CN110757456A - Reconfigurable multi-information acquisition robot sensing module - Google Patents
Reconfigurable multi-information acquisition robot sensing module Download PDFInfo
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- CN110757456A CN110757456A CN201911023144.8A CN201911023144A CN110757456A CN 110757456 A CN110757456 A CN 110757456A CN 201911023144 A CN201911023144 A CN 201911023144A CN 110757456 A CN110757456 A CN 110757456A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/026—Acoustical sensing devices
Abstract
The invention relates to the technical field of robots, in particular to a reconfigurable multi-information acquisition robot sensing module which comprises a main module and a plurality of sub-modules, wherein the sub-modules are connected with the main module; the main module comprises a power module, a single chip microcomputer connected to the power module, a picture transmission module and a camera, wherein the multiple sub-modules are in signal connection with the single chip microcomputer, the single chip microcomputer converts information collected by the multiple sub-modules into character strings and transmits the character strings to the picture transmission module, the camera transmits collected image information to the picture transmission module, and the picture transmission module can be in wireless communication with the mobile terminal. According to the invention, each submodule transmits acquired environment information to the single chip microcomputer, the single chip microcomputer converts the acquired information into a character string form and transmits the character string form to the image transmission module, and meanwhile, the camera acquires image information and transmits the image information to the image transmission module, so that the image information can be displayed on the mobile terminal in real time. The invention can realize acquisition, processing and wireless transmission of various environmental information, and can be used for constructing a reconfigurable modular robot and transmitting acquired information through wireless communication.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a reconfigurable multi-information acquisition robot sensing module.
Background
The reconfigurable modular robot is a robot which can change configurations according to the change of tasks or environments, and the reconfigurable robot can be simply and quickly assembled into geometric configurations suitable for different tasks by combining modules, wherein the combination not only is simple mechanical reconfiguration, but also comprises reconfiguration of a control system. The reconfigurable modular robot senses environmental information by using the sensing module. However, in the existing modules for reconfigurable modular robots in the market, either a sensing module capable of sensing environmental information is lacked, or the sensing module for reconfigurable modular robots is single in information acquisition, so that the purpose of acquiring and wirelessly transmitting various environmental information by using the same sensing module cannot be realized.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a reconfigurable multi-information acquisition robot sensing module which can acquire and wirelessly transmit various environmental information.
In order to solve the technical problems, the invention adopts the technical scheme that:
the reconfigurable multi-information acquisition robot sensing module comprises a main module and a plurality of sub-modules, wherein the sub-modules are connected with the main module; the main module comprises a power module, a single chip microcomputer, a picture transmission module and a camera, wherein the single chip microcomputer, the picture transmission module and the camera are connected to the power module, the sub modules are in signal connection with the single chip microcomputer, the single chip microcomputer converts information acquired by the sub modules into a character string form and transmits the character string form to the picture transmission module, the camera transmits acquired image information to the picture transmission module, and the picture transmission module can be in wireless communication with the mobile terminal.
According to the reconfigurable multi-information acquisition robot sensing module, environmental information is acquired through each sub-module and transmitted to the single chip microcomputer, the single chip microcomputer converts the acquired information into a character string form and transmits the character string form to the image transmission module, meanwhile, the camera acquires image information and transmits the image information to the image transmission module, the image transmission module processes the information and then transmits the information to the mobile terminal, and an operator can check the environmental information acquired by all the sensors through the mobile terminal. The invention can realize acquisition and wireless transmission of various environmental information, and can be used for constructing a reconfigurable modular robot and transmitting the acquired information through wireless communication.
Furthermore, the submodule is four groups, and the submodules are respectively a temperature and humidity monitoring sensor, an ultrasonic ranging sensor, a sound sensor and a flame identification sensor. Temperature and humidity monitoring sensor is used for monitoring environment humiture, and ultrasonic ranging sensor is arranged in the distance of detection robot apart from the barrier, and sound transducer is arranged in detecting the surrounding environment sound, and flame identification sensor is arranged in detecting the environment flame signal, and each submodule piece and camera function in parallel, can select for use one kind or multiple information acquisition function during the application.
Furthermore, the temperature and humidity monitoring sensor, the ultrasonic ranging sensor and the single chip microcomputer are in serial port communication, and the sound sensor, the flame identification sensor and the single chip microcomputer are in I/O port communication.
Furthermore, the image transmission module is internally provided with a wifi module, and the image transmission module is communicated with the mobile terminal through wifi. The wifi module gives the picture to pass the module with wifi communication function, passes the mobile terminal to the string with wifi form.
Furthermore, the sensing module further comprises a shell, the main module is arranged inside the shell, the sub-module is arranged outside the shell, and the shell is provided with a module connecting port for connecting with other modules of the robot. The main module and each sub-module are integrated together, so that the main modules and the sub-modules can be conveniently and quickly installed through the module connectors; the module connecting port can be correspondingly adjusted according to the connection requirement, so that the compatibility of the sensing module is improved.
Further, the casing is equipped with the multiunit jack, humiture monitoring sensor, ultrasonic ranging sensor, sound sensor and flame identification sensor all are equipped with the row needle, the row needle passes the jack and is connected with the singlechip. Through the mode that the pin header is connected with the singlechip, make and to connect at will and demolish between every submodule piece and the main module, every submodule piece and camera are the parallel operation, thereby can choose one kind or multiple information acquisition function wantonly in a flexible way.
Further, the casing is including dismantling the epitheca and the inferior valve of connection, the epitheca is planar structure, the inferior valve is equipped with concave position. The provision of a detachable connection between the upper and lower shells facilitates the assembly of the main module and each sub-module.
Furthermore, sound sensor, flame identification sensor and temperature and humidity sensor all locate the epitheca, ultrasonic ranging sensor installs in concave position. The upper shell is of a plane structure, so that the sub-modules can be conveniently installed, the concave positions are arranged, the space is fully utilized, and the appearance is attractive.
Further, the periphery of sound sensor, flame identification sensor, ultrasonic ranging sensor and temperature and humidity sensor all wraps up there is the shell. The arrangement of the shell plays a role in protecting each sensor.
Further, the sound sensor is an YL-56 sound sensor, the ultrasonic ranging sensor is an US-100 ultrasonic ranging module, the flame identification sensor is an YL-38 flame identification sensor, and the temperature and humidity sensor is a DHT11 digital temperature and humidity sensor.
Compared with the prior art, the invention has the beneficial effects that:
according to the reconfigurable multi-information acquisition robot sensing module, the image sensing module receives the environment information acquired by each sub-module and the image information acquired by the camera, each sub-module and the camera operate in parallel, one or more information acquisition functions can be selected during application, and the reconfigurable multi-information acquisition robot sensing module can be used for constructing a reconfigurable modular robot and transmitting the acquired information through wireless communication.
Drawings
FIG. 1 is a power supply line diagram of a reconfigurable multi-information acquisition robot sensing module;
FIG. 2 is a signal transmission diagram of a reconfigurable multi-information acquisition robot sensing module;
FIG. 3 is a logic diagram of the operation of a reconfigurable multi-information acquisition robot sensing module;
FIG. 4 is a schematic structural diagram of a reconfigurable multi-information-gathering robot sensing module;
FIG. 5 is an exploded view of a reconfigurable multi-information-gathering robotic sensor module;
FIG. 6 is an exploded view of a temperature and humidity monitoring sensor;
FIG. 7 is an exploded view of an ultrasonic ranging sensor;
FIG. 8 is an exploded view of the acoustic sensor;
FIG. 9 is an exploded view of a flame identification sensor;
in the drawings: 1-a main module; 11-a power supply module; 12-a single chip microcomputer; 13-a graph transmission module; 14-a camera; 2-submodule; 21-temperature and humidity monitoring sensor; 22-ultrasonic ranging sensor; 23-a sound sensor; 24-a flame identification sensor; 25-a first row of needles; 26-a second row of needles; 27-a third row of needles; 28-fourth row of needles; 3-a mobile terminal; 4-a shell; 41-module connecting port; 42-a jack; 43-upper shell; 44-a lower shell; 45-concave position.
Detailed Description
The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.
Examples
Fig. 1 to 3 show an embodiment of a reconfigurable multi-information-collection robot sensing module according to the present invention, which includes a main module 1 and a plurality of sub-modules 2, where the plurality of sub-modules 2 are connected to the main module 1; the main module 1 comprises a power module 11, a single chip microcomputer 12 connected to the power module 11, a picture transmission module 13 and a camera 14, the sub-modules 2 are in signal connection with the single chip microcomputer 12, the single chip microcomputer 12 converts information collected by the sub-modules 2 into character strings and transmits the character strings to the picture transmission module 13, the camera 14 transmits collected image information to the picture transmission module 13, and the picture transmission module 13 can be in wireless communication with the mobile terminal 3. The single chip microcomputer 12 of the embodiment adopts the stm32 single chip microcomputer 12, the power supply module 11 supplies power to the stm32 single chip microcomputer 12, the stm32 single chip microcomputer 12 converts the voltage value into the size suitable for each module and the image transmission module 13 and supplies power, and the image transmission module 13 is directly connected with the camera 14 and supplies power; the main module 1 of the sensing module of the embodiment has an independent power supply, can be compatible with any set of reconfigurable modular robot, and can be widely applied to all occasions needing various sensors to collect information.
