CN208946145U - A kind of smog crusing robot - Google Patents
A kind of smog crusing robot Download PDFInfo
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- CN208946145U CN208946145U CN201821563306.8U CN201821563306U CN208946145U CN 208946145 U CN208946145 U CN 208946145U CN 201821563306 U CN201821563306 U CN 201821563306U CN 208946145 U CN208946145 U CN 208946145U
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- support plate
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Abstract
The utility model discloses a kind of smog crusing robots.Setting information acquisition module is used for the acquisition of external information and smog image in robot body, and the motion control information output mobile information of control module response message processing module is arranged for handling data collected in setting information processing module.It is mobile for receiving mobile message and controlling Mecanum wheel that it is provided with the mobile module with Mecanum wheel simultaneously.Realize mobile inspection.
Description
Technical field
The utility model relates to robot field, especially a kind of smog crusing robot.
Background technique
Currently, fire has sudden strong as a kind of disaster, involve range extensively and the difficult problem of processing.Therefore to fire
Progress occurs, and timely early warning is extremely important, and flame is smaller in fire detection field, when just occurring due to fire, but cigarette
Clearly, and smog has the characteristics of non-contact and a wide range of detection to mist, therefore detecting to smog can be more quickly and effectively
It was found that place and the preliminary situation of fire generation.Most of sides for relying on area of fire protection setting smoke sensor device in the prior art
Formula is detected, although this method can detect smog using sensor and alarm that sensor, which generally requires, to be set
It sets in fixed place, and the range of single sensor detection is smaller, when range of preventing fires is big to need to be arranged a large amount of pass
Sensor, cost are very high.
Utility model content
To solve the above problems, the purpose of this utility model is to provide a kind of smog crusing robots.In robot sheet
The control signal that control module is sent with response message processing module is set in body, so that the control completed to motion module is realized
Mobile inspection, expands the range of Smoke Detection.
The technical solution adopted by the utility model to solve the problem is as follows: a kind of smog crusing robot, including, robot
Ontology and motion module；The robot body is connected with motion module by Mecanum wheel connector；
The robot body includes information acquisition module for acquiring external information and adopts for handling the information
Collect the message processing module of module information collected；
The information acquisition module includes the laser radar for obtaining building Scaned map value；It further include for obtaining view
The range information of Yezhong and the binocular camera of Smoke Detection image；
The message processing module includes the first main control chip for handling information acquisition module data collected, institute
The input terminal for stating the first main control chip is connected with the output end of laser radar and binocular camera；
The robot body further includes control module, and the control module includes the second main control chip, and described second is main
The input terminal of control chip is connected with the output end of the first main control chip, and first main control chip is in response to information acquisition module
Data collected send motion control information to the second main control chip；
The motion module includes Mecanum wheel and the motor for driving Mecanum wheel movement speed and direction, institute
It states motor to be connected with the second main control chip, second main control chip is sent out in response to the motion control information to the motor
Mobile message is sent, the motor is mobile in response to mobile message control Mecanum wheel.
Further, the robot body further include the first support plate from top to bottom set gradually, the second support plate and
Third support plate；It is connected between first support plate, the second support plate and third support plate by connecting rod；First support
Plate, the second support plate and third support plate are carbon fiber board.
Further, the information acquisition module is set to the first support plate surface, and the message processing module is set to
Two support plate surfaces, the control module are set to third support plate surface.
Further, the motion module further includes the motor contact being connected with the shell of the motor；The Mike
Na Mu wheel connector two sides are connected by hinge between motor contact and robot body.
Further, the Mecanum wheel connector includes upper junction plate and U-shaped connector.
Further, part is connected to motor by hinge in the upper junction plate two sides and the second support plate is connected；It is described U-shaped
Connector two sides are connected to motor part by hinge and are connected with third support plate.
Further, the motion module further includes anti-vibration structure, and the anti-vibration structure is connected to the second support plate and motor
Between connector.
It further, further include power supply, the quantity of the power supply is 4.
It further, further include turning die block for power supply, the power supply turns die block and is connected respectively with power supply and motor.
