CN205485513U - Microgrid robot - Google Patents
Microgrid robot Download PDFInfo
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- CN205485513U CN205485513U CN201620294077.9U CN201620294077U CN205485513U CN 205485513 U CN205485513 U CN 205485513U CN 201620294077 U CN201620294077 U CN 201620294077U CN 205485513 U CN205485513 U CN 205485513U
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- 238000012544 monitoring process Methods 0.000 claims abstract description 35
- 238000012545 processing Methods 0.000 claims abstract description 34
- 230000000087 stabilizing effect Effects 0.000 claims description 11
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 7
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000010248 power generation Methods 0.000 abstract 1
- 230000005611 electricity Effects 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 4
- 230000007774 longterm Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004378 air conditioning Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000036772 blood pressure Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P80/00—Climate change mitigation technologies for sector-wide applications
- Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier
Abstract
The utility model belongs to the technical field of little power network monitoring control, especially, relate to a microgrid robot. Including senior perceiving module and sensor module, senior perceiving module and sensor module be connected with central processing unit respectively, central processing unit be connected with power module through the mechanical control module, sensor module be connected with battery module through the battery management module, battery module and battery management module between still be equipped with the photovoltaic power generation module. The advantage lies in: possessing the controllability to little electric wire netting, effectively helping the user to accomplish the monitoring and control to little electric wire netting, can effectively help the problem of the little electric wire netting of user management family or enterprise, including the monitoring of the current equipment power consumption condition, video monitoring, all ring edge border humiture monitoring etc. Family and enterprise's power consumption are more safe, do benefit to energy saving and emission reduction, whole reasonable in design.
Description
Technical field
This utility model belongs to micro-capacitance sensor Monitoring and Controlling technical field, especially relates to a kind of microgrid robot.
Background technology
At present, known domestic and power industry use robot to be all to possess power equipment monitoring function, do not possesses the control ability to micro-capacitance sensor, user can not be effectively helped to complete the monitoring to micro-capacitance sensor and control, user can not be effectively helped to manage family or the problem of enterprise's micro-capacitance sensor, i.e. can not be monitored family or enterprise's micro-capacitance sensor place environment, including current device electricity consumption condition monitoring, video surveillance, surrounding enviroment temperature-humidity monitoring etc., family and business electrical are the safest.
In order to improve prior art, people have carried out long-term exploration, it is proposed that various solutions.Such as, Chinese patent literature discloses a kind of micro-capacitance sensor monitoring and energy management apparatus [application number: CN201320394312.6], including main controller module and microclimate information monitoring module, main controller module includes CPU module, stores module, communication module and supplementary module, and microclimate information monitoring module includes transit module and field monitoring module.
Although such scheme to some extent solves the deficiencies in the prior art, but does not possess the control ability to micro-capacitance sensor, it is impossible to effectively help user to complete the monitoring to micro-capacitance sensor and control, it is impossible to effectively to help user to manage family or the problem of enterprise's micro-capacitance sensor.
Utility model content
The purpose of this utility model is for the problems referred to above, it is provided that a kind of reasonable in design, simple in construction, it is possible to the microgrid robot monitoring micro-capacitance sensor with controlling.
For reaching above-mentioned purpose, this utility model have employed following technical proposal: this microgrid robot, it is characterized in that, including senior sensing module and sensor module, described senior sensing module is connected with central processing unit respectively with sensor module, described central processing unit is connected with power plant module by machine control modules, and described sensor module is connected with battery module by battery management module, is additionally provided with photovoltaic generating module between described battery module and battery management module.Battery module is for intervening the power system of robot self, solar energy and tradition electric energy can be utilized by active balance, reach economize on electricity and the purpose run steady in a long-term, machine control modules is used for controlling robot motion, including end disk-drive motor and camera pan-tilt, it is controlled by central processing unit, central processing unit is the data processing core of robot, possesses the control ability to micro-capacitance sensor, user can be effectively helped to complete the monitoring to micro-capacitance sensor and control, user can be effectively helped to manage family or the problem of enterprise's micro-capacitance sensor, including current device electricity consumption condition monitoring, video surveillance, surrounding enviroment temperature-humidity monitoring etc., family and business electrical are safer, it is beneficial to energy-saving and emission-reduction, global design is reasonable.
In above-mentioned microgrid robot, described power plant module includes that car body drives motor and The Cloud Terrace module, described car body to drive motor to include that two minisize dc reducing motors, described The Cloud Terrace module include two steering wheels.Car body drives motor to carry out rotating speed and rotating control, thus before and after completing robot, multi-angle is moved, The Cloud Terrace module Angle ambiguity, it is possible to carry out 180 degree of rotations at level and vertical angle respectively.
In above-mentioned microgrid robot, described machine control modules includes RoMeo BLE controller and Bluno Romeo controller, and described RoMeo BLE controller and Bluno Romeo controller are equipped with can the 3PIN I/O expansion interface of compatible DFRobot module completely.Controller be carry bluetooth 4.0 compatible Arduino again aim at the control mainboard that robot application designs, Arduino Open Source Platform of being benefited, integrated 2 road direct current L298P motor driver and wireless sockets.
In above-mentioned microgrid robot, described sensor module includes sensor groups and can connect the sensor panel processing the data signal that sensor groups returns, and described sensor groups includes temperature sensor, humidity sensor, ultrasonic range finder, infrared detecting set, ambient light sensor, infrared remote receiver, infrared transmitter.Temperature sensor: returning robot place ambient temperature data, after less than setting value, robot starts air-conditioning automatically, and informs user's current environmental temperature；Humidity sensor: return robot place ambient humidity data, and inform user；Ultrasonic range finder: being used for guiding robot to hide obstacle during advancing, ultrasonic range finder is arranged on robot front end, returns the distance of robot front end and barrier in real time；Infrared detecting set: the life entity around sniffing robot, coordinates ultrasonic range finder to complete robot and keeps in obscurity action；Ambient light sensor: for monitoring robot place environment illumination intensity, when ambient light is less than 200, there is object in robot when mobile in the environment perceiving, and it can start self lighting system, and record a video mobile object；Infrared remote receiver: for the infrared remote-controlled signal of robot learning electrical equipment, control electrical equipment for later stage robot and do basis；Infrared transmitter: control household electrical appliance for robot.
In above-mentioned microgrid robot, described senior sensing module includes that image capture module and locating module, described locating module include RPLIDAR laser range finder.Image capture module is used for being presently in the image information of position to user distribution of machine people, image capture module directly sends information to central processing unit, and controlled its rotation direction by The Cloud Terrace module, laser range finder is for providing the distance between robot and the barrier of ambient level 360 degree to central processing unit with the frequency of 5Hz, and by distance data transmission to central processing unit, central processing unit draws out the dot array data of peripheral obstacle according to range data, soil boy structure model, compare with the environmental model pre-seted afterwards, so that it is determined that its position information, reach indoor positioning purpose.
In above-mentioned microgrid robot, described battery module includes two groups of lithium batteries connected, described battery management module includes that big electric current is powered Voltage stabilizing module, big current buck module, voltage monitoring module and photovoltaic charge controller, described big electric current Voltage stabilizing module of powering is connected with big current buck module, and described voltage monitoring module is connected with battery module respectively with photovoltaic charge controller.Voltage monitoring module is for being monitored battery module voltages, when magnitude of voltage is less than 3V, robot port of being charged by auto-returned is charged, big electric current powers Voltage stabilizing module for series battery is carried out blood pressure lowering, 14.8V supply voltage is reduced to 9V, motor is driven to be powered with sensor module robot car body respectively, big current buck module is for being powered with The Cloud Terrace module the central processing unit of robot, its 9V voltage that big electric current is powered Voltage stabilizing module output is converted to the output of 5V voltage, photovoltaic charge controller is used for controlling photovoltaic battery panel and is charged battery module, after photovoltaic battery panel reaches 15V output voltage, battery module is charged.
In above-mentioned microgrid robot, described photovoltaic generating module includes two pieces of photovoltaic battery panels in parallel.
In above-mentioned microgrid robot, described central processing unit includes Raspberry Pi Model 3B.
Compared with prior art, the advantage of this microgrid robot is: battery module is for intervening the power system of robot self, solar energy and tradition electric energy can be utilized by active balance, reach economize on electricity and the purpose run steady in a long-term, machine control modules is used for controlling robot motion, including end disk-drive motor and camera pan-tilt, it is controlled by central processing unit, central processing unit is the data processing core of robot, possesses the control ability to micro-capacitance sensor, user can be effectively helped to complete the monitoring to micro-capacitance sensor and control, user can be effectively helped to manage family or the problem of enterprise's micro-capacitance sensor, including current device electricity consumption condition monitoring, video surveillance, surrounding enviroment temperature-humidity monitoring etc., family and business electrical are safer, it is beneficial to energy-saving and emission-reduction, global design is reasonable.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in describing below is only embodiments more of the present utility model, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the structured flowchart that this utility model provides.
Fig. 2 is the structured flowchart of the battery management module that this utility model provides.
In figure, senior sensing module 1, sensor module 2, central processing unit 3, machine control modules 4, power plant module 5, battery management module 6, battery module 7, photovoltaic generating module 8, big electric current are powered Voltage stabilizing module 9, big current buck module 10, photovoltaic charge controller 11.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is clearly and completely described, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole embodiments.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of this utility model protection.
As shown in Figure 1-2, this microgrid robot includes senior sensing module 1 and sensor module 2, senior sensing module 1 is connected with central processing unit 3 respectively with sensor module 2, central processing unit 3 is connected with power plant module 5 by machine control modules 4, sensor module 2 is connected with battery module 7 by battery management module 6, is additionally provided with photovoltaic generating module 8 between battery module 7 and battery management module 6.Battery module 7 is for intervening the power system of robot self, solar energy and tradition electric energy can be utilized by active balance, reach economize on electricity and the purpose run steady in a long-term, machine control modules 4 is used for controlling robot motion, including end disk-drive motor and camera pan-tilt, it is by the control of central processing unit 3, central processing unit 3 is the data processing core of robot, possesses the control ability to micro-capacitance sensor, user can be effectively helped to complete the monitoring to micro-capacitance sensor and control, user can be effectively helped to manage family or the problem of enterprise's micro-capacitance sensor, including current device electricity consumption condition monitoring, video surveillance, surrounding enviroment temperature-humidity monitoring etc., family and business electrical are safer, it is beneficial to energy-saving and emission-reduction, global design is reasonable.
Wherein, power plant module 5 includes that car body drives motor and The Cloud Terrace module, and car body drives motor to include two minisize dc reducing motors, and The Cloud Terrace module includes two steering wheels.Car body drives motor to carry out rotating speed and rotating control, thus before and after completing robot, multi-angle is moved, The Cloud Terrace module Angle ambiguity, it is possible to carry out 180 degree of rotations at level and vertical angle respectively.Machine control modules 4 includes RoMeo
Being equipped with on BLE controller and Bluno Romeo controller, RoMeo BLE controller and Bluno Romeo controller can the 3PIN I/O expansion interface of compatible DFRobot module completely.Controller be carry bluetooth 4.0 compatible Arduino again aim at the control mainboard that robot application designs, Arduino Open Source Platform of being benefited, integrated 2 road direct current L298P motor driver and wireless sockets.Sensor module 2 includes sensor groups and can connect the sensor panel processing the data signal that sensor groups returns, and sensor groups includes temperature sensor, humidity sensor, ultrasonic range finder, infrared detecting set, ambient light sensor, infrared remote receiver, infrared transmitter.Temperature sensor: returning robot place ambient temperature data, after less than setting value, robot starts air-conditioning automatically, and informs user's current environmental temperature；Humidity sensor: return robot place ambient humidity data, and inform user；Ultrasonic range finder: being used for guiding robot to hide obstacle during advancing, ultrasonic range finder is arranged on robot front end, returns the distance of robot front end and barrier in real time；Infrared detecting set: the life entity around sniffing robot, coordinates ultrasonic range finder to complete robot and keeps in obscurity action；Ambient light sensor: for monitoring robot place environment illumination intensity, when ambient light is less than 200, there is object in robot when mobile in the environment perceiving, and it can start self lighting system, and record a video mobile object；Infrared remote receiver: for the infrared remote-controlled signal of robot learning electrical equipment, control electrical equipment for later stage robot and do basis；Infrared transmitter: control household electrical appliance for robot.
Wherein, senior sensing module 1 includes image capture module and locating module, and locating module includes RPLIDAR laser range finder.Image capture module is used for being presently in the image information of position to user distribution of machine people, image capture module directly sends information to central processing unit 3, and controlled its rotation direction by The Cloud Terrace module, laser range finder is for providing the distance between robot and the barrier of ambient level 360 degree to central processing unit 3 with the frequency of 5Hz, and by distance data transmission to central processing unit 3, central processing unit 3 draws out the dot array data of peripheral obstacle according to range data, soil boy structure model, compare with the environmental model pre-seted afterwards, so that it is determined that its position information, reach indoor positioning purpose.
Wherein, battery module 7 includes two groups of lithium batteries connected, battery management module 6 includes that big electric current is powered Voltage stabilizing module 9, big current buck module 10, voltage monitoring module and photovoltaic charge controller 11, big electric current Voltage stabilizing module 9 of powering is connected with big current buck module 10, and voltage monitoring module is connected with battery module 7 respectively with photovoltaic charge controller 11.Voltage monitoring module is for being monitored battery module voltages, when magnitude of voltage is less than 3V, robot port of being charged by auto-returned is charged, big electric current powers Voltage stabilizing module 9 for series battery is carried out blood pressure lowering, 14.8V supply voltage is reduced to 9V, motor is driven to be powered with sensor module 2 robot car body respectively, big current buck module 10 is for being powered with The Cloud Terrace module the central processing unit 3 of robot, the 9V voltage that its Voltage stabilizing module 9 of being powered by big electric current exports is converted to the output of 5V voltage, photovoltaic charge controller 11 is used for controlling photovoltaic battery panel and is charged battery module 7, after photovoltaic battery panel reaches 15V output voltage, battery module 7 is charged.Photovoltaic generating module 8 includes two pieces of photovoltaic battery panels in parallel.Central processing unit 3 includes Raspberry Pi Model 3B.
The foregoing is only preferred embodiment of the present utility model; not in order to limit this utility model; all within spirit of the present utility model and principle, any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.
Claims (8)
1. a microgrid robot, it is characterized in that, including senior sensing module (1) and sensor module (2), described senior sensing module (1) is connected with central processing unit (3) respectively with sensor module (2), described central processing unit (3) is connected with power plant module (5) by machine control modules (4), described sensor module (2) is connected with battery module (7) by battery management module (6), is additionally provided with photovoltaic generating module (8) between described battery module (7) and battery management module (6).
Microgrid robot the most according to claim 1, it is characterised in that described power plant module (5) includes that car body drives motor and The Cloud Terrace module, described car body to drive motor to include that two minisize dc reducing motors, described The Cloud Terrace module include two steering wheels.
Microgrid robot the most according to claim 2, it is characterized in that, described machine control modules (4) includes RoMeo BLE controller and Bluno Romeo controller, and described RoMeo BLE controller and Bluno Romeo controller are equipped with can the 3PIN I/O expansion interface of compatible DFRobot module completely.
Microgrid robot the most according to claim 3, it is characterized in that, described sensor module (2) includes sensor groups and can connect the sensor panel processing the data signal that sensor groups returns, and described sensor groups includes temperature sensor, humidity sensor, ultrasonic range finder, infrared detecting set, ambient light sensor, infrared remote receiver, infrared transmitter.
Microgrid robot the most according to claim 4, it is characterised in that described senior sensing module (1) includes that image capture module and locating module, described locating module include RPLIDAR laser range finder.
Microgrid robot the most according to claim 5, it is characterized in that, described battery module (7) includes two groups of lithium batteries connected, described battery management module (6) includes that big electric current is powered Voltage stabilizing module (9), big current buck module (10), voltage monitoring module and photovoltaic charge controller (11), described big electric current Voltage stabilizing module (9) of powering is connected with big current buck module (10), and described voltage monitoring module is connected with battery module (7) respectively with photovoltaic charge controller (11).
Microgrid robot the most according to claim 6, it is characterised in that described photovoltaic generating module (8) includes two pieces of photovoltaic battery panels in parallel.
Microgrid robot the most according to claim 7, it is characterised in that described central processing unit (3) includes Raspberry Pi Model 3B.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620294077.9U CN205485513U (en) | 2016-04-11 | 2016-04-11 | Microgrid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620294077.9U CN205485513U (en) | 2016-04-11 | 2016-04-11 | Microgrid robot |
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| CN205485513U true CN205485513U (en) | 2016-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620294077.9U Expired - Fee Related CN205485513U (en) | 2016-04-11 | 2016-04-11 | Microgrid robot |
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| CN (1) | CN205485513U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108664611A (en) * | 2018-05-11 | 2018-10-16 | 上海理工大学 | Multifunctional mobile road-director based on touch-control and voice operating |
| CN109613875A (en) * | 2019-01-24 | 2019-04-12 | 上海思岚科技有限公司 | A kind of robot chassis control system |
| CN111953063A (en) * | 2020-08-13 | 2020-11-17 | 深圳市朗驰欣创科技股份有限公司 | Solar energy and battery combined wheel type inspection robot charging system |
-
2016
- 2016-04-11 CN CN201620294077.9U patent/CN205485513U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108664611A (en) * | 2018-05-11 | 2018-10-16 | 上海理工大学 | Multifunctional mobile road-director based on touch-control and voice operating |
| CN108664611B (en) * | 2018-05-11 | 2021-11-19 | 上海理工大学 | Multifunctional mobile road directing machine based on touch control and voice operation |
| CN109613875A (en) * | 2019-01-24 | 2019-04-12 | 上海思岚科技有限公司 | A kind of robot chassis control system |
| CN111953063A (en) * | 2020-08-13 | 2020-11-17 | 深圳市朗驰欣创科技股份有限公司 | Solar energy and battery combined wheel type inspection robot charging 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: 20160817 |