CN209486515U - A kind of indoor patrol robot based on electromagnetic navigation - Google Patents
A kind of indoor patrol robot based on electromagnetic navigation Download PDFInfo
- Publication number
- CN209486515U CN209486515U CN201920005494.0U CN201920005494U CN209486515U CN 209486515 U CN209486515 U CN 209486515U CN 201920005494 U CN201920005494 U CN 201920005494U CN 209486515 U CN209486515 U CN 209486515U
- Authority
- CN
- China
- Prior art keywords
- chip
- pin
- electromagnetic
- sensor
- microcontroller chip
- 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.)
- Expired - Fee Related
Links
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 239000003990 capacitor Substances 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 8
- 230000001939 inductive effect Effects 0.000 claims description 4
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims description 3
- 229910052751 metal Inorganic materials 0.000 abstract description 7
- 239000002184 metal Substances 0.000 abstract description 7
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 230000003993 interaction Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 16
- 239000007789 gas Substances 0.000 description 6
- 239000002737 fuel gas Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 239000002341 toxic gas Substances 0.000 description 3
- 102100029505 E3 ubiquitin-protein ligase TRIM33 Human genes 0.000 description 2
- 101000634991 Homo sapiens E3 ubiquitin-protein ligase TRIM33 Proteins 0.000 description 2
- OHJIHGVLRDHSDV-BNAVIEMTSA-N OC(=O)CCC\C=C/C[C@@H]1[C@@H](/C=C/[C@@H](O)CCCCC)C[C@@H]2C(C)(C)[C@H]1C2 Chemical compound OC(=O)CCC\C=C/C[C@@H]1[C@@H](/C=C/[C@@H](O)CCCCC)C[C@@H]2C(C)(C)[C@H]1C2 OHJIHGVLRDHSDV-BNAVIEMTSA-N 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 102100025851 Acyl-coenzyme A thioesterase 2, mitochondrial Human genes 0.000 description 1
- 101100107935 Homo sapiens ACOT2 gene Proteins 0.000 description 1
- 101001135770 Homo sapiens Parathyroid hormone Proteins 0.000 description 1
- 101001135344 Homo sapiens Polypyrimidine tract-binding protein 1 Proteins 0.000 description 1
- 101001135995 Homo sapiens Probable peptidyl-tRNA hydrolase Proteins 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 101100107938 Mus musculus Acot3 gene Proteins 0.000 description 1
- 101100299489 Oryza sativa subsp. japonica PTD gene Proteins 0.000 description 1
- 101100136621 Petunia hybrida PT4 gene Proteins 0.000 description 1
- 102100033073 Polypyrimidine tract-binding protein 1 Human genes 0.000 description 1
- 102100036829 Probable peptidyl-tRNA hydrolase Human genes 0.000 description 1
- 102100036894 Protein patched homolog 2 Human genes 0.000 description 1
- 101710161395 Protein patched homolog 2 Proteins 0.000 description 1
- 101000919382 Rattus norvegicus Cytochrome P450 2C6 Proteins 0.000 description 1
- 101100189632 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) PTC6 gene Proteins 0.000 description 1
- 101100243745 Schizosaccharomyces pombe (strain 972 / ATCC 24843) ptb1 gene Proteins 0.000 description 1
- 101100299602 Solanum lycopersicum PTI5 gene Proteins 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 239000000567 combustion gas Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000009545 invasion Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Abstract
The utility model discloses a kind of indoor patrol robot based on electromagnetic navigation, including robot body, running part, motor drive ic, microcontroller chip, electromagnetic sensing chip, speed acquisition sensor, human body infrared inductor and alarm department, it is proposed a kind of accurately indoor electromagnetic navigation scheme, metal wire is detected using electromagnetic sensing chip, pass through speed control to rear-wheel and differential steering, realize mobile purpose that robot navigates by path, electromagnetic navigation structure is simple, precision is high, it is low in cost, and combine the environmental parameter detection sensor of low-cost and high-precision, realize unmanned patrol, it is visualized by the parameters that display screen detects robot, it is more intuitive, and pass through and alarm and remote information interaction, keep system safe and reliable, the utility model module, circuit is simplified, utilization rate is high, section About great amount of cost brings great convenience for people's lives.
Description
Technical field
The utility model relates to robotic technology fields, particularly relate to a kind of indoor patrol machine based on electromagnetic navigation
People.