The beneficial effects of the utility model are: the utility model uses a kind of smog crusing robot.In robot sheet
Setting information acquisition module, message processing module and control module in body are additionally provided with the control module phase with robot body
The motion module of connection.Information acquisition module information collected is handled by message processing module and obtains control information, is controlled
Module drives robot body mobile in response to control motion module after control information.To compared with the prior art, static sensor is set
The technical solution of device, the technical solution of the utility model realize mobile detection, can detect broader range, and mobility is more
By force.
Detailed description of the invention
The utility model is described in further detail with example with reference to the accompanying drawing.
Fig. 1 is a kind of structural schematic diagram of smog crusing robot of the utility model；
Fig. 2 is a kind of module connection diagram of smog crusing robot of the utility model；
Fig. 3 is a kind of component connection schematic diagram of smog crusing robot of the utility model.
Drawing reference numeral explanation:
1. laser radar；2. binocular camera；3. the first main control chip；4. power supply；5. the second main control chip；6. Mike receives
Nurse wheel；7. anti-vibration structure；8. motor contact；9. motor；10. power supply turns die block；11. upper junction plate；12.U type connector；
13. the first support plate；14. the second support plate；15. third support plate.
Specific embodiment
- Fig. 3 referring to Fig.1, a kind of smog crusing robot of the utility model, comprising: robot body and motion module；
The robot body is connected with motion module by Mecanum wheel connector；
The robot body includes information acquisition module for acquiring external information and adopts for handling the information
Collect the message processing module of module information collected；
The information acquisition module includes the laser radar 1 for obtaining building Scaned map value；It further include for obtaining
The binocular camera 2 of range information and Smoke Detection image in the visual field；
The message processing module includes the first main control chip 3 for handling information acquisition module data collected,
The input terminal of first main control chip 3 is connected with the output end of laser radar 1 and binocular camera 2；
The robot body further includes control module, and the control module includes the second main control chip 5, and described second is main
The input terminal of control chip 5 is connected with the output end of the first main control chip 3, and first main control chip 3 is in response to information collection
Module data collected send motion control information to the second main control chip 5；
The motion module includes Mecanum wheel 6 and the motor for driving Mecanum wheel 6 movement speed and direction
9, the motor 9 is connected with the second main control chip 5, and second main control chip 5 is in response to the motion control information to institute
It states motor 9 and sends mobile message, the motor 9 is mobile in response to mobile message control Mecanum wheel 6.
Wherein, the laser radar 1 is arranged on bracket as shown in the figure, and the laser radar 1 is the thunder of rotatable scanning
It reaches, and the laser radar 1 and horizontal plane are angled, in order to collect scan values by transmitting laser, thus realization pair
The scanning of ambient enviroment and the reading of data, the collected data of institute, which are sent in the first main control chip 3, to be handled.
Wherein, the binocular camera 2 setting is in robot body front end, between detection and barrier it is practical away from
From while for acquiring real-time detection picture, picture being sent to, whether analyzed and identified in the first main control chip 3 be smog
Picture, when detecting picture is smog picture, first main control chip (3) is sent to server by wireless network and is alarmed
Information.
Preferably, two cameras are Synchronous camera head in the binocular camera 2, i.e. two camera synchronizing movings,
It is consistent that data, the range of acquisition data are obtained simultaneously；It is additionally provided with infrared equipment in the binocular camera 2, to meet night
The demand of work.
Preferably, first main control chip 3 is the central processing unit for data processing, second main control chip 5
For the hardware driven processor for translatory movement data and feed back motion result；First main control chip 3 and the second master control
It is connected between chip 5 by serial port data line.
Wherein, it is independently connected between each Mecanum wheel 6 and motor 9, advantageously ensures that each Mecanum wheel 6 is expert at
There is sufficient power during.
Wherein, Mecanum wheel can satisfy the demand all around moved, to realize robot during inspection
It multi-direction can be moved.
