CN205306899U - Indoor SLAM dangerous situation detects and monitors intelligent cleaning machines people of integration - Google Patents
Indoor SLAM dangerous situation detects and monitors intelligent cleaning machines people of integration Download PDFInfo
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- CN205306899U CN205306899U CN201521142034.0U CN201521142034U CN205306899U CN 205306899 U CN205306899 U CN 205306899U CN 201521142034 U CN201521142034 U CN 201521142034U CN 205306899 U CN205306899 U CN 205306899U
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- carbon monoxide
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Abstract
The utility model discloses an indoor SLAM dangerous situation detects and monitors intelligent cleaning machines people of integration, include chassis and the shell that covers the chassis, install running gear in the bottom on chassis, install infrared obstacle avoidance module, carbon monoxide and flame detection module, LN drive module, camera module, electron gyroscope and acceleration sensor module, STM obs core control module, ultrasonic module at the top surface on chassis, and the STM obs core control module corresponds with ultrasonic module with infrared obstacle avoidance module, carbon monoxide and flame detection module, LN drive module, camera module, electron gyroscope and acceleration sensor module respectively to be connected, and wherein LN drive module is connected with the running gear drive, offered ji chenkou on lieing in two chassis between the brush, jichenkou passes through the pipe and is connected with dust extraction, and dust extraction is connected with the dust -collecting box. The utility model discloses can carry out indoor dangerous situation and detect and real time monitoring, make cleaning machines people's function intelligent more powerful.
Description
Technical field
The utility model relates to clean robot technical field, relates in particular to a kind of indoor SLAM dangerous situation detecting & monitoring integral intelligent clean robot.
Background technology
Along with the raising of domestic level, clean robot has been come into huge numbers of families gradually in recent years, becomes gradually clean helper indispensable in people's daily life. Although clean robot in the market can complete indoor clean up task preferably, still perfect not for the planning in indoor positioning technology and path. Under the assorted many environment of barrier, in cleaning course, inevitably can cause subregion to repeat to clean, even omit cleaning area.
In benefit on city people working day busy today, also cause gradually people's attention for the safety monitoring in house. But single camera head monitor can only complete the monitoring of specific region, single security protection detecting instrument is intelligence not, and pure security robot again cost is higher.
The utility model is by the improvement to traditional clean robot technology, and loads security protection detection module thereon and camera is monitored in real time, can improve the intelligent cleaning degree of clean robot, expands the function of clean robot.
Utility model content
The purpose of this utility model is the shortcoming existing in prior art in order to solve, and the indoor SLAM dangerous situation of the one detecting & monitoring integral intelligent clean robot proposing.
To achieve these goals, the utility model has adopted following technical scheme:
A kind of indoor SLAM dangerous situation detecting & monitoring integral intelligent clean robot, comprises the shell that He Jiang chassis, chassis covers, and in the bottom on chassis, running gear is installed; At the end face on chassis, infrared obstacle avoidance module, carbon monoxide and flame detection module, LN driver module, camera module, electronic gyroscope and acceleration sensor module, STM kernel control module, ultrasonic wave module are installed; And STM kernel control module is connected with infrared obstacle avoidance module, carbon monoxide and flame detection module, LN driver module, camera module, electronic gyroscope and acceleration sensor module are corresponding with ultrasonic wave module respectively, wherein LN driver module drives and is connected with running gear; At two hairbrush of the symmetrical installation in the bottom surface on chassis, and two hairbrush are connected with the motor being arranged on chassis respectively; On the chassis between two hairbrush, offer dust collecting opening, dust collecting opening is connected with dust exhaust apparatus by conduit, and dust exhaust apparatus is connected with dust-collecting box.
Preferably, running gear comprises universal wheel and two rollers; Universal wheel is positioned at the one end on chassis, and two rollers are positioned at the other end on chassis, and two rollers are distributed in the both sides on chassis.
Preferably, on two rollers, be all set with return pulley shell, and return pulley shell is fixedly connected with chassis; Be provided with robot rear plastic protective layer on chassis away from one end of universal wheel; Universal wheel is connected with LN driver module by transmission mechanism.
Preferably, carbon monoxide and flame detection module and infrared obstacle avoidance module are positioned at the one end on chassis; Infrared obstacle avoidance module is two, and is symmetrical arranged about carbon monoxide and flame detection module; Carbon monoxide and flame detection module and infrared obstacle avoidance module run through shell exposed in shell outside, and ultrasonic wave module is arranged on the bottom surface on chassis near one end of carbon monoxide and flame detection module.
Preferably, dust-collecting box is positioned at dust-collecting box shell, and dust-collecting box shell is fixedly installed on chassis.
Preferably, in dust-collecting box, by fixture, ultraviolet germicidal lamp is installed, ultraviolet germicidal lamp connection corresponding to STM kernel control module.
Preferably, also comprise robot shift knob, and shift knob connection corresponding to STM kernel control module.
The indoor SLAM dangerous situation of the one detecting & monitoring integral intelligent clean robot the utility model proposes, adopt dead reckoning as clean robot indoor positioning technology, utilize the sensor of the descriptions such as gyroscope, electronic compass, mileage coder self body movement state, taking acceleration, speed, displacement and angular acceleration, angular speed, angle, as research object, calculate voluntarily the travel track of robot by the Mathematical Modeling under two-dimensional kinematics framework. Combine with territory, unit split plot design and neural network, then coordinate the structure ground drawing method combining with characteristics map and grating map to realize structure and the path planning to environment. In addition, in view of the operating characteristic of clean robot, camera, Carbon Monoxide Detection module, flame detection module are equipped on sweeping robot, carry out multi-sensor information fusion by associating filtering algorithm in conjunction with classical Kalman filtering system algorithm, can carry out indoor dangerous situation and detect and monitor in real time, make the function of clean robot more intelligent powerful.
The utility model, for the operating characteristic of clean robot, loads ultraviolet germicidal lamp at clean robot front end, and unlatching in the time that it carries out cleaning works, carries out further cleaning to indoor environment. Having carried CO gas detection module is MQ-7 CO gas detection module, flame detection module, and for indoor common dangerous situation is detected, the generation of Accident prevention. Carried voice module, when in the time that Indoor Environment Detection exceedes normal concentration to naked light or CO gas, voice module just sends a warning at once, reminds owner to remove a hidden danger, the generation of Accident prevention at once. Front end has carried camera, and carries out transfer of data by wifi module, is convenient to owner and situation is within doors monitored in real time outside time. Carry HC-SR501 human body infrared induction module, for detect the existence that has or not human body in detection range. When human body detected in detection range time, clean robot is opened camera head monitor function. The utility model uses associating filtering algorithm to carry out multi-sensor information fusion in conjunction with classical Kalman filtering system algorithm, makes the collection estimation of data more accurate with processing.
Brief description of the drawings
Fig. 1 is the structure top view of a kind of indoor SLAM dangerous situation detecting & monitoring integral intelligent clean robot that the utility model proposes;
Fig. 2 is the structure side view of a kind of indoor SLAM dangerous situation detecting & monitoring integral intelligent clean robot that the utility model proposes;
Fig. 3 is the polycrystalline substance schematic diagram of a kind of indoor SLAM dangerous situation detecting & monitoring integral intelligent clean robot that the utility model proposes;
Fig. 4 is the system architecture schematic diagram of a kind of indoor SLAM dangerous situation detecting & monitoring integral intelligent clean robot that the utility model proposes.
In figure: 1 is infrared obstacle avoidance module, 2 is carbon monoxide and flame detection module, and 3 is dust-collecting box, and 4 is L298N driver module, 5 is camera module, 6 is electronic gyroscope and acceleration sensor module, and 7 is STM32 kernel control module, and 8 is ultrasonic wave module, 9 is universal wheel, 10 is hairbrush, and 11 is dust collecting opening, and 12 is roller.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is clearly and completely described, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiment.
With reference to Fig. 1-4, a kind of indoor SLAM dangerous situation detecting & monitoring integral intelligent clean robot, comprises the shell that He Jiang chassis, chassis covers, and in the bottom on chassis, running gear is installed; At the end face on chassis, infrared obstacle avoidance module 1, carbon monoxide and flame detection module 2, L298N driver module 4, camera module 5, electronic gyroscope and acceleration sensor module 6, STM32 kernel control module 7, ultrasonic wave module 8 are installed; And STM32 kernel control module 7 is connected with infrared obstacle avoidance module 1, carbon monoxide and flame detection module 2, L298N driver module 4, camera module 5, electronic gyroscope and acceleration sensor module 6 are corresponding with ultrasonic wave module 8 respectively, also comprise robot shift knob, and shift knob connection corresponding to STM32 kernel control module 7. Wherein L298N driver module 4 drives and is connected with running gear; At two hairbrush 10 of the symmetrical installation in the bottom surface on chassis, and two hairbrush 10 are connected with the motor being arranged on chassis respectively; On the chassis between two hairbrush 10, offer dust collecting opening 11, dust collecting opening 11 is connected with dust exhaust apparatus by conduit, and dust exhaust apparatus is connected with dust-collecting box 3.
In the utility model, running gear comprises universal wheel 9 and two rollers 12; Universal wheel 9 is positioned at the one end on chassis, and two rollers 12 are positioned at the other end on chassis, and two rollers 12 are distributed in the both sides on chassis. On two rollers 12, be all set with return pulley shell, and return pulley shell is fixedly connected with chassis; Be provided with robot rear plastic protective layer on chassis away from one end of universal wheel 9; Universal wheel 9 is connected with L298N driver module 4 by transmission mechanism.
In the utility model, carbon monoxide and flame detection module 2 and infrared obstacle avoidance module 1 are positioned at the one end on chassis; Infrared obstacle avoidance module 1 is two, and is symmetrical arranged about carbon monoxide and flame detection module 2; Carbon monoxide and flame detection module 2 run through shell exposed in shell outside with infrared obstacle avoidance module 1, and ultrasonic wave module 8 is arranged on the bottom surface on chassis near one end of carbon monoxide and flame detection module 2.
In the utility model, dust-collecting box 3 is positioned at dust-collecting box shell, and dust-collecting box shell is fixedly installed on chassis. In dust-collecting box 3, by fixture, ultraviolet germicidal lamp is installed, ultraviolet germicidal lamp connection corresponding to STM32 kernel control module 7.
The utility model security protection and monitoring function embodiment are as follows: carried carbon monoxide and flame detection module 2 at clean robot front end, when clean robot is in the time that Indoor Environment Detection exceedes normal concentration to naked light or CO gas, send a warning by voice module at once, remind owner to remove a hidden danger, the generation of Accident prevention at once. Camera module 5, human body infrared induction module are carried at clean robot front end, when clean robot detects human response's existence in detection range, open camera head monitor function, and carry out transfer of data by wifi module, be convenient to owner and situation within doors monitored in real time outside time.
The utility model overall operational scheme is as follows: by the setting of pattern, can, according to the mission requirements under varying environment, select different functional modes to clean robot. In the time pressing clean robot shift knob, robot starts stand-by operation. Under cleaning mode, robot starts cleaning, opens ultraviolet germicidal lamp in cleaning course simultaneously, and indoor environment is carried out to further cleaning. In the time that owner leaves home, can be set to security protection state by robot. When clean robot is in the time that Indoor Environment Detection exceedes normal concentration to naked light or CO gas, send a warning by voice module, and by wifi, warning information is transferred out at once, remind owner to remove a hidden danger, the generation of Accident prevention at once. When clean robot detects human response's existence in detection range, open camera head monitor function, and carry out transfer of data by wifi module, be convenient to owner and situation within doors monitored in real time outside time. Prevent thief's burglary, if owner returns, can pass through voluntarily remote closing monitoring function.
The above; it is only preferably detailed description of the invention of the utility model; but protection domain of the present utility model is not limited to this; any be familiar with those skilled in the art the utility model disclose technical scope in; be equal to replacement or changed according to the technical solution of the utility model and utility model design thereof, within all should being encompassed in protection domain of the present utility model.
Claims (7)
1. an indoor SLAM dangerous situation detecting & monitoring integral intelligent clean robot, comprises the shell that He Jiang chassis, chassis covers, and it is characterized in that, in the bottom on chassis, running gear is installed; At the end face on chassis, infrared obstacle avoidance module, carbon monoxide and flame detection module, L298N driver module, camera module, electronic gyroscope and acceleration sensor module, STM32 kernel control module, ultrasonic wave module are installed; And STM32 kernel control module is connected with infrared obstacle avoidance module, carbon monoxide and flame detection module, L298N driver module, camera module, electronic gyroscope and acceleration sensor module are corresponding with ultrasonic wave module respectively, wherein L298N driver module drives and is connected with running gear; At two hairbrush of the symmetrical installation in the bottom surface on chassis, and two hairbrush are connected with the motor being arranged on chassis respectively; On the chassis between two hairbrush, offer dust collecting opening, dust collecting opening is connected with dust exhaust apparatus by conduit, and dust exhaust apparatus is connected with dust-collecting box.
2. the indoor SLAM dangerous situation of one according to claim 1 detecting & monitoring integral intelligent clean robot, is characterized in that, running gear comprises universal wheel and two rollers; Universal wheel is positioned at the one end on chassis, and two rollers are positioned at the other end on chassis, and two rollers are distributed in the both sides on chassis.
3. the indoor SLAM dangerous situation of one according to claim 2 detecting & monitoring integral intelligent clean robot, is characterized in that, be all set with return pulley shell, and return pulley shell is fixedly connected with on two rollers with chassis; Be provided with robot rear plastic protective layer on chassis away from one end of universal wheel; Universal wheel is connected with L298N driver module by transmission mechanism.
4. the indoor SLAM dangerous situation of one according to claim 1 detecting & monitoring integral intelligent clean robot, is characterized in that, carbon monoxide and flame detection module and infrared obstacle avoidance module are positioned at the one end on chassis; Infrared obstacle avoidance module is two, and is symmetrical arranged about carbon monoxide and flame detection module; Carbon monoxide and flame detection module and infrared obstacle avoidance module run through shell exposed in shell outside, and ultrasonic wave module is arranged on the bottom surface on chassis near one end of carbon monoxide and flame detection module.
5. the indoor SLAM dangerous situation of one according to claim 1 detecting & monitoring integral intelligent clean robot, is characterized in that, dust-collecting box is positioned at dust-collecting box shell, and dust-collecting box shell is fixedly installed on chassis.
6. a kind of indoor SLAM dangerous situation detecting & monitoring integral intelligent clean robot according to claim 1 or 5, it is characterized in that, in dust-collecting box, by fixture, ultraviolet germicidal lamp is installed, ultraviolet germicidal lamp connection corresponding to STM32 kernel control module.
7. the indoor SLAM dangerous situation of one according to claim 1 detecting & monitoring integral intelligent clean robot, is characterized in that, also comprises robot shift knob, and shift knob connection corresponding to STM32 kernel control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521142034.0U CN205306899U (en) | 2015-12-30 | 2015-12-30 | Indoor SLAM dangerous situation detects and monitors intelligent cleaning machines people of integration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521142034.0U CN205306899U (en) | 2015-12-30 | 2015-12-30 | Indoor SLAM dangerous situation detects and monitors intelligent cleaning machines people of integration |
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| Publication Number | Publication Date |
|---|---|
| CN205306899U true CN205306899U (en) | 2016-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521142034.0U Expired - Fee Related CN205306899U (en) | 2015-12-30 | 2015-12-30 | Indoor SLAM dangerous situation detects and monitors intelligent cleaning machines people of integration |
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| CN (1) | CN205306899U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272467A (en) * | 2016-09-18 | 2017-01-04 | 深圳前海高森智能科技有限公司 | Based on dynamic environment change autonomous formula atomization disinfection robot |
| CN107320022A (en) * | 2017-08-31 | 2017-11-07 | 西南交通大学 | Toilet intelligent cleaning robot |
| CN108664030A (en) * | 2018-05-23 | 2018-10-16 | 上海圭目机器人有限公司 | A kind of intelligent disinfecting robot system |
| CN108776473A (en) * | 2018-05-23 | 2018-11-09 | 上海圭目机器人有限公司 | A kind of working method of intelligent disinfecting robot |
| CN109144067A (en) * | 2018-09-17 | 2019-01-04 | 长安大学 | A kind of Intelligent cleaning robot and its paths planning method |
| EP3428897A1 (en) * | 2017-07-12 | 2019-01-16 | Honeywell International Inc. | Optical flame detector |
| CN109497891A (en) * | 2018-12-06 | 2019-03-22 | 河池学院 | A kind of sweeping robot system |
| CN112666933A (en) * | 2019-10-16 | 2021-04-16 | 杭州萤石软件有限公司 | Intelligent equipment control method, robot and intelligent equipment control system |
-
2015
- 2015-12-30 CN CN201521142034.0U patent/CN205306899U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272467A (en) * | 2016-09-18 | 2017-01-04 | 深圳前海高森智能科技有限公司 | Based on dynamic environment change autonomous formula atomization disinfection robot |
| EP3428897A1 (en) * | 2017-07-12 | 2019-01-16 | Honeywell International Inc. | Optical flame detector |
| US10539458B2 (en) | 2017-07-12 | 2020-01-21 | Honeywell International Inc. | Optical flame detector |
| CN107320022A (en) * | 2017-08-31 | 2017-11-07 | 西南交通大学 | Toilet intelligent cleaning robot |
| CN108664030A (en) * | 2018-05-23 | 2018-10-16 | 上海圭目机器人有限公司 | A kind of intelligent disinfecting robot system |
| CN108776473A (en) * | 2018-05-23 | 2018-11-09 | 上海圭目机器人有限公司 | A kind of working method of intelligent disinfecting robot |
| CN109144067A (en) * | 2018-09-17 | 2019-01-04 | 长安大学 | A kind of Intelligent cleaning robot and its paths planning method |
| CN109144067B (en) * | 2018-09-17 | 2021-04-27 | 长安大学 | Intelligent cleaning robot and path planning method thereof |
| CN109497891A (en) * | 2018-12-06 | 2019-03-22 | 河池学院 | A kind of sweeping robot system |
| CN112666933A (en) * | 2019-10-16 | 2021-04-16 | 杭州萤石软件有限公司 | Intelligent equipment control method, robot and intelligent equipment control system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160615 Termination date: 20161230 |
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| CF01 | Termination of patent right due to non-payment of annual fee |