Background technique
With the development of society, requirement of the people to indoor security is higher and higher, multiple indoor of having come into being security protection system
System, is detected and is alarmed to indoor intrusive behavior and various dangerous situations, and with the development of artificial intelligence technology, indoor unit
Device people has become hot topic instantly, and indoor security equipment also increasingly tends to be intelligent.The airmanship of Indoor Robot is increasingly
Maturation, but still have many various technical barriers, Indoor Robot is more demanding to navigator fix, is just annoying vast open at present
Originator, traditional wireless signal strength positioning is easily caused navigator fix inaccurate by such environmental effects are larger, and higher cost.
Utility model content
In view of this, mentioning the purpose of this utility model is that propose a kind of indoor patrol robot based on electromagnetic navigation
For a kind of more economical accurately path navigation mode.
Based on a kind of above-mentioned purpose indoor patrol robot based on electromagnetic navigation provided by the utility model, comprising:
Robot body, robot body bottom are equipped with running part；
Motor drive ic is mounted on robot body, is connect with running part；
Microcontroller chip is mounted on affiliated robot body, and the input that output pin is connected to motor drive ic is drawn
Foot；
Electromagnetic sensing chip, including the electromagnetic sensor composed in parallel by capacitor and I-shaped inductive, electromagnetic sensor peace
Mounted in the direction of advance front end of robot body, the output pin of electromagnetic sensor is connected to the input pin of operation amplifier chip,
Operation amplifier chip is successively filtered out capacitor and Schottky diode by output pin, and the A/D acquisition for being connected to microcontroller chip is drawn
Foot；
Speed acquisition sensor, is mounted on running part, and the output pin of speed acquisition sensor is connected to microcontroller chip
Input pin；
Human body infrared inductor, is mounted on robot body, and output pin is connected to the input pin of microcontroller chip；
The input pin of alarm department, alarm department is connected to the output pin of microcontroller chip.
Preferably, running part use three wheeler structure, including one only with universal wheel front-wheel and a pair of rear wheels, motor
It is equipped with the motor for driving two rear wheels respectively in driving chip, is realized and is turned to by differential.
Preferably, speed acquisition sensor uses two speed encoders, is separately mounted on two rear-wheels, and wheel is turned
Speed is converted to umber of pulse, is sent to microcontroller chip.
Preferably, fire defector chip is also equipped on robot body, the output pin of fire defector chip is connected to micro-
Control the input pin of chip.
Preferably, MQ135 Detection of Air Quality sensor and MQ5 fuel gas sensing are also equipped on robot body
The output pin of device, MQ135 Detection of Air Quality sensor and MQ5 combustible gas sensor is respectively connected to the A/ of microcontroller chip
D acquires pin.
Preferably, the bottom of robot body is equipped with tongue tube, and the output pin of tongue tube is connected to microcontroller chip
Input pin.
Preferably, 4-bit DIP switch is installed, four pins of 4-bit DIP switch are respectively connected on robot body
Four I/O mouthfuls of pins of microcontroller chip.
Preferably, microcontroller chip is connected with SIM900A wireless communication chips by serial ports, and SIM900A wirelessly communicates core
Piece sends user mobile phone by short message for the collected signal of microcontroller chip.
Preferably, microcontroller chip is connected with display screen by output pin, and collected information is given by display screen
With display.
From the above it can be seen that the indoor patrol robot provided by the utility model based on electromagnetic navigation, proposes
A kind of accurately indoor electromagnetic navigation scheme, detects metal wire using electromagnetic sensing chip, passes through the speed to rear-wheel
Mobile purpose that robot navigates by path is realized in control and differential steering, and electromagnetic navigation structure is simple, precision is high, cost
It is cheap, and the environmental parameter detection sensor of low-cost and high-precision is combined, it realizes unmanned patrol, is examined robot by display screen
Measure parameters visualization, more intuitively, and pass through and alarm and remote information interaction, keep system safe and reliable, this
Utility model module, circuit are simplified, utilization rate is high, are saved great amount of cost, are brought great convenience for people's lives.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model embodiment；
Fig. 2 is the motor drive ic circuit diagram of the utility model embodiment；
Fig. 3 is the microcontroller chip circuit diagram of the utility model embodiment；
Fig. 4 is the electromagnetic sensor circuit diagram of the utility model embodiment；
Fig. 5 is the alarm department circuit diagram of the utility model embodiment；
Fig. 6 is the fire defector chip circuit schematic diagram of the utility model embodiment；
Fig. 7 is the MQ135 air quality sensor circuit diagram of the utility model embodiment；
Fig. 8 is the MQ5 combustible gas sensor circuit diagram of the utility model embodiment；
Fig. 9 is the 4-bit DIP switch circuit diagram of the utility model embodiment；
Figure 10 is the OLED display screen circuit diagram of the utility model embodiment；
Figure 11 is the power module circuitry schematic diagram of the utility model embodiment.