Preferably, the Mecanum wheel uses O- rectangle mounting means, turns to can produce y-axis when wheel rotation
Kinetic moment, and the arm of force of the rotating torque is long, improves the passability of wheel.
For example, a Mecanum wheel 6 is respectively arranged in the surrounding of robot body in the present embodiment, therefore it is provided with correspondence
4 motors 9, each motor 9 connect with the second main control chip 5 for receive control signal, second main control chip 5
Independent mobile message is sent to each motor 9 according to the information that the first main control chip 3 is sent, the motor 9 receives the movement
Operating is after information to drive Mecanum wheel 6 mobile.
Further, the robot body further includes the first support plate 13, the second support plate from top to bottom set gradually
14 and third support plate 15；It is connected between first support plate 13, the second support plate 14 and third support plate 15 by connecting rod；
First support plate 13, the second support plate 14 and third support plate 15 are carbon fiber board.
Preferably, for the ease of installation Mecanum wheel 6, first support plate 13, the second support plate 14 and third branch
Fagging 15 is square plate, and 4 corners are provided with the groove of installation Mecanum wheel.
Further, the information acquisition module is set to 13 surface of the first support plate, and the message processing module is set to
Second support plate, 14 surface, the control module are set to 15 surface of third support plate.
Wherein, since the function of each component is different, so the position of required setting is different, signal is adopted in the present embodiment
Collect environment measuring of the module needs to surrounding, it is therefore desirable to which setting is in higher place to obtain the preferable visual field, therefore information
Acquisition module is arranged on 13 surface of the first support plate.
Preferably due to which control module needs to control motion module, therefore control module setting is supported in third
It include multiple interfaces in the control module, for adapting to the demand of multiple types motor in plate 15.
Wherein, the message processing module is used to handle the data of information acquisition module transmission and sends to control module and transports
Dynamic control information, therefore message processing module is arranged in the second intermediate support plate 14.
Further, the motion module further includes the motor contact 8 being connected with the shell of the motor 9；The wheat
Ke Namu wheel connector two sides are connected by hinge between motor contact 8 and robot body.
Wherein, it due to the small volume of motor 9, is not easy to be connected in robot body, therefore motor contact 8 is set
The mode and soundness of connection can effectively be extended.
Further, the Mecanum wheel connector includes upper junction plate 11 and U-shaped connector 12.
Wherein, 12 hollow space of U-shaped connector avoids the ruler of U-shaped connector Yu motor 9 for placing motor 9
Very little mismatch.
Further, 11 two sides of upper junction plate are connected to motor part 8 by hinge and are connected with the second support plate 14；Institute
It states U-shaped 12 two sides of connector part 8 is connected to motor by hinge and be connected with third support plate 15.
Wherein, upper junction plate 11 and U-shaped connector 12 are connected to the second support plate 14 and third support plate 15, and
It is attached by hinge, can guarantee certain mobility.
Further, the motion module further includes anti-vibration structure 7, and the anti-vibration structure 7 is connected to 14 He of the second support plate
Between motor contact 8.
Wherein, the anti-vibration structure 7 is elastic construction, and is each side arranged one in motor contact 8, to guarantee
Mecanum wheel 6 passes through stationarity when complex landform.
It further, further include power supply 4, the quantity of the power supply 4 is 4.
Further, further include turning die block 10 for power supply, the power supply turn die block 10 respectively with power supply 4 and motor 9
It is connected.
Wherein, the power supply 4 turns die block 10 with power supply by power supply line and connect, and it includes letter that the power supply, which turns die block 10,
Number isolation circuit, main circuit current-limiting protection circuit, feedback compensation circuit and overvoltage crowbar.
The above, the only preferred embodiment of the utility model, the utility model are not limited to above-mentioned implementation
Mode, as long as its technical effect for reaching the utility model with identical means, all should belong to the protection scope of the utility model.
Claims (9)
1. a kind of smog crusing robot characterized by comprising robot body and motion module；The robot body
It is connected with motion module by Mecanum wheel connector；
The robot body includes information acquisition module for acquiring external information and for handling the information collection mould
The message processing module of block information collected；
The information acquisition module includes the laser radar (1) for obtaining building Scaned map value；It further include for obtaining view
The range information of Yezhong and the binocular camera (2) of Smoke Detection image；
The message processing module includes the first main control chip (3) for handling information acquisition module data collected, institute
The input terminal for stating the first main control chip (3) is connected with the output end of laser radar (1) and binocular camera (2)；
The robot body further includes control module, and the control module includes the second main control chip (5), second master control
The input terminal of chip (5) is connected with the output end of the first main control chip (3), and first main control chip (3) is in response to information
Acquisition module data collected send motion control information to the second main control chip (5)；
The motion module includes Mecanum wheel (6) and the motor for driving Mecanum wheel (6) movement speed and direction
(9), the motor (9) is connected with the second main control chip (5), and second main control chip (5) is in response to the motion control
Information sends mobile message to the motor (9), and the motor (9) is mobile in response to mobile message control Mecanum wheel (6).
2. a kind of smog crusing robot according to claim 1, it is characterised in that: the robot body further include by
The first support plate (13), the second support plate (14) and the third support plate (15) set gradually under；First support plate (13),
It is connected between second support plate (14) and third support plate (15) by connecting rod；First support plate (13), second
Fagging (14) and third support plate (15) are carbon fiber board.
3. a kind of smog crusing robot according to claim 2, it is characterised in that: the information acquisition module is set to
First support plate (13) surface, the message processing module are set to the second support plate (14) surface, the control module setting
In third support plate (15) surface.
4. a kind of smog crusing robot according to claim 3, it is characterised in that: the motion module further includes and institute
State the motor contact (8) that the shell of motor (9) is connected；Mecanum wheel connector two sides are connected by hinge in electricity
Between machine connector (8) and robot body.
5. a kind of smog crusing robot according to claim 4, it is characterised in that: the Mecanum wheel connector packet
Include upper junction plate (11) and U-shaped connector (12).
6. a kind of smog crusing robot according to claim 5, it is characterised in that: upper junction plate (11) two sides are logical
Cross that part (8) is connected to motor in hinge and the second support plate (14) is connected: U-shaped connector (12) two sides pass through hinge and electricity
Machine connector (8) is connected with third support plate (15).
7. a kind of smog crusing robot according to claim 6, it is characterised in that: the motion module further includes shock-absorbing
Structure (7), the anti-vibration structure (7) are connected between the second support plate (14) and motor contact (8).
8. a kind of smog crusing robot according to claim 1, it is characterised in that: further include power supply (4), the power supply
(4) quantity is 4.
9. a kind of smog crusing robot according to claim 8, it is characterised in that: further include turning die block for power supply
(10), the power supply turns die block (10) and is connected respectively with power supply (4) and motor (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821563306.8U CN208946145U (en) | 2018-09-25 | 2018-09-25 | A kind of smog crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821563306.8U CN208946145U (en) | 2018-09-25 | 2018-09-25 | A kind of smog crusing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208946145U true CN208946145U (en) | 2019-06-07 |
Family
ID=66739302
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821563306.8U Active CN208946145U (en) | 2018-09-25 | 2018-09-25 | A kind of smog crusing robot |
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| Country | Link |
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| CN (1) | CN208946145U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048846A (en) * | 2018-09-25 | 2018-12-21 | 五邑大学 | A kind of smog crusing robot and its control method |
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2018
- 2018-09-25 CN CN201821563306.8U patent/CN208946145U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048846A (en) * | 2018-09-25 | 2018-12-21 | 五邑大学 | A kind of smog crusing robot and its control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221207 Address after: 529000 Room 1604, Building 1, No. 135, Jianshe Third Road, Pengjiang District, Jiangmen City, Guangdong Province (information declaration system) (multiple photos for one site) Patentee after: Pengpai Software Technology (Jiangmen) Co.,Ltd. Address before: No.22, Dongcheng village, Pengjiang district, Jiangmen City, Guangdong Province Patentee before: WUYI University |
|
| TR01 | Transfer of patent right |