CN205859621U - A kind of combustible gas leakage source location robot - Google Patents
A kind of combustible gas leakage source location robot Download PDFInfo
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- CN205859621U CN205859621U CN201620779072.5U CN201620779072U CN205859621U CN 205859621 U CN205859621 U CN 205859621U CN 201620779072 U CN201620779072 U CN 201620779072U CN 205859621 U CN205859621 U CN 205859621U
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- combustible gas
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- robot
- gas leakage
- leakage source
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Abstract
A kind of combustible gas leakage source location robot, it is adaptable to the positioning field in combustible gas leakage source.The purpose of this utility model is intended to solve the portable devices of existing position combustible gas leakage source more weak, the problem such as positioning time is longer the highest, intelligent.A kind of combustible gas leakage source location robot, mainly includes robot body (1), robot control module (2), combustible gas sensor array module (3), two degrees of freedom photographic head The Cloud Terrace (4), GPS module (5), WIFI transport module (6), display module (7), power module (8).A kind of combustible gas leakage source location robot, by concentration information and the location coordinate information of GPS of combustible gas sensor, it is possible to achieve the location in combustible gas leakage source.This utility model realize in deathtrap that testing staff cannot reach the spot to combustible gas leakage source quick, be accurately positioned.
Description
Technical field
This utility model relates to search and the positioning field in combustible gas leakage source, it is adaptable to the concentration of combustible gas leakage
Detection and the location of combustible gas leakage source position.
Background technology
Fuel gas, as a class modal in hazardous chemical gas, has been widely used for ceramic industry, welds and cut
Cut, the every field such as auto industry, chemical industry and ordinarily resident's daily life.Although fuel gas is producing and in life
People can be brought much facilitate, but its danger also moment revealed threatens the security of the lives and property of people, particularly
It is very harmful that the industrial accident caused by coal gas, natural-gas transfer pipeline leakage causes.
In early days, not coordination is mainly detected by the hand-held combustible gas detector of testing staff in the location in combustible gas leakage source
According to Concentraton gradient data, the combustable gas concentration put, then calculates that the direction in combustible gas leakage source realizes, this kind of detection
Method can not enter on-the-spot deathtrap and will be unable to the location work in combustible gas leakage source testing staff.This
Under background, the utility model discloses a kind of combustible gas leakage source location robot, by the concentration of combustible gas sensor
Information and the location coordinate information of GPS, it is achieved the location in combustible gas leakage source.
Summary of the invention
This utility model be for solve existing position combustible gas leakage source portable devices poor, intelligent the highest,
The problems such as positioning time is longer, and a kind of combustible gas leakage source location robot proposed.This utility model must have GPS
The working site that signal covers uses.
A kind of combustible gas leakage source location robot, mainly include robot body (1), robot control module (2),
Combustible gas sensor array module (3), two degrees of freedom photographic head The Cloud Terrace (4), GPS module (5), WIFI transport module (6), aobvious
Show module (7), power module (8)；Robot body (1) mainly includes robot base (1-1), motor one (1-2), motor two
(1-3), motor three (1-4), motor four (1-5), wheel one (1-6), wheel two (1-7), wheel three (1-8), wheel four (1-
9)；Robot control module (2) mainly includes robot master controller (2-1), motor drive module (2-2), 3-axis acceleration
Meter (2-3), three-axis gyroscope (2-4)；Combustible gas sensor array module (3) includes TGS2610 type gas sensor one (3-
1), TGS2610 type gas sensor two (3-2), TGS2610 type gas sensor three (3-3), TGS2610 type gas sensor
Four (3-4).
Further, the MCU of robot master controller (2-1) selects STM32F103ZET6 microprocessor chip,
STM32F103ZET6 microprocessor chip by ADC interface gather combustible gas sensor array module (3) output signal,
Pass through I2C interface gathers three axis accelerometer (2-3) and the output signal of three-axis gyroscope (2-4), controls electricity by I/O interface
Machine drives module (2-2).
Further, two degrees of freedom photographic head The Cloud Terrace (4) includes that 2 brightness contain SG90 type steering wheel, 1 sieve skill HD Pro
Webcam C270 type photographic head.
Further, GPS module (5) obtains longitude coordinate data and the latitude coordinate number of robot body (1) position
According to.
Further, WIFI transport module (6) operating frequency is that 5.8GHz, WIFI transport module (6) are free for transmission two
The combustible gas leakage concentration that degree photographic head The Cloud Terrace (4) video information that gathers, combustible gas sensor array module (3) gather
The longitude coordinate of robot body (1) position that numerical value, GPS module (5) gather and latitude coordinate information.
Further, display module (7) is 0.96 cun of Nan dian Yao display module, display robot body (1) position
Longitude coordinate numerical value, latitude coordinate numerical value, combustible gas leakage concentration values.
Further, power module (8) is that 12V Ni-MH battery is powered, and magnitude of voltage can be separately converted to 5V, 3.3V
Output.
The beneficial effects of the utility model: this utility model obtains combustible gas leakage by combustible gas sensor array
Source directional information, drives robot searching combustible gas leakage described in the utility model according to combustible gas leakage source directional information
Source, is finally sentenced by the excursion of the difference of any two combustible gas sensor concentration value in combustible gas sensor array
Determine combustible gas leakage source, determine combustible gas leakage source position coordinate by GPS, thus realize oneself of combustible gas leakage source
Main search and location；This utility model realizes combustible gas leakage source in the deathtrap that testing staff cannot reach the spot
Quickly, it is accurately positioned.
Accompanying drawing explanation
Fig. 1 is the entire block diagram of robot described in the utility model.
Fig. 2 is the structural representation of robot described in the utility model.
Fig. 3 is the system block diagram that robot application described in the utility model searches alignment system in combustible gas leakage source.
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is described in detail.
A kind of combustible gas leakage described in the utility model source location robot as depicted in figs. 1 and 2, mainly includes machine
Human organism (1), robot control module (2), combustible gas sensor array module (3), two degrees of freedom photographic head The Cloud Terrace (4),
GPS module (5), WIFI transport module (6), display module (7), power module (8).By combustible gas sensor array module
(3) obtain combustible gas leakage source directional information, drive machine described in the utility model according to combustible gas leakage source directional information
Device people searches combustible gas leakage source, by any two combustible gas sensor in combustible gas sensor array module (3)
The excursion of the difference of concentration value finally judges combustible gas leakage source, determines combustible gas leakage source by GPS module (5)
Position coordinates, thus realize independent searching and the location in combustible gas leakage source.
TGS2610 type gas sensor one (3-1), TGS2610 type gas sensor two (3-2), TGS2610 type gas pass
Sensor three (3-3), TGS2610 type gas sensor four (3-4) are respectively used to detect the combustible gas leakage of four symmetry directions
Concentration data；The STM32F103ZET6 microprocessor chip of robot master controller (2-1) gathers combustible gas by ADC interface
The output signal of body sensor array module (3) is also analyzed, and calculates the leakage bearing data in combustible gas leakage source
And position data, thus the position of position combustible gas leakage source；Motor drive module (2-2) receives robot by I/O interface
The STM32F103ZET6 microprocessor chip of master controller (2-1) generates according to the leakage bearing data in combustible gas leakage source
Control signal, and then driven machine human organism (1) moves to combustible gas leakage source；Three axis accelerometer (2-3) and three axles
Gyroscope (2-4) and the I in the STM32F103ZET6 microprocessor chip of robot master controller (2-1)2C interface connects, and uses
In the movement state information obtaining robot body (1)；Two degrees of freedom photographic head The Cloud Terrace (4) contains SG90 type steering wheel by 2 brightness
The camera angle of regulation sieve skill HD Pro Webcam C270 type photographic head, thus obtain more reliable live video information；GPS
Module (5) is for obtaining longitude coordinate and the latitude coordinate data of robot body position, to positioning accuracy request relatively
High working site, can build Differential GPS Positioning System in advance, so that the positioning precision in combustible gas leakage source reaches li
Meter level；Display module (7) is used for showing the longitude coordinate numerical value of robot body (1) position, latitude coordinate numerical value, flammable
Gas leakage concentration values；WIFI transport module (6) is used for regarding sieve skill HD Pro Webcam C270 type camera collection
Frequently the machine that information, combustible gas sensor array module (3) gather combustible gas leakage concentration data, GPS module (5) gather
Longitude coordinate and the latitude coordinate data of device human organism (1) position are transferred to computer monitoring center, so that work people
Member can obtain field data in real time.
Claims (6)
1. a combustible gas leakage source location robot, mainly include robot body (1), robot control module (2), can
Combustion gas body sensor array module (3), two degrees of freedom photographic head The Cloud Terrace (4), GPS module (5), WIFI transport module (6), display
Module (7), power module (8)；Robot body (1) mainly includes robot base (1-1), motor one (1-2), motor two
(1-3), motor three (1-4), motor four (1-5), wheel one (1-6), wheel two (1-7), wheel three (1-8), wheel four (1-
9)；Robot control module (2) mainly includes robot master controller (2-1), motor drive module (2-2), 3-axis acceleration
Meter (2-3), three-axis gyroscope (2-4)；Combustible gas sensor array module (3) includes TGS2610 type gas sensor one (3-
1), TGS2610 type gas sensor two (3-2), TGS2610 type gas sensor three (3-3), TGS2610 type gas sensor
Four (3-4).
A kind of combustible gas leakage the most according to claim 1 source location robot, it is characterised in that: described robot master
The MCU of controller (2-1) selects STM32F103ZET6 microprocessor chip, and STM32F103ZET6 microprocessor chip passes through
ADC interface gathers the output signal of combustible gas sensor array module (3), passes through I2C interface gathers three axis accelerometer (2-
3) and the output signal of three-axis gyroscope (2-4), by I/O interface control motor drive module (2-2).
A kind of combustible gas leakage the most according to claim 1 source location robot, it is characterised in that: described two degrees of freedom
Photographic head The Cloud Terrace (4) includes that 2 brightness contain SG90 type steering wheel, 1 sieve skill HD Pro Webcam C270 type photographic head.
A kind of combustible gas leakage the most according to claim 1 source location robot, it is characterised in that: described GPS module
(5) longitude coordinate data and the latitude coordinate data of robot body (1) position are obtained.
A kind of combustible gas leakage the most according to claim 1 source location robot, it is characterised in that: described WIFI transmits
Module (6) operating frequency is that 5.8GHz, WIFI transport module (6) are used for transmitting that two degrees of freedom photographic head The Cloud Terrace (4) gathers regards
Frequently the machine that information, combustible gas sensor array module (3) gather combustible gas leakage concentration values, GPS module (5) gather
The longitude coordinate of device human organism (1) position and latitude coordinate information.
A kind of combustible gas leakage the most according to claim 1 source location robot, it is characterised in that: described display module
(7) it is 0.96 cun of Nan dian Yao display module, the longitude coordinate numerical value of display robot body (1) position, latitude coordinate
Numerical value, combustible gas leakage concentration values.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620779072.5U CN205859621U (en) | 2016-07-25 | 2016-07-25 | A kind of combustible gas leakage source location robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620779072.5U CN205859621U (en) | 2016-07-25 | 2016-07-25 | A kind of combustible gas leakage source location robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205859621U true CN205859621U (en) | 2017-01-04 |
Family
ID=57648308
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620779072.5U Expired - Fee Related CN205859621U (en) | 2016-07-25 | 2016-07-25 | A kind of combustible gas leakage source location robot |
Country Status (1)
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| CN (1) | CN205859621U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106652366A (en) * | 2017-01-24 | 2017-05-10 | 深圳益创信息科技有限公司 | Robot-resident building combined safety alarm system and method |
| CN107795854A (en) * | 2017-09-18 | 2018-03-13 | 深圳大学 | A kind of method for detecting pipeline, device and storage medium |
| CN107877529A (en) * | 2018-01-08 | 2018-04-06 | 哈尔滨理工大学 | Indoor a variety of security information independently gather and active push robot at home |
| CN107965673A (en) * | 2017-11-21 | 2018-04-27 | 中煤航测遥感集团有限公司 | Natural gas line defect positioning method and device based on AR technologies |
| CN110388568A (en) * | 2019-07-25 | 2019-10-29 | 新奥（中国）燃气投资有限公司 | A kind of gas leakage intelligent polling method, apparatus and system |
| CN113371084A (en) * | 2021-06-16 | 2021-09-10 | 中国矿业大学 | Track bionical robot that dilutes gaseous underground gas |
-
2016
- 2016-07-25 CN CN201620779072.5U patent/CN205859621U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106652366A (en) * | 2017-01-24 | 2017-05-10 | 深圳益创信息科技有限公司 | Robot-resident building combined safety alarm system and method |
| CN107795854A (en) * | 2017-09-18 | 2018-03-13 | 深圳大学 | A kind of method for detecting pipeline, device and storage medium |
| CN107965673A (en) * | 2017-11-21 | 2018-04-27 | 中煤航测遥感集团有限公司 | Natural gas line defect positioning method and device based on AR technologies |
| CN107877529A (en) * | 2018-01-08 | 2018-04-06 | 哈尔滨理工大学 | Indoor a variety of security information independently gather and active push robot at home |
| CN110388568A (en) * | 2019-07-25 | 2019-10-29 | 新奥（中国）燃气投资有限公司 | A kind of gas leakage intelligent polling method, apparatus and system |
| CN113371084A (en) * | 2021-06-16 | 2021-09-10 | 中国矿业大学 | Track bionical robot that dilutes gaseous underground gas |
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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: 20170104 Termination date: 20170725 |
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| CF01 | Termination of patent right due to non-payment of annual fee |