Specific embodiment
For the purpose of this utility model, technical solution and advantage is more clearly understood, below in conjunction with specific embodiment, and
Referring to attached drawing, the utility model is further described.
It should be noted that all statements for using " first " and " second " are for area in the utility model embodiment
Be divided to two non-equal entities of same names or non-equal parameter, it is seen that " first " " second " only for statement convenience,
It should not be construed as the restriction to the utility model embodiment, subsequent embodiment no longer illustrates this one by one.
A kind of indoor patrol robot based on electromagnetic navigation, which is characterized in that including robot body 1, robot sheet
1 bottom of body is equipped with running part 2；
Motor drive ic 4 is installed, motor drive ic 4 is connect with running part 2, control walking on robot body 1
The steering and speed in portion 2.
Preferably, running part 2 can be used three wheeler structure, three wheeler structure include one by steering wheel group before
Wheel and a pair of rear wheels are equipped with the motor for driving two rear wheels respectively in motor drive ic 4, pass through two motors output speed
The difference of degree realizes the differential steering of rear-wheel, and motor drive ic 4 uses H bridge drive circuit, and circuit diagram is as shown in Figure 2.
Microcontroller chip 5 is installed on robot body 1, output pin is connected to the input pin of motor drive ic 4,
And then the steering and speed of running part 2 are controlled, the circuit diagram of microcontroller chip 5 is as shown in Fig. 3.Optionally, microcontroller chip 5
KEA128 chip is selected, the circuit for driving left rear wheel in motor drive ic 4 is connected to by pin PTH0 and PTH1, passes through pin
PTD0 and PTD1 is connected to the circuit that off hind wheel is driven in motor drive ic 4.
Electromagnetic sensing chip is also equipped on robot body 1, including the electricity composed in parallel by capacitor and I-shaped inductive
Magnetic Sensor, electromagnetic sensor are mounted on the front end of the direction of advance of robot body 1, examine to the metal wire on path
It surveys, the output pin of electromagnetic sensor is connected to the input pin of operation amplifier chip, after operation amplifier chip amplifies signal,
Capacitor and Schottky diode are successively filtered out by the output pin of operation amplifier chip, are connected to the A/D acquisition of microcontroller chip 5
Pin, for wherein exporting all the way, as shown in figure 4, capacitor C1 is in parallel with I-shaped inductive L1, electromagnetic sensor C19's is defeated
Pin is connected to the input pin IN1+ of operation amplifier chip U4 out, amplified to be picked out by output pin OUT1, through filtering out capacitor
C15 and Schottky diode B3 acquires pin PTB0, another way electromagnetic sensing by the A/D that AD6 pin is connected to microcontroller chip 5
The output pin AD7 of chip is connected to the A/D acquisition pin PTB1 of microcontroller chip 5.
Speed acquisition sensor 6 is installed on robot body 1, is mounted on running part 2, speed acquisition sensor 6
Output pin is connected to the input pin of microcontroller chip 5, and optionally, velocity sensor uses two speed encoders, specifically may be used
500 line profile encoders are selected, two encoders are separately mounted on two rear-wheels of running part 2, and the revolving speed of rear-wheel is converted
For umber of pulse, it is connected to the pulse collection pin PTE0 of microcontroller chip 5.
Human body infrared inductor 8 is mounted on robot body 1, and the output pin of human body infrared inductor 8 is connected to micro-control
The input pin of coremaking piece 5, optionally, human body infrared inductor 8 select D-SUN human body induction module, and output pin is connected to micro-
The PTA0 pin for controlling chip 5, in the presence of D-SUN human body induction module detects human body, modular outlets export high level,
Otherwise output low level, the high level or low level that microcontroller chip 5 is received by PTA0 pin judge whether there is human body and deposit
?.
Alarm department 13 is additionally provided on robot body 1, the input pin of alarm department 13 is connected to the output of microcontroller chip 5
Pin.
