CN206178477U - Warp and search for and rescue robot based on singlechip - Google Patents
Warp and search for and rescue robot based on singlechip Download PDFInfo
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- CN206178477U CN206178477U CN201621205769.8U CN201621205769U CN206178477U CN 206178477 U CN206178477 U CN 206178477U CN 201621205769 U CN201621205769 U CN 201621205769U CN 206178477 U CN206178477 U CN 206178477U
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- mainboard
- search
- rescue
- chassis
- singlechip
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Abstract
The utility model discloses a warp and search for and rescue robot based on singlechip, include: chassis, mainboard, telescopic machanism and power unit, mainboard install on the chassis, and the chassis includes: two boards that sideslip that set up side by side, two boards that sideslip pass through telescopic machanism and connect, set up IR evading obstacle sensors, pyroelectric infrared sensor and STC89C52 singlechip on the mainboard, IR evading obstacle sensors is connected to the input interface of STC89C52 singlechip, and power unit is connected to the output interface of STC89C52 singlechip. Transmitting the singlechip with measured data and handling, realized the control to intelligent car making the body structure of search and rescue car narrow down through motor drive control through power unit according to detecting the data that obtain by the singlechip then, search and rescue is launched in the very convenient narrow and small space of passing through, simple structure, easily operation, reduce cost to real -time and host computer carries out the data interaction, acquires and controls the on -the -spot message and the motion state of searching for aning rescue the robot.
Description
Technical field
This utility model belongs to the technical field of machine-building, more particularly relates to a kind of SCM Based deformation and searches and rescues
Robot, for after disaster occurs in the slit of ruins search survivor information.
Background technology
In the last few years, the whole world was at the state that disaster takes place frequently, the great economic loss that these disasters are not only caused, also
Allow various compatriot to lose home and lose relatives.After disaster occurs, how the wounded is fast and effectively saved
Become a big hot issue.
Disaster-stricken scene ruins are more complicated, and space is also very narrow and small, and have many nuisances（Smog, dust and an oxidation
Carbon etc.）, general rescue personnel cannot enter at all, also be difficult to launch search and rescue in the case of this danger.In order to be able to
Enough solutions as soon as possible rescue the survivor among ruins, it is thought that replacing rescue worker with robot, rescue into disaster scene
Go out survivor.But current search and rescue robot is powerful, and complex structure, cost is high, professional is needed to be operated,
In addition, the research for deforming search and rescue robot brings great convenience the search-and-rescue work for giving people class, after the condition of a disaster occurs, machine
Device people can rapidly put into rescue task, improve rescue efficiency, reduce casualties, preferably serve society, but at present
Lack the higher fighter toy of simple to operate and cost performance on market.
The content of the invention
In view of this, the purpose of this utility model is to provide a kind of SCM Based deformation search and rescue robot.In order to right
Some aspects of the embodiment of disclosure have a basic understanding, shown below is simple summary.The summarized section is not general
General commentary, nor to determine key/critical component or describe the protection domain of these embodiments.Its sole purpose is to use
Simple form is presented some concepts, in this, as the preamble of following detailed description.
The technical scheme that this utility model is adopted is as follows：
In some optional embodiments, there is provided a kind of SCM Based deformation search and rescue robot, including：Chassis, master
Plate, telescoping mechanism and actuating unit, the mainboard is arranged on the chassis, and the chassis includes：Two sides being set up in parallel
Slide plate, two sideskids are connected by the telescoping mechanism；The front end of the mainboard arranges IR evading obstacle sensors, the mainboard
On be additionally provided with pyroelectric infrared sensor and the STC89C52 single-chip microcomputers for processing data and output control signal, it is described red
Outer avoidance sensor is connected to the input interface of the STC89C52 single-chip microcomputers, and the actuating unit is connected to the STC89C52
The output interface of single-chip microcomputer；The actuating unit includes：Electric rotating machine, rotating disk and winding, the rotating disk and the electric rotating machine
Drive shaft connection, on the rotating disk, the other end is connected the winding one ends wound with one of sideskid, the rotation
Motor is arranged on another sideskid, and when the winding is gradually wrapped on the rotating disk, the winding drives two sides
Slide plate is moved closer to.
In some optional embodiments, Smoke Sensor, temperature sensor and bluetooth are additionally provided with the mainboard
Module, the bluetooth module is used for PERCOM peripheral communication and uploads information to remote control table, the Smoke Sensor and described
Temperature sensor is connected to the input interface of the STC89C52 single-chip microcomputers.
In some optional embodiments, described a kind of SCM Based deformation search and rescue robot also includes：Car
Wheel, the wheel is arranged on the chassis, and the wheel is driven by the actuating unit.
In some optional embodiments, described a kind of SCM Based deformation search and rescue robot also includes：Arrange
Power supply on the mainboard, the power supply adopts 12V aneroid battery, the power supply to power for the actuating unit, the power supply
The input of LM7805 three-terminal voltage-stabilizing integrated chips is accessed, 5V is exported after the LM7805 three-terminal voltage-stabilizings integrated chip voltage stabilizing described in electric
Pressure, is the STC89C52 single-chip microcomputers, IR evading obstacle sensors, pyroelectric infrared sensor, Smoke Sensor, temperature sensor
And bluetooth module is powered.
In some optional embodiments, the telescoping mechanism includes：The connecting plate being disposed therein on a sideskid
And the cylinder being arranged on another sideskid, the elongated hollow slots being adapted to the cylinder are opened up on the connecting plate.
In some optional embodiments, described a kind of SCM Based deformation search and rescue robot also includes：Arrange
Buzzer siren on the mainboard, the buzzer siren is connected to the output interface of the STC89C52 single-chip microcomputers.
The beneficial effects of the utility model：Install heat additional and release infrared sensor and IR evading obstacle sensors, measurement data is passed
It is delivered to single-chip microcomputer to be processed, is realized to intelligent vehicle by actuating unit according to the data obtained by detection by single-chip microcomputer then
Control, make the physique structure of search and rescue car narrow by drive and control of electric machine, very easily pass over narrow space launch search
Rescue action, simple structure, it is easy to operate, reduces cost, and with host computer data interaction is carried out in real time, to search and rescue robot
Live message and kinestate obtained and controlled.
For above-mentioned and related purpose, one or more embodiments include will be explained in below and in claim
In the feature that particularly points out.Description below and accompanying drawing describe some illustrative aspects in detail, and its indicate be only
Some modes in the utilizable various modes of principle of each embodiment.Other benefits and novel features will be with
The detailed description in face is considered in conjunction with the accompanying and becomes obvious, the disclosed embodiments be will include all these aspects and they
Equivalent.
Description of the drawings
Fig. 1 is the positive structure schematic of this utility model search and rescue robot；
Fig. 2 is structure schematic diagram of this utility model search and rescue robot under two sideskid open modes；
Fig. 3 is structure schematic diagram of this utility model search and rescue robot under two sideskid closure states；
Fig. 4 is the structural representation of this utility model chassis and actuating unit；
Fig. 5 is power circuit diagram of the present utility model.
Specific embodiment
The following description and drawings fully illustrate specific embodiments of the present invention, to enable those skilled in the art to
Put into practice them.Other embodiments can include structure, logic, it is electric, process and it is other changes.Embodiment
Only represent possible change.Unless explicitly requested, otherwise single components and functionality is optional, and the order for operating can be with
Change.The part of some embodiments and feature can be included in or replace part and the feature of other embodiments.This
The scope of bright embodiment includes the gamut of claims, and all obtainable equivalent of claims
Thing.
As shown in Figures 1 to 4, in some illustrative embodiments, there is provided machine is searched and rescued in a kind of SCM Based deformation
People, overall is in car shape, including：Chassis, mainboard 1, telescoping mechanism and actuating unit, the mainboard 1 is arranged on the chassis, institute
State mainboard 1 for carry the search and rescue collecting part of car, process part and power section.The chassis includes：Two are set up in parallel
Sideskid 2, the expansion of two sideskids 2 and closure realize the deformation of vehicle body, and two sideskids 2 are connected by the telescoping mechanism
Connect.The telescoping mechanism includes：Connecting plate 3 and cylinder 4, wherein, connecting plate 3 is disposed therein on a sideskid 2, cylinder 4
It is arranged on another sideskid 2, the elongated hollow slots 5 being adapted to the cylinder 4, the cylinder 4 is opened up on the connecting plate 3
It is embedded in the elongated hollow slots 5, i.e., in two 2 relative motioies of sideskid, cylinder 4 slides along the elongated hollow slots 5,
Prevent two side ring plate deviation positions.
The front end of mainboard 1 arranges IR evading obstacle sensors 6, and IR evading obstacle sensors 6 are applied to the avoidance of robot, preferably
, dispose IR evading obstacle sensors 6 in the both sides of the front end of mainboard 1.When search and rescue robot runs in the process of walking barrier
When, being mounted in the IR evading obstacle sensors 6 of robot front both sides can detect barrier.IR evading obstacle sensors 6 realize detection
Simultaneously cut-through thing is to launch infrared ray to a direction using RF transmitter to barrier, and infrared ray is touched in communication process
Immediately return to barrier, infrared reflection is received after returning by reception pipe, after comparator circuit process, will detect
Result upload to actuating unit after single-chip microcomputer process, by motor, the physique structure for controlling car narrows, easily
Pass through narrow space, so as to launch search and rescue.
It is provided with pyroelectric infrared sensor 7, STC89C52 single-chip microcomputers 8, Smoke Sensor 9, temperature on the mainboard 1 to pass
Sensor 10 and bluetooth module 11, pyroelectric infrared sensor 7 is arranged on the front end of mainboard 1, for detecting whether have survivor,
STC89C52 single-chip microcomputers 8 are used to receive the data and processing data of each sensor, and corresponding control letter is exported after the completion of process
Number to actuating unit, so as to realize the control to searching and rescuing car.
Pyroelectric infrared sensor 7, Smoke Sensor 9, temperature sensor 10 and IR evading obstacle sensors 6 are connected to described
The input interface of STC89C52 single-chip microcomputers 8, actuating unit is connected to the output interface of the STC89C52 single-chip microcomputers 8.Engine
Structure includes：Electric rotating machine 12, rotating disk 13 and winding 14, the rotating disk 13 is connected with the drive shaft of the electric rotating machine 12, described
On the rotating disk 13, the other end is connected the one ends wound of winding 14 with one of sideskid 2, and the electric rotating machine 12 is arranged on
On another sideskid 2.When IR evading obstacle sensors 6 detect barrier, by the result for detecting through described
Actuating unit is uploaded to after the process of STC89C52 single-chip microcomputers 8, is driven the motor of electric rotating machine 12, electric rotating machine 12 to drive after working and is turned
Disk 13 rotates, and so as to winding 14 is wrapped on rotating disk 13, during winding 14 winds, winding 14 drives two sideskids
2 move closer to, so as to the physique structure for controlling to search and rescue car narrows.
The bluetooth module 11 is used for PERCOM peripheral communication and uploads information to remote control table, pyroelectric infrared sensor
7th, the extraneous ambient parameter of car is searched and rescued in Smoke Sensor 9, the detection of temperature sensor 10, while measurement data is delivered to
STC89C52 single-chip microcomputers 8 are processed, then by STC89C52 single-chip microcomputers 8 according to detection obtained by data come realize to search and rescue
The control of car.Bluetooth module 11 realizes the data interaction between robot and backstage host computer, then to the scene news of robot
Breath and kinestate are obtained and controlled.
In some illustrative embodiments, described a kind of SCM Based deformation search and rescue robot, also includes：Car
Wheel 15, the wheel 15 is arranged on the chassis, and the wheel 15 is driven by the actuating unit, and actuating unit includes driving
The motor of the wheel 15.
In some illustrative embodiments, as shown in figure 5, machine is searched and rescued in described a kind of SCM Based deformation
People, also includes：The power supply being arranged on the mainboard 1, the system is used as power supply by 12V aneroid battery, is the power
Mechanism powers, the input of the plant-grid connection LM7805 three-terminal voltage-stabilizing integrated chips, and being then connected on outfan will export 5V
Voltage, is the STC89C52 single-chip microcomputers, pyroelectric infrared sensor, IR evading obstacle sensors, Smoke Sensor, temperature sensing
Device and bluetooth module are powered.It is integrated that test proves that the Power Management Design of the system can meet intelligent vehicle system LM7805 three-terminal voltage-stabilizings
The power reguirements of chip input, LM7805 three-terminal voltage-stabilizing integrated chips are three proper power supply stabilization circuits, and the ends of LM7805 tri- are steady
Pressure integrated chip has three pins, and 1 pin is input, and 2 pins are ground connection, and 3 pins are output, and motor drive module is carried
LM7805 voltage stabilizings, therefore directly use.Due to single-chip processor i/o mouth driving force it is weak, it is impossible to be directly connected to direct current generator, therefore need
Driving chip is wanted to be driven, this utility model is used based on the circuit connecting mode of L298N, motor drive module is adopted
The L298N chips of ST companies, directly initiate the direct current generator of two-way 3-30V, and there is provided 5V output interfaces, give 5V single-chip microcomputers
Circuit system is powered, and supports 3.3VMCU controls, convenient control direct current generator direction and speed.
In some illustrative embodiments, described a kind of SCM Based deformation search and rescue robot, also includes：If
The buzzer siren on the mainboard 1 is put, the buzzer siren is connected to the output of the STC89C52 single-chip microcomputers 8 and connects
Mouthful, for when search and rescue car test measures survivor, sending alarm and being pointed out.
Above-described embodiment is this utility model preferably embodiment, but embodiment of the present utility model is not by above-mentioned
The restriction of embodiment, other are any to substitute without departing from the change made under spirit of the present utility model and principle, modification,
Combination, simplifies, and should be equivalent substitute mode, all should be included in protection domain of the present utility model.
Claims (6)
1. a kind of SCM Based deformation search and rescue robot, it is characterised in that include：Chassis, mainboard, telescoping mechanism and dynamic
Force mechanisms, the mainboard is arranged on the chassis, and the chassis includes：Two sideskids being set up in parallel, two sideskids
Connected by the telescoping mechanism；The front end of the mainboard arranges IR evading obstacle sensors, is additionally provided with heat on the mainboard and releases
Electric infrared sensor and the STC89C52 single-chip microcomputers for processing data and output control signal, the IR evading obstacle sensors connect
The input interface of the STC89C52 single-chip microcomputers is connected to, the actuating unit is connected to the output of the STC89C52 single-chip microcomputers and connects
Mouthful；The actuating unit includes：Electric rotating machine, rotating disk and winding, the rotating disk is connected with the drive shaft of the electric rotating machine, institute
Winding one ends wound is stated on the rotating disk, the other end is connected with one of sideskid, the electric rotating machine is arranged on another
On individual sideskid, when the winding is gradually wrapped on the rotating disk, the winding drives two sideskids to move closer to.
2. a kind of SCM Based deformation search and rescue robot according to claim 1, it is characterised in that on the mainboard
Smoke Sensor, temperature sensor and bluetooth module are additionally provided with, the bluetooth module is used for PERCOM peripheral communication and uploads letter
Cease to remote control table, the Smoke Sensor and the temperature sensor are connected to the defeated of the STC89C52 single-chip microcomputers
Incoming interface.
3. a kind of SCM Based deformation search and rescue robot according to claim 2, it is characterised in that also include：Car
Wheel, the wheel is arranged on the chassis, and the wheel is driven by the actuating unit.
4. a kind of SCM Based deformation search and rescue robot according to claim 3, it is characterised in that also include：If
The power supply on the mainboard is put, the power supply adopts 12V aneroid battery, the power supply to power for the actuating unit, the electricity
The input of LM7805 three-terminal voltage-stabilizing integrated chips is accessed in source, and after the LM7805 three-terminal voltage-stabilizings integrated chip voltage stabilizing described in 5V is exported
Voltage, is the STC89C52 single-chip microcomputers, pyroelectric infrared sensor, IR evading obstacle sensors, Smoke Sensor, temperature sensing
Device and bluetooth module are powered.
5. a kind of SCM Based deformation search and rescue robot according to claim 4, it is characterised in that the telescopic machine
Structure includes：The connecting plate being disposed therein on a sideskid and the cylinder being arranged on another sideskid, the connection
The elongated hollow slots being adapted to the cylinder are opened up on plate.
6. a kind of SCM Based deformation search and rescue robot according to claim 5, it is characterised in that also include：If
The buzzer siren on the mainboard is put, the buzzer siren is connected to the output interface of the STC89C52 single-chip microcomputers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621205769.8U CN206178477U (en) | 2016-11-09 | 2016-11-09 | Warp and search for and rescue robot based on singlechip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621205769.8U CN206178477U (en) | 2016-11-09 | 2016-11-09 | Warp and search for and rescue robot based on singlechip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206178477U true CN206178477U (en) | 2017-05-17 |
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ID=58683892
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621205769.8U Expired - Fee Related CN206178477U (en) | 2016-11-09 | 2016-11-09 | Warp and search for and rescue robot based on singlechip |
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| CN (1) | CN206178477U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108534900A (en) * | 2018-03-13 | 2018-09-14 | 深圳市优必选科技有限公司 | Color sensing device for robot |
-
2016
- 2016-11-09 CN CN201621205769.8U patent/CN206178477U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108534900A (en) * | 2018-03-13 | 2018-09-14 | 深圳市优必选科技有限公司 | Color sensing device for robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170517 Termination date: 20191109 |
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| CF01 | Termination of patent right due to non-payment of annual fee |