CN206863585U - A kind of fire patrol intelligent vehicle based on laser SLAM technologies - Google Patents
A kind of fire patrol intelligent vehicle based on laser SLAM technologies Download PDFInfo
- Publication number
- CN206863585U CN206863585U CN201720388857.4U CN201720388857U CN206863585U CN 206863585 U CN206863585 U CN 206863585U CN 201720388857 U CN201720388857 U CN 201720388857U CN 206863585 U CN206863585 U CN 206863585U
- Authority
- CN
- China
- Prior art keywords
- main control
- vehicle body
- control mcu
- patrol
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
Electronic information field and fire-fighting domain are the utility model is related to, is specifically that one kind is used for indoor independent navigation fire patrol car based on laser SLAM technologies and sensor technology, realizes the safe and intelligent management of fire patrol.A kind of fire patrol intelligent vehicle based on laser SLAM technologies, it includes the vehicle body of cruiser, and vehicle body is provided with the motor of driving cruiser motion, in addition to main control MCU, electric-motor drive unit；Data acquisition unit, navigation elements, navigation elements include the encoder being arranged on motor, and the gyroscope on vehicle body, the encoder is connected with gyroscope with main control MCU, in addition to is connected with laser radar on the miniature PC on vehicle body, miniature PC.The utility model devises the fire patrol intelligent vehicle that a kind of indoor navigation precision is high, is easy to remote operation and control, meanwhile, the utility model can replace traditional manpower to go on patrol, and save human cost, reduce the danger of patrol officer's work.
Description
Technical field
Electronic information field and fire-fighting domain are the utility model is related to, is specifically that one kind is based on laser SLAM technologies and sensing
Device technology is used for indoor independent navigation fire patrol car, realizes the safe and intelligent management of fire patrol.
Background technology
In some inflammable, explosive, poisonous substance dangerous goods stores, fire patrol is a very important job.Pass
The mode of system is gone on patrol by people, but under some dangerous environment patrol can the life security of heap personnel threaten, together
The quality of Shi Ruguo patrol personnel is not high to be there is a situation where lazy, and certain potential safety hazard is caused to depot safety.If with
The mode of the fixed sensor node of installation monitors, and not only cost is high, wiring is difficult, and later stage autgmentability is poor.Therefore, disappear
Flexibility, real-time, the intellectuality of anti-patrol system are extremely important.
The content of the invention
For above-mentioned technical problem, the utility model devises a kind of indoor navigation precision height, is easy to remote operation and control
The fire patrol intelligent vehicle of system, meanwhile, the utility model can replace traditional manpower to go on patrol, and save human cost, reduce inspection
The danger of person works.
The technical solution of the utility model is as follows：
A kind of fire patrol intelligent vehicle based on laser SLAM technologies, it includes the vehicle body of cruiser, and vehicle body, which is provided with, to be driven
The motor of dynamic cruiser motion, it is characterised in that：
Also include main control MCU,
Electric-motor drive unit, electric-motor drive unit connection main control MCU and motor, are controlled according to the signal of main control MCU
The motion of cruiser processed；
Data acquisition unit, data acquisition unit detect to the ambient parameter around cruiser, and are converted into A/D letters
Number it is sent to main control MCU；
Navigation elements, navigation elements include the encoder being arranged on motor, and the gyro on vehicle body
Instrument, the encoder are connected with gyroscope with main control MCU, in addition to are connected with the miniature PC on vehicle body, miniature PC
Laser radar, laser radar scan for indoor environment, measure the distance of target object.
Further, described data acquisition unit includes Smoke Sensor, the flame sensor being connected with main control MCU
And temperature sensor.
Further, there is wireless transport module, wireless transport module and remote monitoring center on described miniature PC
Connection.
In summary, the utility model has the advantages that：
1st, the utility model does map structuring and path planning using laser radar and SLAM algorithms, solves to lead in conventional chamber
The problem of precision of navigating is low, cost is high.
2nd, the utility model is connected by miniature PC with remote monitoring center, and remote monitoring center can remotely access patrol
Intelligent vehicle, realize remote operation and control.
3rd, the utility model has data acquisition unit, hazardous environment can be detected during inspection, and instead
Feed remote control center, realize intelligent patrol detection mode and replace traditional human inspection, save human cost, reduce patrol officer
The danger of work.
