CN207087853U - A kind of pernicious gas movement detection robot - Google Patents
A kind of pernicious gas movement detection robot Download PDFInfo
- Publication number
- CN207087853U CN207087853U CN201720364711.6U CN201720364711U CN207087853U CN 207087853 U CN207087853 U CN 207087853U CN 201720364711 U CN201720364711 U CN 201720364711U CN 207087853 U CN207087853 U CN 207087853U
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- CN
- China
- Prior art keywords
- module
- pcb
- pernicious gas
- movement detection
- detection robot
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- 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.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of pernicious gas to move detection robot.Including central controller, motor drive module, course changing control module, image capture module, obstacle avoidance module, signal acquisition module, wireless transport module, body, PCB and kinematic system；The course changing control module is located at the forefront of body；Described image acquisition module is located at body the top；Concentrate to be placed in PCB including display module, central controller, motor drive module and signal acquisition module and be finally placed in body center；The infrared distance measurement module is located at body edge.The advantages of the utility model：Monitoring harmful gases robot manipulation is simple, suitable for most of occasions, with real-time Transmission poisonous gas leakage image scene Security Officer can be easy to implement solution, and generate the harmful gas concentration gradient map of current environment on PC host computers.
Description
Technical field
A kind of harmful gas detecting device is the utility model is related to, specifically a kind of pernicious gas movement detection machine
People.
Background technology
In China, the leakage of the industry such as oil, chemical industry, coal toxic gas is happened occasionally, and the threat to personal safety is also got over
Come it is bigger, these disasters occur after, due to the complexity and danger of site environment, rescue work often be difficult carry out, also give
The life security of rescue team member brings very big hidden danger.Therefore one kind is needed rescue team member to be replaced to be deep into danger zone and visit
Survey the detection robot of live useful information.At present the harmful gas detecting instrument of industrial application be mostly it is fixed or
It is portable.Using fixed detecting instrument, DATA REASONING can only be carried out in mount point and its nearby, detection range is small, limitation
Property is big；Using portable instrumentation, the personnel of still needing to hold to scene and operated.It is raw in industries such as oil, chemical industry, coals
Is produced from workshop after gas leakage occurs, site environment becomes high-risk, and unsuitable personnel enter, and make timely, correct judgement and
Decision again relies on timely, accurate scene of the accident data.The spy that need to be more inherently produced under high-risk environment
Kind of industry, such as polysilicon industry, vanadium titanium industry etc., the workshop personnel inspection of these industries is difficult, input is big, Ren Yuanan
Effective guarantee can not be obtained entirely.
The content of the invention
The purpose of this utility model is to provide a kind of pernicious gas movement detection robot so that leads under general occasion
Cross the robot and obtain real time picture and the pernicious gas solubility information in pernicious gas leakage place etc..
The utility model is achieved like this, a kind of pernicious gas movement detection robot, including image capture module,
Ultrasonic sensor, course changing control module, central controller, pernicious gas detection module MQ-135, PCB, steering wheel, machine
Body, tire, DC speed-reducing, camera, carbon beam, motor drive module, pernicious gas detection module MQ-4, steering wheel connection
Bar, radio receiving transmitting module；It is characterized in that:Described image acquisition module is made up of camera and carbon beam, positioned at body the top
And it is connected by wire with PCB；The ultrasonic sensor is located at body surrounding and passes through wire and PCB circuits
Plate connects；The central controller is installed in PCB by slot；The pernicious gas detection module MQ-135 and
MQ-4 is located at body center and is connected by wire with PCB；The PCB is located at body center；Described turn
It is made up of with steering wheel connecting rod steering wheel to module and is connected again with tire；The motor drive module is directly welded in PCB
On；The radio receiving transmitting module is installed in PCB by slot；The DC speed-reducing coordinates tire to be installed on car
The side of body two.
Further, the central controller use for a STM32F407 system boards, the microcontroller of the system board
It is installed on for STM32F407VET6 by slot in PCB.
Further, the IRF3205 and the full bridge driving circuit of IR2104 compositions that the motor drive module uses are straight
Connect and be welded in PCB.
Further, the course changing control module is connected using SD-5 digital rudder controllers by wire with PCB.
Further, the OV7620 cameras that described image acquisition module uses are connected by soft arranging wire with PCB.
Further, institute's obstacle avoidance module is connected in PCB using ultrasonic sensor by wire.
Further, the signal acquisition module is connected by MQ-135, MQ-4 compositions by wire with PCB.
Further, the wireless transport module is installed on PCB using bluetooth module HC-05 by slot
On.
Further, including display module, motor drive module, course changing control module, image capture module, infrared distance measurement
Module, signal acquisition module are connected with central controller by PCB, and controlled by central controller.
Further, the kinematic system is using four-wheel drive, rear two wheel by drive module controlled motor so as to
Speed is controlled, preceding two wheel passes through course changing control control direction.
The control program of pernicious gas detection robot described in the utility model is as follows：
（1）Pernicious gas detection robot is in low power consumpting state in the case of without pernicious gas, only opens pernicious gas
Detection module and central controller module；
（2）Once detect that pernicious gas realizes that labyrinth type goes to poisonous gas leakage by harmful gas concentration first
Region and automatic obstacle-avoiding is by being wirelessly transferred transmission road image and harmful gas concentration information during going to, currently
It is past that remote manual control formula is then automatically switched into leak scene；
（3）Once having the obstacle being difficult to avoid that, sending information by wireless transport module notifies control centre, then
Switching remote manual control form is gone to by image and scene map again may reveal place；
（4）Go to after place occurs to pernicious gas, transmit image and pernicious gas Cmax, on computers position machine
On automatically generate concentration gradient figure, then whether worked by manual control machine device people.
The advantages of the utility model：Pernicious gas movement detection robot is simple to operate, and applicable situation is wide, such as chemical industry
Industry, colliery industry etc..Acquisition range is wide, and acquisition environmental information amount is big, has image transmission function, obtains pernicious gas leakage
Image scene is easy to Security Officer to implement safeguard procedures, and obtaining harmful gas concentration can transmit to computer data, pass through ratio
To generating corresponding pernicious gas solubility distribution table various different schemes convenient to carry out, therefore application prospect is wider.The robot is compared with city
The fixed harmful gas detecting device in field has the advantages of monitoring range is wide, has security compared with Portable harmful gas detection means
By force, the advantages of applicable situation is more, while the control mode of the robot has two kinds:Labyrinth type is walked, another kind is remote manual control formula.
Brief description of the drawings
Fig. 1 is the utility model structure diagram.
Fig. 2 is this practical automatic obstacle-avoiding ultrasonic wave module structure chart.
Fig. 3 is the utility model PCB structure chart.
In figure, 1, image capture module, 2, ultrasonic sensor, 3, course changing control module, 4, central controller, 5, have
Evil gas detection module MQ-135,6, PCB, 7, steering wheel, 8, body, 9, tire, 10, DC speed-reducing, 11, shooting
Head, 12, carbon beam, 13, motor drive module, 14, pernicious gas detection module MQ-4,15, steering wheel connecting rod, 16, wireless receiving and dispatching
Module.
Embodiment
Embodiment of the present utility model is described in further detail below in conjunction with brief description of the drawings, but the present embodiment and not had to
It is every to use similar structure of the present utility model and its similar change in limitation the utility model, the utility model all should be included in
Protection domain.
Such as Fig. 1-as shown in figure 3, the utility model is achieved in that a kind of pernicious gas movement detection robot, bag
Include image capture module 1, ultrasonic sensor 2, course changing control module 3, central controller 4, pernicious gas detection module MQ-
135 5, PCB 6, steering wheel 7, body 8, tire 9, DC speed-reducing 10, camera 11, carbon beam 12, motor driving mould
Block 13, pernicious gas detection module MQ-4 14, steering wheel connecting rod 15, radio receiving transmitting module 16.It is characterized in that:Described image
Acquisition module 1 is made up of positioned at body the top with carbon beam 12 camera 11 and is connected by wire with PCB 6；Institute
Ultrasonic sensor 2 is stated to be located at the surrounding of body 8 and be connected with PCB 6 by wire；The central controller 8 passes through
Slot is installed in PCB 6；Pernicious gas the detection module MQ-135 and MQ-4 are located at body center and by leading
Line is connected with PCB 6；The PCB 6 is located at the center of body 8；The steering module 3 is connected by steering wheel 7 with steering wheel
Bar 15 is formed to be connected with tire 9 again；The motor drive module 13 is directly welded in PCB 6；The wireless receiving and dispatching mould
Block is installed in PCB by slot；The DC speed-reducing coordinates tire to be installed on the side of car body two.
The utility model principle is as follows：Usually pernicious gas detection robot is located at pernicious gas and easily reveals place angle
Fall, when pernicious gas is not present in place, whole cart system is in low-power consumption standby state, only opens central controller
With pernicious gas detection module MQ-135 and MQ-4, when pernicious gas is detected, labyrinth type road is then opened away by the robot
Line, make use of the ultrasonic sensor and pernicious gas detection module MQ-135 and MQ-4 of body surrounding, and wherein pernicious gas is examined
To survey module MQ-135 and MQ-4 priority and be higher than ultrasonic sensor, it can first pass through harmful gas concentration and judge direction, then by
Ultrasonic wave module disturbance in judgement realizes automatic obstacle-avoiding, if running into dead band in some region, automatically by wireless receiving and dispatching mould
Block sends data to control centre's prompting, and automatically switches into manual mode, and the people of control centre can pass through wireless receiving and dispatching mould
Real time picture, the map in pernicious gas leakage place and the concentration of all directions that block is sent go to pernicious gas to reveal to reach
Region；Pernicious gas leakage place is eventually arrived at, if smoothly reaching pernicious gas leakage place, the robot will be by wireless
Transceiver module reminds control centre and then automatically switches into manual mode, and the robot is received in control by radio receiving transmitting module
The heart instructs, and the picture that camera obtains all angles in poisonous gas leakage place can be passed freely through, then when collection finishes
All information, PC host computers can generate harmful gas concentration gradient map corresponding to current driving path, then again by control centre
Decide whether that allowing the robot to work on is in low power consumpting state.
Claims (6)
1. a kind of pernicious gas movement detection robot, including image capture module, ultrasonic sensor, course changing control module,
Central controller, pernicious gas detection module MQ-135, PCB, steering wheel, body, tire, DC speed-reducing, shooting
Head, carbon beam, motor drive module, pernicious gas detection module MQ-4, steering wheel connecting rod, radio receiving transmitting module；It is characterized in that:
Described image acquisition module is made up of camera and carbon beam, is connected positioned at body the top and by wire with PCB；
The ultrasonic sensor is located at body surrounding and is connected by wire with PCB；The central controller is by inserting
Groove is installed in PCB；Pernicious gas the detection module MQ-135 and MQ-4 are located at body center and pass through wire
It is connected with PCB；The PCB is located at body center；The steering module is made up of steering wheel and steering wheel connecting rod
It is connected again with tire；The motor drive module is directly welded in PCB；The radio receiving transmitting module is pacified by slot
Loaded in PCB；The DC speed-reducing coordinates tire to be installed on the side of car body two.
A kind of 2. pernicious gas movement detection robot according to claim 1, it is characterised in that：The central controller
Use for a STM32F407 system boards, the microcontroller of the system board is installed on for STM32F407VET6 by slot
In PCB.
A kind of 3. pernicious gas movement detection robot according to claim 1, it is characterised in that：The motor drives mould
The full bridge driving circuit for IRF3205 and the IR2104 composition that block uses is directly welded in PCB.
A kind of 4. pernicious gas movement detection robot according to claim 1, it is characterised in that：The course changing control mould
Block is connected using SD-5 digital rudder controllers by wire with PCB.
A kind of 5. pernicious gas movement detection robot according to claim 1, it is characterised in that：Described image gathers mould
The OV7620 cameras that block uses are connected by soft arranging wire with PCB.
A kind of 6. pernicious gas movement detection robot according to claim 1, it is characterised in that：It is described to be wirelessly transferred mould
Block is installed in PCB using bluetooth module HC-05 by slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720364711.6U CN207087853U (en) | 2017-04-10 | 2017-04-10 | A kind of pernicious gas movement detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720364711.6U CN207087853U (en) | 2017-04-10 | 2017-04-10 | A kind of pernicious gas movement detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207087853U true CN207087853U (en) | 2018-03-13 |
Family
ID=61546977
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720364711.6U Expired - Fee Related CN207087853U (en) | 2017-04-10 | 2017-04-10 | A kind of pernicious gas movement detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207087853U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048850A (en) * | 2018-10-19 | 2018-12-21 | 刘焓 | A kind of intelligence of omnidirectional's 4 wheel driven is taken pictures robot |
| CN109931977A (en) * | 2019-01-02 | 2019-06-25 | 孔维强 | A kind of equipment that automatic moving detects air parameter and generates 3-D image |
-
2017
- 2017-04-10 CN CN201720364711.6U patent/CN207087853U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048850A (en) * | 2018-10-19 | 2018-12-21 | 刘焓 | A kind of intelligence of omnidirectional's 4 wheel driven is taken pictures robot |
| CN109931977A (en) * | 2019-01-02 | 2019-06-25 | 孔维强 | A kind of equipment that automatic moving detects air parameter and generates 3-D image |
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Legal Events
| 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: 20180313 Termination date: 20190410 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |