CN209479990U - A kind of air-ground amphibious environmental monitoring robot of novel combination type - Google Patents
A kind of air-ground amphibious environmental monitoring robot of novel combination type Download PDFInfo
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- CN209479990U CN209479990U CN201920049473.9U CN201920049473U CN209479990U CN 209479990 U CN209479990 U CN 209479990U CN 201920049473 U CN201920049473 U CN 201920049473U CN 209479990 U CN209479990 U CN 209479990U
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Abstract
The utility model discloses a kind of air-ground amphibious environmental monitoring robots of novel combination type, it includes UAV system, probe car system and earth station system, and UAV system includes rack, brushless motor, rotor, power supply module, communication module, real-time figure transmission module, GPS module, flies control core cell, remote controler and carrier vehicle system；Probe car system includes vehicle frame, caterpillar wheel, camera, driving motor, wireless communication module, video passback module, automatic obstacle avoiding module, power supply module, environment monitoring module and control core unit；Earth station system includes controller, display screen, power supply module, data transmission module and video reception module.The robot unmanned plane and intelligent vehicle technology are integrated in one, and solve the problems, such as because the influence of the conditions such as road surface landform or space limitation can not evolutionary operation；It takes action more flexible, has good environment and scout detecting function；Structure novel, powerful, practicability is extremely strong.
Description
Technical field
The utility model relates to a kind of environmental monitoring robot, specially a kind of air-ground amphibious environmental monitoring of novel combination type
Robot belongs to intellectual monitoring equipment technology field.
Background technique
Air pollution is the focal issue in the whole world already, and the important relationship of air and people are self-evident.In surrounding air
Gas componant, concentration moment affect people's health situation, while being also related to the safety of some production works.In order to from
Energy consumption is reduced on source, controls gross contamination emission, and it is outstanding to grasp the ingredient of various pollutants and concentration in surrounding air in real time
It is important.
Current air monitoring device is mostly fixed or portable.Fixed monitoring device can only monitor centainly
Air parameter in range, that there are the scope of applications in use is small, need to consider the factors such as installation site.Mancarried device needs personnel
It carries, even needs to enter in dangerous environment sometimes to be monitored, there are great hidden danger to the personal safety of personnel.Now such as
The present, most emerging intelligent vehicle is since a lot of places of the limitation of motion mode are difficult to reach, such as higher floor, unmanned plane prison
Although survey can reach it can be difficult to maintain the long period at the scene, especially the region that scene of fire visual isopter obscures nobody
There are biggish security risks for machine flight.
Summary of the invention
The purpose of this utility model is that it is in view of the drawbacks of the prior art and insufficient, a kind of novel combination type land sky two is provided
It dwells environmental monitoring robot, can be realized the monitoring for dangerous complicated geographical environment, high altitude environment etc., while work can be reminded
Personnel not only expand monitoring range far from danger area, but also can be realized air quality real-time monitoring.
In order to solve the problems existing in background technology, the technical solution of the utility model is as follows: a kind of novel combination type
Air-ground amphibious environmental monitoring robot, it includes UAV system, probe car system and earth station system, the unmanned plane system
System includes rack, brushless motor, rotor, camera, power supply module, communication module, six axle sensor modules, figure passes mould in real time
Block, motor driven speed adjusting module, flies control core cell, remote controler and carrier vehicle system at GPS module, and the rack uses F550
Six axis aircraft frames, each arm of force outer end top of rack are equipped with rotor, and rotor is driven using brushless motor, the bottom of rack
Equipped with camera, the top center of rack is equipped with carrier vehicle system, and UAV system is long-range by communication module and remote controler
Signal transmission, six axle sensor modules collocation magnetometer are used for the attitude detection of unmanned plane.
The probe car system includes vehicle frame, caterpillar wheel, camera, driving motor, wireless communication module, video time
Transmission module, automatic obstacle avoiding module, motor drive module, power supply module, environment monitoring module and control core unit, the vehicle
Frame is fabricated using light aluminum alloy plate, and bottom of frame two sides are equipped with symmetrical caterpillar wheel, and caterpillar wheel is by driving
Motor driven, driving motor are equipped with a front and back staggered form placement, and vehicle frame front end disposes camera.
The earth station system includes controller, display screen, power supply module, data transmission module and video reception mould
Block.
As a kind of optimal technical scheme of the utility model, the carrier vehicle system is by carrier loader platform and wheel guide rail structure
At carrier loader platform is the plastics platform that three faces of opening are equipped with baffle on one side, and carrier loader platform opening side outer end is equipped with two symmetrically
It is distributed wheel guide rail, wheel guide rail, which is located between two adjacent rotors of rack, parks probe car system level and will not shadow
Ring the normal rotation of surrounding rotor.
As a kind of optimal technical scheme of the utility model, the winged control core cell of the UAV system is selected
STM32F407VET6 development board, it is high performance ARM-CortexM4 32bit kernel that this, which flies control core cell, up to
The working frequency of 168MHz can greatly meet the sensor signal in flight course；The brushless electricity of UAV system
Machine opens up 920KV brushless motor using perseverance, and the rotor of UAV system uses the positive and negative slurry of 1047 carbon fibers, UAV system it is distant
It controls device and uses happy enlightening AT9 remote controler, the power supply module of UAV system uses 5200 milliamperes of lion board of model airplane battery with true
Protect the cruising ability of flight.
As a kind of optimal technical scheme of the utility model, the control core unit of the probe car system is preferred
STM32f103 controller is as master control core, and working frequency 72MHz, enhanced peripheral hardware and I/O port abundant facilitate function
The extension of energy；The wireless communication module of probe car system preferably has the NRF24L01 communication module of power amplifier element；Probe vehicles
The preferred 5.8G figure of the video passback module of system passes transceiver module TS832 and RC832 and is equipped with camera, and AV is selected in receiving end
Video frequency collection card real-time display current picture and can have recording function on the machine of position on computers.
As a kind of optimal technical scheme of the utility model, the probe car system uses infrared obstacle avoidance and ultrasound
Wave avoidance two ways, which combines, carries out simple automatic obstacle avoiding, obtains trolley under the coordinate system of building using angular transducer
Yaw angle, basic passage path Memory algorithm makes trolley have the function of autonomous inspection herein.
As a kind of optimal technical scheme of the utility model, the winged control core cell of the UAV system and power supply
The 3A electric current of Texas Instrument (TI) production is designed between module, between the control core unit and power supply module of probe car system
Output buck switching mode LM2596 integrated voltage-stabilized chip has perfect protection circuit, current limit, Thermal shutdown circuit etc., energy
The driving current of 3A is enough exported, while there is linear and load regulation characteristic well.
As a kind of optimal technical scheme of the utility model, six axle sensor modules of the UAV system are preferred
The MPU6050 module of InvenSense company, including 3-axis acceleration, three axis angular rates, compact, purposes are very wide,
The problem for eliminating the difference of combination gyroscope and accelerator time shaft, reduces a large amount of encapsulated space, and product transmission can pass through
The IIC for being up to 400kHz is communicated with controller unit, and power consumption is extremely low, electric current only 10mA under 3.3V.
As a kind of optimal technical scheme of the utility model, the motor drive module of the probe car system is preferably eastern
The TB6612FNG type direct current generator drive module of sesame semiconductor company production, is not necessarily to outer radiation fin, and peripheral circuit is simple, only
Need external power supply filter capacitor can direct-driving motor, be conducive to reduce system dimension.
As a kind of optimal technical scheme of the utility model, the environment monitoring module of the probe car system includes temperature
Sensor, humidity sensor, MQ-2 smoke sensor device, MQ-9 carbon monoxide transducer are spent, can also be extended according to monitoring needs
Add other corresponding detection sensors.
The utility model has the beneficial effect that the air-ground amphibious environmental monitoring robot of the novel combination type makes up current robot
Unmanned plane and intelligent vehicle technology are integrated in one by unitary design disadvantage, realize the two and combine, had needed to make it both according to task
It can integrally fly, and can separate and respectively execute task, solve due to the influence of the conditions such as road surface landform or space limitation
Can not evolutionary operation the problem of；It takes action more flexible, land and air double-used task can be completed at the same time, have good environment and scout
Detecting function；Structure novel, powerful, practicability is extremely strong, is worth promoting on a large scale during the environment measuring of danger zone
Using.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model.
Fig. 2 is the UAV system structural schematic diagram of the utility model.
Fig. 3 is the structural schematic diagram of the probe car system of the utility model.
Fig. 4 is the structural schematic diagram of the carrier vehicle system of the utility model.
Fig. 5 is the structure control block diagram of the work system of the utility model.
Description of symbols: 1. UAV system, 2. probe car systems, 3. earth station systems；11. rack, 12. brushless electricity
Machine, 13. rotors, 14. camera a, 15. remote controlers, 16. carrier vehicle systems；21. vehicle frame, 22. caterpillar wheels, 23. camera b；
161. carrier loader platforms, 162. wheel guide rails.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
It clearly and completely describes, it is clear that described embodiment is only the utility model a part of the embodiment, rather than whole realities
Apply example.Based on the embodiments of the present invention, those of ordinary skill in the art institute without making creative work
The every other embodiment obtained, fall within the protection scope of the utility model.
Referring to Fig. 1 to Fig. 3, present embodiment adopts the following technical scheme that a kind of air-ground amphibious ring of novel combination type
Border monitoring robot, includes UAV system 1, probe car system 2 and earth station system 3, and the UAV system 1 includes machine
Frame 11, brushless motor 12, rotor 13, camera a 14, power supply module, communication module, six axle sensor modules, figure passes mould in real time
Block, GPS module, motor driven speed adjusting module, winged control core cell, remote controler 15 and carrier vehicle system 16, the rack 11 are adopted
With six axis aircraft frame of F550, each arm of force outer end top of rack 11 is equipped with rotor 13, and rotor 13 uses brushless motor 12
Driving, the bottom of rack 11 are equipped with camera a 14, and the top center of rack 11 is equipped with carrier vehicle system 16, UAV system
1 is transmitted by communication module and 15 remote signal of remote controler, and six axle sensor modules collocation magnetometer is used for the posture of unmanned plane
Detection.
The probe car system 2 includes vehicle frame 21, caterpillar wheel 22, camera b 23, driving motor, radio communication mold
Block, video passback module, automatic obstacle avoiding module, motor drive module, power supply module, environment monitoring module and control core list
Member, the vehicle frame 21 are fabricated using light aluminum alloy plate, and 21 two sides of the bottom of vehicle frame are equipped with symmetrical caterpillar wheel
22, caterpillar wheel 22 is driven by driving motor, and driving motor is equipped with 2 front and back staggered form placements, the placement camera shooting of 21 front end of vehicle frame
Head b 23.
The earth station system 3 includes controller, display screen, power supply module, data transmission module and video reception mould
Block.
Further, the carrier vehicle system 16 is made of carrier loader platform 161 and wheel guide rail 162, and carrier loader platform 161 is
Be open plastics platform of three faces equipped with baffle on one side, and the opening of carrier loader platform 161 side outer end is equipped with two symmetrical wheels and leads
Rail 162, wheel guide rail 162, which is located between two adjacent rotors 13 of rack 11, parks 2 level of probe car system and will not
Influence the normal rotation of surrounding rotor.
Further, the winged control core cell of the UAV system 1 selects STM32F407VET6 development board, this flies
Controlling core cell is high performance ARM-CortexM4 32bit kernel, and the up to working frequency of 168MHz can be limited greatly
The sensor signal of degree met in flight course；The brushless motor 12 of UAV system 1 opens up the brushless electricity of 920KV using perseverance
Machine, the rotor 13 of UAV system 1 use the positive and negative slurry of 1047 carbon fibers, and the remote controler 15 of UAV system 1 uses happy enlightening AT9
Remote controler, the power supply module of UAV system 1 use 5200 milliamperes of lion board of model airplane battery to ensure the continuation of the journey energy to fly
Power.
Further, the preferred STM32f103 controller of the control core unit of the probe car system 2 is as master control core
The heart, working frequency 72MHz, enhanced peripheral hardware abundant and the port IO facilitate the extension of function；Probe car system 2
Wireless communication module preferably has the NRF24L01 communication module of power amplifier element；The video passback module of probe car system 2 is excellent
It selects 5.8G figure to pass transceiver module TS832 and RC832 and is equipped with camera, receiving end selects AV video frequency collection card can be in electricity
Real-time display current picture and has recording function on brain host computer.
Further, the probe car system 2 using infrared obstacle avoidance and avoiding obstacles by supersonic wave two ways combine into
The simple automatic obstacle avoiding of row, obtains yaw angle of the trolley under the coordinate system of building using angular transducer, basis passes through herein
Path memory algorithm makes trolley have the function of autonomous inspection.
, further, between the winged control core cell and power supply module of the UAV system 1 probe car system 2
The 3A electric current output buck switching mode of Texas Instrument (TI) production is designed between control core unit and power supply module
LM2596 integrated voltage-stabilized chip has perfect protection circuit, current limit, Thermal shutdown circuit etc., can export the driving of 3A
Electric current, while there is linear and load regulation characteristic well.
Further, the MPU6050 of the preferred InvenSense company of six axle sensor modules of the UAV system 1
Module, including 3-axis acceleration, three axis angular rates, compact, purposes are very wide, eliminate combination gyroscope and accelerate
The problem of the difference of device time shaft, reduces a large amount of encapsulated space, and product transmission can pass through IIC and the control for being up to 400kHz
Device unit communication, and power consumption is extremely low, electric current only 10mA under 3.3V.
Further, the preferred semiconductor company, Toshiba of the motor drive module of the probe car system 2 produces
TB6612FNG type direct current generator drive module is not necessarily to outer radiation fin, and peripheral circuit is simple, only needs external power supply filter capacitor
Can direct-driving motor, be conducive to reduce system dimension.
Further, the environment monitoring module of the probe car system 2 includes temperature sensor, humidity sensor, MQ-
2 smoke sensor devices, MQ-9 carbon monoxide transducer can also add other corresponding detection sensors according to monitoring needs.
Working principle of the utility model is: staff passes through earth station system 3 and remote controler 15 first when the task of execution
It controls UAV system 1 and carries the arrival task of probe car system 2 scene.UAV system 1 makes to visit after landing by remote control
Measuring car system 2 is separated with UAV system 1.UAV system 1 is taken photo by plane collection site information in the sky by camera 14, and will
Information is transferred to earth station system.UAV system 1 then enters specified region, passes through vehicle-mounted camera and context detection module pair
Field data is detected, and is taught skill art by figure by wireless transport module and transmitted information back to earth station system 3.For nobody
The unapproachable region of machine system 1, environment measuring and information back can be carried out by being advanced into certainly with probe car system 2.Task
After by 3 remote control of earth station system realize be accurately positioned, by UAV system 1 carrying probe car system 2 return.
It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and
And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this is practical new in other specific forms
Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this is practical new
The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in
All changes in justice and range are embraced therein.It should not treat any reference in the claims as limiting
Related claim.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (9)
1. a kind of air-ground amphibious environmental monitoring robot of novel combination type, it is characterised in that: include UAV system, probe vehicles system
System and earth station system, the UAV system include rack, brushless motor, rotor, camera a, power supply module, communication mould
Block, six axle sensor modules, real-time figure transmission module, GPS module, motor driven speed adjusting module, fly control core cell, remote controler and
Carrier vehicle system, the rack use six axis aircraft frame of F550, and each arm of force outer end top of rack is equipped with rotor, rotor
It is driven using brushless motor, the bottom of rack is equipped with camera a, and the top center of rack is equipped with carrier vehicle system, unmanned plane
System is transmitted by communication module and remote controler remote signal, and six axle sensor modules collocation magnetometer is used for the posture of unmanned plane
Detection；
The probe car system includes vehicle frame, caterpillar wheel, camera b, driving motor, wireless communication module, video passback
Module, automatic obstacle avoiding module, motor drive module, power supply module, environment monitoring module and control core unit, the vehicle frame
It is fabricated using light aluminum alloy plate, bottom of frame two sides are equipped with symmetrical caterpillar wheel, and caterpillar wheel is by driving electricity
Machine driving, driving motor are equipped with a front and back staggered form placement, and vehicle frame front end disposes camera b；
The earth station system includes controller, display screen, power supply module, data transmission module and video reception module.
2. the air-ground amphibious environmental monitoring robot of a kind of novel combination type according to claim 1, it is characterised in that: described
Carrier vehicle system be made of carrier loader platform and wheel guide rail, carrier loader platform be one side opening three faces be equipped with baffle plastics platform,
Carrier loader platform be open side outer end be equipped with two symmetrical wheel guide rails, wheel guide rail be located at rack two adjacent rotors it
Between.
3. the air-ground amphibious environmental monitoring robot of a kind of novel combination type according to claim 1, it is characterised in that: described
The winged control core cell of UAV system select STM32F407VET6 development board, the brushless motor of UAV system is using permanent
920KV brushless motor is opened up, the rotor of UAV system uses the positive and negative slurry of 1047 carbon fibers, and the remote controler of UAV system uses
Happy enlightening AT9 remote controler, the power supply module of UAV system use the model airplane battery of lion board 5200mA.
4. the air-ground amphibious environmental monitoring robot of a kind of novel combination type according to claim 1, it is characterised in that: described
Probe car system the preferred STM32f103 controller of control core unit as master control core, the channel radio of probe car system
Letter module preferably has the NRF24L01 communication module of power amplifier element, the preferred 5.8G figure of the video passback module of probe car system
It passes transceiver module TS832 and RC832 and is equipped with camera, receiving end selects AV video frequency collection card can be on computers on the machine of position
Real-time display current picture and has recording function.
5. the air-ground amphibious environmental monitoring robot of a kind of novel combination type according to claim 1, it is characterised in that: described
Being combined using infrared obstacle avoidance and avoiding obstacles by supersonic wave two ways for probe car system carry out simple automatic obstacle avoiding, use angle
Degree sensor obtains yaw angle of the trolley under the coordinate system of building, and basic passage path Memory algorithm has trolley herein
The function of autonomous inspection.
6. the air-ground amphibious environmental monitoring robot of a kind of novel combination type according to claim 1, it is characterised in that: described
UAV system winged control core cell and power supply module between, the control core unit of probe car system and power supply module it
Between be designed with Texas Instrument (TI) production 3A electric current output buck switching mode LM2596 integrated voltage-stabilized chip.
7. the air-ground amphibious environmental monitoring robot of a kind of novel combination type according to claim 1, it is characterised in that: described
UAV system six axle sensor modules preferred Inven Sense company MPU6050 module, including 3-axis acceleration,
Three axis angular rates.
8. the air-ground amphibious environmental monitoring robot of a kind of novel combination type according to claim 1, it is characterised in that: described
The TB6612FNG type direct current generator of motor drive module preferred semiconductor company, Toshiba production of probe car system drive mould
Block is not necessarily to outer radiation fin.
9. the air-ground amphibious environmental monitoring robot of a kind of novel combination type according to claim 1, it is characterised in that: described
Probe car system environment monitoring module include temperature sensor, humidity sensor, MQ-2 smoke sensor device, MQ-9 mono- aoxidize
Carbon sensor can also extend according to monitoring needs and add other corresponding detection sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201920049473.9U CN209479990U (en) | 2019-01-12 | 2019-01-12 | A kind of air-ground amphibious environmental monitoring robot of novel combination type |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920049473.9U CN209479990U (en) | 2019-01-12 | 2019-01-12 | A kind of air-ground amphibious environmental monitoring robot of novel combination type |
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| CN209479990U true CN209479990U (en) | 2019-10-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114394238A (en) * | 2022-02-08 | 2022-04-26 | 山西工程职业学院 | Intelligent oiling robot and method for unmanned aerial vehicle throwing |
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2019
- 2019-01-12 CN CN201920049473.9U patent/CN209479990U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114394238A (en) * | 2022-02-08 | 2022-04-26 | 山西工程职业学院 | Intelligent oiling robot and method for unmanned aerial vehicle throwing |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191011 Termination date: 20210112 |