Brief description of the drawings
Fig. 1 is hardware architecture diagram of the present utility model；
1 is miniature PC in figure, and 2 be laser radar, and 3 be remote monitoring center, and 4 be motor, and 5 be that motor driving is single
Member, 6 be main control MCU, and 7 be gyroscope, and 8 be encoder, and 9 be Smoke Sensor, and 10 be flame sensor, and 11 be TEMP
Device.
Embodiment
The utility model is further illustrated with specific embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of fire patrol intelligent vehicle based on laser SLAM technologies, it includes the vehicle body of cruiser, car
The motor 4 of driving cruiser motion is provided with it, motor is direct current generator,
Also include main control MCU 6, main control MCU is STM32F103C8T6 single-chip microcomputers, has I/O mouths, USART serial ports, and IIC connects
Mouthful, the hardware resource such as A/D conversion mouths and PWM outputs；
Electric-motor drive unit 5, electric-motor drive unit 5 connects main control MCU 6 and motor 4, according to the signal of main control MCU
To control the motion of cruiser；Electric-motor drive unit produces pwm signal according to the signal of main control MCU, controls the control of motor
System,
Data acquisition unit, data acquisition unit detect to the ambient parameter around cruiser, and are converted into A/D letters
Number main control MCU is sent to,
Navigation elements, navigation elements include the encoder 8 being arranged on motor, and encoder 8 turns to motor
Fast data and mileage are acquired and feed back to main control MCU, and encoder output is level pulse signal, and is arranged on
Gyroscope 7 on vehicle body, gyroscope MPU6050, gyroscope are arranged at the top of vehicle body, detect the motion state of intelligent vehicle, institute
Encoder is stated to be connected with gyroscope with main control MCU, in addition to the miniature PC1 on vehicle body, miniature PC operations LINUX operations
System, running memory are more than 1GB, and memory space is more than 16GB, have wireless network card, USB port；Laser is connected with miniature PC1
Radar 2, laser radar 2 are connected by USB interface with miniature PC, and laser radar 2 scans for indoor environment, measure target object
Distance.
Miniature PC is according to the radar data of laser radar in the utility model, the rotary speed data and mileage of encoder,
The acceleration information of gyroscope, realizes map structuring function, and after the completion of map structuring, user can check in remote monitoring center
Map datum and the current self poisoning situation of intelligent vehicle, and can with sets target point, intelligent vehicle can according to the map data and
Self poisoning data carry out path planning, and motor work goes to set point to carry out inspection.
Further, described data acquisition unit includes Smoke Sensor 9, the flame sensing being connected with main control MCU
Device 10 and temperature sensor 11, the Smoke Sensor model MQ-7, the way of output are voltage output, and flame sensor is examined
The a length of 760nm-1100nm of fire detecting crest of flame, the way of output are voltage output, temperature sensor signal AM2312, and the way of output is
IIC。
Further, there is wireless transport module, wireless transport module and remote monitoring center on described miniature PC1
Connection, described wireless transport module is wireless network card, and it is connected by wireless network with remote monitoring center.
In summary, the utility model has the advantages that：
1st, the utility model does map structuring and path planning using laser radar and SLAM algorithms, solves to lead in conventional chamber
The problem of precision of navigating is low, cost is high.
2nd, the utility model is connected by miniature PC with remote monitoring center, and remote monitoring center can remotely access patrol
Intelligent vehicle, realize remote operation and control.
3rd, the utility model has data acquisition unit, hazardous environment can be detected during inspection, and instead
Feed remote control center, realize intelligent patrol detection mode and replace traditional human inspection, save human cost, reduce patrol officer
The danger of work.
Claims (3)
1. a kind of fire patrol intelligent vehicle based on laser SLAM technologies, it includes the vehicle body of cruiser, and vehicle body is provided with driving
The motor of cruiser motion, it is characterised in that：
Also include main control MCU,
Electric-motor drive unit, electric-motor drive unit connection main control MCU and motor, are patrolled according to the signal of main control MCU to control
Patrol the motion of car；
Data acquisition unit, data acquisition unit detect to the ambient parameter around cruiser, and are converted into A/D signals hair
Give main control MCU；
Navigation elements, navigation elements include the encoder being arranged on motor, and the gyroscope on vehicle body, institute
State encoder to be connected with gyroscope with main control MCU, in addition to laser thunder is connected with the miniature PC on vehicle body, miniature PC
Reach, laser radar scans for indoor environment, measures the distance of target object.
A kind of 2. fire patrol intelligent vehicle based on laser SLAM technologies according to claim 1, it is characterised in that：It is described
Data acquisition unit include the Smoke Sensor, flame sensor and the temperature sensor that are connected with main control MCU.
A kind of 3. fire patrol intelligent vehicle based on laser SLAM technologies according to claim 1, it is characterised in that：It is described
Miniature PC on there is wireless transport module, wireless transport module is connected with remote monitoring center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720388857.4U CN206863585U (en) | 2017-04-13 | 2017-04-13 | A kind of fire patrol intelligent vehicle based on laser SLAM technologies |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720388857.4U CN206863585U (en) | 2017-04-13 | 2017-04-13 | A kind of fire patrol intelligent vehicle based on laser SLAM technologies |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206863585U true CN206863585U (en) | 2018-01-09 |
Family
ID=60817546
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720388857.4U Active CN206863585U (en) | 2017-04-13 | 2017-04-13 | A kind of fire patrol intelligent vehicle based on laser SLAM technologies |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206863585U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107065874A (en) * | 2017-04-13 | 2017-08-18 | 常州大学怀德学院 | A kind of fire patrol intelligent vehicle based on laser SLAM technologies |
| CN111045031A (en) * | 2019-12-05 | 2020-04-21 | 航天恒星科技有限公司 | SBAS message automatic arranging method and device and storage medium |
-
2017
- 2017-04-13 CN CN201720388857.4U patent/CN206863585U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107065874A (en) * | 2017-04-13 | 2017-08-18 | 常州大学怀德学院 | A kind of fire patrol intelligent vehicle based on laser SLAM technologies |
| CN111045031A (en) * | 2019-12-05 | 2020-04-21 | 航天恒星科技有限公司 | SBAS message automatic arranging method and device and storage medium |
| CN111045031B (en) * | 2019-12-05 | 2022-03-18 | 航天恒星科技有限公司 | SBAS message automatic arranging method and device and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107065874A (en) | A kind of fire patrol intelligent vehicle based on laser SLAM technologies | |
| CA2778261C (en) | Position and orientation determination using movement data | |
| CN206270763U (en) | A kind of Environmental emergency monitoring unmanned plane | |
| CN106444839B (en) | Automatic line inspection system for high-voltage cable of unmanned aerial vehicle | |
| CN206863585U (en) | A kind of fire patrol intelligent vehicle based on laser SLAM technologies | |
| CN204802088U (en) | Be applied to unmanned aerial vehicle of conflagration early warning | |
| CN104596575B (en) | Blower fan tower barrel safe operation monitoring device and its application method | |
| CN108508902A (en) | Intelligent track crusing robot system and control method for closed electromagnetism cabinet | |
| CN107065892A (en) | Life detection and environmental data collecting search and rescue car after the calamity of controlled in wireless | |
| CN104816829A (en) | Skyeye aircraft applicable to investigation | |
| CN108291955A (en) | Monitoring to the position of tool in the elevator shaft and/or record | |
| CN106691798A (en) | Intelligent blind guiding walking stick | |
| CN105551115B (en) | Flight data recorder unlatching, the control method closed and device | |
| CN102733854A (en) | Mine emergency wireless collection system and collection method based on remote distribution of flying machine | |
| CN109857121A (en) | Indoor inspection mobile robot | |
| CN105116235A (en) | Searching apparatus and method of automatically searching electromagnetic radiation source | |
| CN206750164U (en) | A kind of removable multifunctional business Towed bird system | |
| CN202387137U (en) | Intelligent life three-dimensional piloting device and system of fire scene | |
| CN106647788A (en) | Unmanned plane flight control method and device | |
| KR102448233B1 (en) | Drone controlling method for precise landing | |
| CN206757405U (en) | Unmanned plane high-tension cable automatic running on transmisson line system | |
| CN202150169U (en) | Gas detection device automatically detecting dangerous source | |
| CN210244152U (en) | Unmanned aerial vehicle flight controller check out test set | |
| CN206656761U (en) | Historical relic's protection device based on wireless sensor network | |
| CN103760859B (en) | City based on well lid road tail gas monitoring system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |