance R11 is 1K Ω, electricity
The resistance value for hindering R12 is 1K Ω, and the resistance value of resistance R13 is 10 Ω, and the resistance value of resistance R14 is 100K Ω, and the resistance value of resistance R15 is
The resistance value of 1.7K Ω, resistance R16 are 4.7K Ω, and the resistance value of resistance R17 is 10K Ω, and the resistance value of resistance R18 is 5K Ω, resistance R19
Resistance value be 1K Ω, the resistance value of resistance R20 is 5K Ω, and the resistance value of resistance R21 is 5K Ω, and the capacitance for holding C1 is 100pF, capacitor
The capacitance of C2 is 270pF, and the capacitance of C3 is 220pF, and the capacitance of capacitor C4 is 470pF.
Since the signal of sensor of dust concentration acquisition is faint voltage signal, thus signal amplification unit passes through resistance
R1-R14, capacitor C1-C2, triode T1-T3 and integrated transporting discharging A1-A2 carry out the voltage V0 that sensor of dust concentration exports
Enhanced processing, the signal amplification being made of resistance R1-R14, capacitor C1-C2, triode T1-T3 and integrated transporting discharging A1-A2 are single
50nV's makes an uproar in offset, 100pA bias current and the broadband 0.1Hz to 10Hz within the member only drift of 0.5 μ V/ DEG C, 5 μ V
Sound.Wherein, signal amplification unit is using resistance R15-R21, capacitor C3-C4 and integrated transporting discharging A3-A5 to by amplified
Voltage signal carries out low-pass filtering treatment, to improve the precision of dust concentration detection.
As illustrated in figures 4-5, Zigbee module 3 includes DEU data encryption unit, data transmission unit and data decryption unit.
Wherein, user terminal 11 and 3 both-way communication of Zigbee module, central processing unit 1 and 3 two-way of Zigbee module
News, when user terminal 11 transfers data to central processing unit 1, user terminal 11 sends data to DEU data encryption unit, data
Encryption unit sends data to data transmission unit, and encrypted data are transmitted to data deciphering list by data transmission unit
Member, data decryption unit are transmitted to central processing unit 1 after encrypted data are decrypted, pass in central processing unit 1
When transmission of data to user terminal 11, central processing unit 1 sends data to DEU data encryption unit, and DEU data encryption unit passes data
Data transmission unit is transported to, encrypted data are transmitted to data decryption unit, data decryption unit pair by data transmission unit
Encrypted data are transmitted to user terminal 11 after being decrypted.
Specifically, image collecting device 2 is set to robot upper part position, for acquiring the image of robot
Information, and the image information of acquisition is transmitted to image processing apparatus 13, image processing apparatus 13 to received image information into
Treated image information by Zigbee module 3 is transmitted to user terminal 11 by row image procossing, central processing unit 1, center
By treated, image information is stored to storage device 5 processing unit 1, and by treated, image information is shown central processing unit 1
Show to display device 4.
Specifically, it includes sulfur dioxide that gas-detecting device 8, which is arranged in robot medium position, gas-detecting device 8,
Sensor, nitrogen dioxide sensor, carbon dioxide sensor, carbon monoxide transducer and nitric oxide sensor, titanium dioxide
Sulfer sensor, nitrogen dioxide sensor, carbon dioxide sensor, carbon monoxide transducer and nitric oxide sensor harvester
Above-mentioned gas information is transmitted to central processing unit 1, centre by the gas information of device people's ambient enviroment, gas-detecting device 8
Above-mentioned gas information is transmitted to user terminal 11 by Zigbee module 3 by reason device 1, and central processing unit 1 believes above-mentioned gas
Breath is stored to storage device 5, and central processing unit 1 shows above-mentioned gas information to display device 4.
Specifically, it includes surveying sensing of making an uproar that noise detection apparatus 9, which is arranged in robot medium position, noise detection apparatus 9,
Device surveys the noise information for sensor acquisition robot of making an uproar, during above-mentioned noise information is transmitted to by noise detection apparatus 9
Processing unit 1 is entreated, above-mentioned noise information is transmitted to user terminal 11, central processing by Zigbee module 3 by central processing unit 1
Device 1 stores above-mentioned noise information to storage device 5, and central processing unit 1 shows above-mentioned noise information to display device
4。
Specifically, the reading data interface of reading data device 6 is USB interface.
Gas-detecting device 8, noise detection apparatus 9, powder of the reading data device 6 for being stored in read storage device 5
The information that dust detection device 10 and image collecting device 13 acquire.
Specifically, user terminal 11 is user mobile phone or tablet computer.
It is equipped on user mobile phone or tablet computer for receiving gas-detecting device 8, noise detection apparatus 9, dust inspection
Survey the control module of the crawler belt 7 of information and control robot that device 10 and image collecting device 13 acquire, such as APP etc..
Specifically, driving device 12 includes a servo motor, and servo motor is connect with crawler belt 7.
Staff issues control signal to central control unit 1 by user terminal 11, and central control unit 1 is according to reception
To control signal control servo motor so that crawler belt 7 is moved according to the control of staff.
It specifically, include fpga chip inside central processing unit 1.
It should be noted last that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting.Although ginseng
It is described the invention in detail according to embodiment, those skilled in the art should understand that, to technical side of the invention
Case is modified or replaced equivalently, and without departure from the spirit and scope of technical solution of the present invention, should all be covered in the present invention
Scope of the claims in.
Claims (10)
1. a kind of environmental monitoring robot based on Internet of Things, which is characterized in that the environmental monitoring machine based on Internet of Things
People include central processing unit (1), image collecting device (2), Zigbee module (3), display device (4), storage device (5),
Reading data device (6), crawler belt (7), gas-detecting device (8), noise detection apparatus (9), dust investigating (10), user
Hold (11), driving device (12), image processing apparatus (13) and signal processing circuit (14)；
Wherein, the output end of described image acquisition device (2) is connect with the input terminal of described image processing unit (13), the powder
The output end of dust detection device (10) is connect with the input terminal of the signal processing circuit (14), described image processing unit (13)
Output end, the output end of the gas-detecting device (8), the noise detection apparatus (9) output end and the signal
Input terminal of the output end of processing circuit (14) with the central processing unit (1), the input terminal of the display device (4),
The input terminal of the storage device (5) and the input terminal of the driving device (12) with the central processing unit (1)
Output end connection, the output end of the storage device (5) are connect with the input terminal of the reading data device (6), the driving
The control signal output of device (12) is connect with the crawler belt (7) signal input part, the central processing unit (1) with it is described
The connection of Zigbee module (3) both-way communication, the Zigbee module (3) connect with the user terminal (11) both-way communication.
2. the environmental monitoring robot according to claim 1 based on Internet of Things, which is characterized in that the dust detection dress
Setting (10) to be arranged in robot medium position, the dust investigating (10) includes sensor of dust concentration, the dust
Concentration sensor acquires the dust concentration information of robot, and the dust investigating (10) is by above-mentioned dust concentration
Information is transmitted to the signal processing circuit (14), the signal processing circuit (14) to the dust concentration signal received successively
Signal enhanced processing and filtering processing are carried out, dust concentration signal is transmitted to institute to the signal processing circuit (14) by treated
It states central processing unit (1), by treated, dust concentration signal passes through the Zigbee module to the central processing unit (1)
(3) it is transmitted to the user terminal (11), above-mentioned dust concentration information is stored to the storage and filled by the central processing unit (1)
It sets (5), the central processing unit (1) shows above-mentioned dust concentration information to the display device (4).
3. the environmental monitoring robot according to claim 1 based on Internet of Things, which is characterized in that described image processing dress
Setting (13) includes image enhancing unit, image smoothing unit, image sharpening unit and greyscale transformation unit；
Wherein, the signal output end of described image acquisition device (2) is connect with the input terminal of described image enhancement unit, the figure
The output end of image intensifying unit is connect with the input terminal of described image smooth unit, the output end of described image smooth unit and institute
The input terminal connection of image sharpening unit is stated, described image sharpens the output end of unit and the input terminal of the greyscale transformation unit
Connection, the output end of the greyscale transformation unit are connect with the input terminal of the central processing unit (1)；
Wherein, described image enhancement unit carries out brightness of image enhancing to the image information that described image acquisition device (2) acquires
Processing, described image smooth unit carry out image definition enhancing to by described image enhancement unit treated image information
Processing, described image sharpen unit and carry out image sharpening processing to by described image smooth unit treated image information,
The greyscale transformation unit carries out image grayscale extension process, institute to the image information after described image sharpens cell processing
Stating greyscale transformation unit, image information is transmitted to the central processing unit (1) by treated.
4. the environmental monitoring robot according to claim 1 or 2 based on Internet of Things, which is characterized in that the dust inspection
Device (10) setting is surveyed in robot medium position, the dust investigating (10) is sensor of dust concentration, the dust
Concentration sensor acquires the dust concentration signal of robot, and the dust concentration signal of acquisition is converted to voltage signal
V0, and voltage signal V0 is transmitted to the signal processing circuit (14), V1 is to handle by the signal processing circuit (14)
Voltage signal afterwards, the signal processing circuit (14) include signal amplification unit and signal filter unit, the dust concentration
The output end of sensor is connect with the input terminal of the signal amplification unit, the output end of the signal amplification unit and the letter
The input terminal connection of number filter unit, the output end of the signal filter unit and the port ADC of the central processing unit (1)
Connection.
5. the environmental monitoring robot according to claim 4 based on Internet of Things, which is characterized in that the signal amplification is single
Member includes integrated transporting discharging A1-A2, resistance R1-R14, triode T1-T3 and capacitor C1-C2；
Wherein, the output end of the sensor of dust concentration is connect with one end of resistance R4, the other end and triode of resistance R4
The base stage of T2 connects, and the output end of the sensor of dust concentration also connect with one end of resistance R2, the other end of resistance R2 and
The inverting input terminal of integrated transporting discharging A1 connects, and one end of resistance R1 is connect with one end of resistance R12, the other end and collection of resistance R1
It is connected at the non-inverting input terminal of amplifier A1, one end ground connection of capacitor C1, the other end of capacitor C1 is in parallel with the other end of resistance R1
It is connect afterwards with the non-inverting input terminal of integrated transporting discharging A1, the other end of resistance R2 is also connect with one end of capacitor C2, and capacitor C2's is another
One end is connect with one end of resistance R3, and the other end of resistance R3 is connect with one end of resistance R5, the other end of resistance R3 also with electricity
One end connection of R6 is hindered, the output end of integrated transporting discharging A1 is connect with the base stage of triode T1, the collector and -15V of triode T1
Power supply connection, the other end of resistance R5 are also connect with the emitter of triode T1, the other end of resistance R6 and one end of resistance R7
Connection, one end of resistance R8 are connect with the collector of triode T2, anti-phase input of the one end of resistance R8 also with integrated transporting discharging A2
End connection, the other end of resistance R6 are also connect with the other end of resistance R8, and the other end of resistance R7 is connect with+15V power supply, resistance
One end of R9 is connect with the non-inverting input terminal of integrated transporting discharging A2, and one end of resistance R9 is also connect with the collector of triode T3, electricity
The other end of resistance R9 is connect with+15V power supply, and one end of resistance R10 is connect with -15V power supply, the emitter of triode T2 and three poles
It is connect after the emitter connection of pipe T3 with the other end of resistance R10, one end of resistance R11 is connect with one end of resistance R12, resistance
The other end of R11 is connect with the base stage of triode T3, the one end resistance R13 ground connection, and the other end of resistance R12 is another with resistance R13's
One end connection, the other end of resistance R12 also connect with one end of resistance R14, and the other end of resistance R14 is defeated with integrated transporting discharging A2's
Outlet connection.
6. the environmental monitoring robot according to claim 5 based on Internet of Things, which is characterized in that the signal filtering is single
Member includes resistance R15-R21, capacitor C3-C4 and integrated transporting discharging A3-A5；
Wherein, the output end of the signal amplification unit is connect with one end of resistance R15, the other end and resistance R17 of resistance R15
One end it is in parallel after connect with the non-inverting input terminal of integrated transporting discharging A3, the other end of resistance R17 and the output end of integrated transporting discharging A3
Connection, one end ground connection of resistance R16, the non-inverting input terminal after the other end of resistance R16 is in parallel with resistance R21 with integrated transporting discharging A3
Connection, the other end of resistance R21 connect with the output end of integrated transporting discharging A4, and the other end of resistance R17 is defeated with integrated transporting discharging A3's
Connect after outlet is in parallel with one end of resistance R18, after the other end of resistance R18 is in parallel with one end of capacitor C3 with integrated transporting discharging A4
Inverting input terminal connection, the other end of capacitor C3 connect with after the parallel connection of the output end of integrated transporting discharging A4 with one end of resistance R19,
The non-inverting input terminal of integrated transporting discharging A4 is grounded, with integrated transporting discharging A5's after the other end of resistance R19 is in parallel with one end of capacitor C4
Inverting input terminal connection, the non-inverting input terminal ground connection of integrated transporting discharging A5, the other end of capacitor C4 and the output end of integrated transporting discharging A5
Connection, one end of resistance R20 are connect with the inverting input terminal of integrated transporting discharging A3, and the other end of resistance R20 is with integrated transporting discharging A5's
Output end connection, one end of resistance R21 are connect with the non-inverting input terminal of integrated transporting discharging A3, the other end of resistance R21 and integrated fortune
The output end connection of A4 is put, the output end of integrated transporting discharging A5 is connect with the port ADC of the central processing unit (1), the letter
Number processing unit will treated voltage signal V1 the is transmitted to central processing unit (1) the port ADC.
7. the environmental monitoring robot according to claim 1 based on Internet of Things, which is characterized in that the Zigbee module
It (3) include DEU data encryption unit, data transmission unit and data decryption unit；
Wherein, the user terminal (11) and the Zigbee module (3) both-way communication, the central processing unit (1) with it is described
Zigbee module (3) both-way communication, when the user terminal (11) transfers data to the central processing unit (1), the use
Family end (11) sends data to the DEU data encryption unit, and the DEU data encryption unit sends data to the data transmission
Encrypted data are transmitted to the data decryption unit, the data decryption unit pair by unit, the data transmission unit
Encrypted data are transmitted to the central processing unit (1) after being decrypted, transmit data in the central processing unit (1)
When to the user terminal (11), the central processing unit (1) sends data to the DEU data encryption unit, and the data add
Close unit sends data to the data transmission unit, and encrypted data are transmitted to the number by the data transmission unit
According to decryption unit, the data decryption unit is transmitted to the user terminal (11) after encrypted data are decrypted.
8. the environmental monitoring robot according to claim 1 based on Internet of Things, which is characterized in that described image acquisition dress
It sets (2) and is set to robot upper part position, for acquiring the image information of robot, and by the image information of acquisition
It being transmitted to described image processing unit (13), described image processing unit (13) carries out image procossing to received image information,
Treated image information by the Zigbee module (3) is transmitted to the user terminal by the central processing unit (1)
(11), by treated, image information is stored to the storage device (5) central processing unit (1), the central processing
Device (1) will treated image information display to the display device (4).
9. the environmental monitoring robot according to claim 1 based on Internet of Things, which is characterized in that the gas detection dress
Setting (8) to be arranged in robot medium position, the gas-detecting device (8) includes SO 2 sensor, nitrogen dioxide biography
Sensor, carbon dioxide sensor, carbon monoxide transducer and nitric oxide sensor, it is the SO 2 sensor, described
Nitrogen dioxide sensor, the carbon dioxide sensor, the carbon monoxide transducer and the nitric oxide sensor are adopted
Collect the gas information of robot, above-mentioned gas information is transmitted to the centre by the gas-detecting device (8)
It manages device (1), above-mentioned gas information is transmitted to the use by the Zigbee module (3) by the central processing unit (1)
Family end (11), the central processing unit (1) store above-mentioned gas information to the storage device (5), the central processing
Device (1) shows above-mentioned gas information to the display device (4).
10. the environmental monitoring robot according to claim 1 based on Internet of Things, which is characterized in that the noise measuring
It includes surveying sensor of making an uproar that device (9), which is arranged in robot medium position, the noise detection apparatus (9), described to survey sensing of making an uproar
Device acquires the noise information of robot, and above-mentioned noise information is transmitted in described by the noise detection apparatus (9)
It entreats processing unit (1), above-mentioned noise information is transmitted to institute by the Zigbee module (3) by the central processing unit (1)
It states user terminal (11), the central processing unit (1) stores above-mentioned noise information to the storage device (5), the center
Processing unit (1) shows above-mentioned noise information to the display device (4).
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| CN113160448A (en) * | 2021-03-09 | 2021-07-23 | 重庆第二师范学院 | Environment inspection system based on big data and operation mode thereof |
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