In the implementation of the embodiment, the environment information is collected by each sub-module 2 and transmitted to the single chip microcomputer 12, the single chip microcomputer 12 converts the collected information into a character string form and transmits the character string form to the image transmission module 13, the camera 14 collects the image information and transmits the image information to the image transmission module 13, the image transmission module 13 processes the information and then transmits the information to the mobile terminal 3, and an operator can check the environment information collected by all the sensors through the mobile terminal 3.
As shown in fig. 1 and 2, the sub-modules 2 are four groups, which are respectively a temperature and humidity monitoring sensor 21, an ultrasonic distance measuring sensor 22, an acoustic sensor 23 and a flame recognition sensor 24. The temperature and humidity monitoring sensor 21 is used for monitoring the temperature and humidity of the environment, the ultrasonic distance measuring sensor 22 is used for detecting the distance between the robot and an obstacle, the sound sensor 23 is used for detecting sound in the surrounding environment, the flame recognition sensor 24 is used for detecting flame signals in the environment, each sensor and the camera 14 run in parallel, and one or more information acquisition functions can be selected during application. It should be noted that the sensors included in the sub-module 2 of this embodiment are not limited to the number and the types of the present embodiment, and can be adjusted accordingly according to the actual application. The temperature and humidity monitoring sensor 21, the ultrasonic ranging sensor 22 and the single chip microcomputer 12 are in serial port communication, and the sound sensor 23, the flame identification sensor 24 and the single chip microcomputer 12 are in I/O port communication. In order to facilitate the communication between the graph transmission module 13 and the mobile terminal 3, a wifi module is built in the graph transmission module 13 of the embodiment, the graph transmission module 13 communicates with the mobile terminal 3 through wifi, and the graph transmission module 13 transmits the character string to the mobile terminal 3 in a wifi form.
As shown in fig. 4 and 5, the sensing module further includes a housing 4, the main module 1 is disposed inside the housing 4, the sub-module 2 is disposed outside the housing 4, the housing 4 is provided with a module connector 41 for connecting with other modules of the robot, and the structure and shape of the module connector 41 can be adjusted according to the connection requirement. Therefore, the main modules 1 and the sub modules 2 are integrated, the size is saved, the installation is convenient, and the sensing module can be endowed with better compatibility.
The casing 4 is provided with a plurality of groups of jacks 42, the temperature and humidity monitoring sensor 21, the ultrasonic distance measuring sensor 22, the sound sensor 23 and the flame identification sensor 24 are provided with pins, the pins penetrate through the jacks 42 and are connected with the single chip microcomputer 12, and the temperature and humidity monitoring sensor 21, the ultrasonic distance measuring sensor 22, the sound sensor 23 and the flame identification sensor 24 are respectively represented as a first pin 25, a second pin 26, a third pin 27 and a fourth pin 28, as shown in fig. 6 to 9. The single chip microcomputer 12 is connected with the sub-modules 2 and the main module 1 in a pin header mode, so that the sub-modules 2 and the main module 1 can be connected and detached at will, the sub-modules 2 and the cameras 14 operate in parallel, and one or more information acquisition functions can be selected flexibly and freely.
In order to facilitate the connection of the sub-module 2 with the housing 4 of the main module 1, the housing 4 of the present embodiment includes an upper shell 43 and a lower shell 44 which are detachably connected, and the upper shell 43 has a planar structure, and the lower shell 44 has a concave portion 45. Wherein, sound sensor 23, flame identification sensor 24 and temperature and humidity sensor all locate upper shell 43, and ultrasonic ranging sensor 22 installs in concave position 45, and like this, sensing module's compact structure, outward appearance are pleasing to the eye.
In the present embodiment, specific types of each sub-module 2 are selected as follows, but this is only preferred for obtaining better monitoring performance, and is not a limiting provision:
the ultrasonic ranging sensor 22 is a US-100 ultrasonic ranging module in model number, can realize a non-contact ranging function of 2 cm-4.5 m, has a wide voltage input range of 2.4-5.5V, has static power consumption lower than 2mA, is provided with a temperature sensor for correcting a ranging result, and has various communication modes such as GPIO (general purpose input) and serial ports, and the work is stable and reliable;
the acoustic sensor 23 is a type YL-56 acoustic sensor that can detect the sound intensity of the surrounding environment. When the sound intensity reaches a threshold value, a signal is output from the output end, the output form is a digital switching value (1 or 0), and the threshold value can be adjusted by a digital potentiometer; the digital output D0 can be directly connected with the single chip microcomputer 12, and the single chip microcomputer 12 is used for detecting high and low levels, so that the environmental sound is detected;
the flame identification sensor 24 is a flame identification sensor with the model of YL-38 and can be used for identifying whether flame exists near the sensor, the larger the flame is, the farther the test distance is, and the sensitivity of the sensor can be adjusted through a blue digital potentiometer on the sensor; the flame sensor is sensitive to flame, is also reactive to common light, can identify the wavelength of the common light between 760 nanometers and 1100 nanometers, and is generally used for purposes such as flame alarm and the like; the output interface of the flame recognition sensor 24 can be directly connected with the I/O port of the singlechip 12, and the output form is digital output (0 and 1);
the temperature and humidity monitoring sensor is a DHT11 digital temperature and humidity sensor which is a temperature and humidity composite sensor with calibrated digital signal output; the system applies a special digital module acquisition technology and a temperature and humidity sensing technology to ensure that a product has extremely high reliability and excellent long-term stability, and transmits data in a Uart communication mode.
In order to protect the working stability and the service life of each sensor, the outer peripheries of the sound sensor 23, the flame recognition sensor 24, the ultrasonic distance measurement sensor 22 and the temperature and humidity sensor are wrapped by the outer shells in the embodiment.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A reconfigurable multi-information acquisition robot sensing module is characterized by comprising a main module (1) and a plurality of sub-modules (2), wherein the sub-modules (2) are connected with the main module (1); the main module (1) comprises a power module (11), a single chip microcomputer (12) connected to the power module (11), a picture transmission module (13) and a camera (14), a plurality of sub-modules (2) are in signal connection with the single chip microcomputer (12), the single chip microcomputer (12) converts information collected by the sub-modules (2) into a character string and transmits the character string to the picture transmission module (13), the camera (14) transmits collected image information to the picture transmission module (13), and the picture transmission module (13) can be in wireless communication with the mobile terminal (3).
2. A reconfigurable multi-information-gathering robot sensing module according to claim 1, wherein the sub-modules (2) are four groups, namely a temperature and humidity monitoring sensor (21), an ultrasonic ranging sensor (22), an acoustic sensor (23) and a flame recognition sensor (24).
3. The reconfigurable multi-information acquisition robot sensing module according to claim 2, wherein the temperature and humidity monitoring sensor, the ultrasonic ranging sensor (22) and the single chip microcomputer (12) are in serial port communication, and the sound sensor (23), the flame recognition sensor (24) and the single chip microcomputer (12) are in I/O port communication.
4. The reconfigurable multi-information-gathering robot sensing module according to claim 1, wherein a wifi module is built in the image-sensing module (13), and the image-sensing module (13) communicates with the mobile terminal (3) through wifi.
5. A reconfigurable multi-information-gathering robot sensing module according to any of claims 2 to 4, characterized in that the sensing module further comprises a housing (4), the main module (1) is disposed inside the housing (4), the sub-module (2) is disposed outside the housing (4), and the housing (4) is provided with a module connection port (41) for connecting with other modules of the robot.
6. The reconfigurable multi-information acquisition robot sensing module according to claim 5, wherein the housing (4) is provided with a plurality of groups of jacks (42), the temperature and humidity monitoring sensor (21), the ultrasonic ranging sensor (22), the sound sensor (23) and the flame recognition sensor (24) are provided with pins, and the pins penetrate through the jacks (42) to be connected with the single chip microcomputer (12).
7. A reconfigurable multi-information-gathering robot sensing module according to claim 5, characterized in that the housing (4) comprises an upper shell (43) and a lower shell (44) which are detachably connected, the upper shell (43) is of a planar structure, and the lower shell (44) is provided with a concave position (45).
8. The reconfigurable multi-information-gathering robot sensing module according to claim 7, wherein the sound sensor (23), the flame recognition sensor (24) and the temperature and humidity sensor are all disposed on the upper housing (43), and the ultrasonic ranging sensor (22) is mounted in a concave position (45).
9. The reconfigurable multi-information-gathering robot sensing module according to claim 8, wherein the sound sensor (23), the flame recognition sensor (24), the ultrasonic ranging sensor (22) and the temperature and humidity sensor are all wrapped by a housing.
10. A reconfigurable multi-information-gathering robot sensing module according to any of claims 6 to 9, wherein the acoustic sensor (23) is an YL-56 acoustic sensor, the ultrasonic ranging sensor (22) is a US-100 ultrasonic ranging module, the flame recognition sensor (24) is an YL-38 flame recognition sensor, and the temperature and humidity sensor is a DHT11 digital temperature and humidity sensor.
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| CN201911023144.8A CN110757456A (en) | 2019-10-25 | 2019-10-25 | Reconfigurable multi-information acquisition robot sensing module |
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Cited By (1)
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Application publication date: 20200207 |