Optionally, alarm department 13 includes the first LED light and buzzer, as shown in figure 5, the first LED lamp is connected to micro-control coremaking
The PTC2 pin of piece 5, buzzer are connected to the PTI5 pin of microcontroller chip 5, when human body infrared inductor 8 detects that human body invades
When, microcontroller chip 5 starts the first LED light and buzzer, sends alarm signal to user.
Optionally, fire defector chip 9 is also equipped on robot body 1, the output pin of fire defector chip 9 is connected to
The input pin of microcontroller chip 5, specifically, the circuit diagram of fire defector chip 9 is as shown in fig. 6, fire defector chip 9 is defeated
Outlet D0 is connected to the PTA2 pin of microcontroller chip 5, and when fire defector chip 9, which detects, catches fire situation, D0 exports high level,
Otherwise output low level, the high level or low level that microcontroller chip 5 is received by PTA2 pin judge whether there is feelings of catching fire
Condition；It is additionally provided in alarm department 13 for the second LED light alarmed of catching fire, the second LED light to be connected to microcontroller chip 5
PTE5 pin.
Optionally, MQ135 Detection of Air Quality sensor and MQ5 fuel gas sensing are also equipped on robot body 1
Device 11, output pin are respectively connected to the A/D acquisition pin of microcontroller chip 5, optionally, MQ135 air quality sensor 10
Aout mouth be connected to the PTD3 pin of microcontroller chip 5, the Aout mouth of MQ5 combustible gas sensor 11 is connected to microcontroller chip 5
PTD4 pin, the circuit of MQ135 air quality sensor 10 as shown in fig. 7, the circuit of MQ5 combustible gas sensor 11 such as
Shown in Fig. 8.Whether microcontroller chip 5 is more than threshold by toxic gas in A/D acquisition testing air and combustable gas concentration
Value；The third LED light alarmed toxic gas and fuel gas is equipped in alarm department 13, third LED light is connected to microcontroller
The PTB4 pin of chip 5.
Optionally, 1 bottom of robot body is equipped with tongue tube, and the output pin of tongue tube is connected to microcontroller chip 5
Input pin, specifically, tongue tube is connected to the PTE4 pin of microcontroller chip 5, tongue tube detects the magnet on road, microcontroller
Chip 5 detects the testing result of tongue tube by PTE4 pin.
Optionally, 4-bit DIP switch is installed on robot body 1, as shown in figure 9, four of 4-bit DIP switch are drawn
Foot is respectively connected to four I/O mouthfuls of pins of microcontroller chip 5.Specifically, one is connected to the PTI2 pin of microcontroller chip 5, it is
Whether human body infrared module control switch, control infrared sensor of the human body function open, and two are connected to the PTI3 of microcontroller chip 5
Pin, to stop travelling detection switch, whether control microcontroller chip 5 is detected the signal of tongue tube, and three and four
It is respectively connected to PTE2 the and PIE3 pin of microcontroller chip 5, is S/CO, three and four way switch cooperate, setting four
Notch speed degree, fourth speed are respectively 0.4m/s, 0.8m/s, 1.2m/s and 1.6m/s.
Optionally, microcontroller chip 5 is connected with SIM900A wireless communication chips, SIM900A wireless communication by serial ports
Chip sends user mobile phone by short message for the collected signal of controller；Optionally, SIM900A wireless communication chips
The RX mouthfuls of PTC6 pins for being connected to microcontroller chip 5, the TX mouthfuls of PTC7 pins for being connected to microcontroller chip 5.
Optionally, microcontroller chip 5 is connected with display screen 12 by output pin, and collected information is passed through display screen
12 are shown, optionally, display screen 12 selects 1.54 cun of 0LED display screens 12, the circuit diagram of OLED display screen 12 such as Figure 10
Shown, the CS mouth of OLED display screen 12 is connected to the PTC7 pin of microcontroller chip 5, and the DC mouthfuls of PTA6 for being connected to microcontroller chip 5 draw
Foot, the RST mouthfuls of PTA7 pins for being connected to microcontroller chip 5, the D1 mouthfuls of PTF2 pins for being connected to microcontroller chip 5, D0 mouthfuls are connected to micro-control
The PTF3 mouth of coremaking piece 5.
Optionally, the power module 7 of the patrol robot based on electromagnetic navigation uses 7.2V lithium battery power supply, 7.2V electricity
Pressure exports to drive circuitry through BAT_IF2 through BAT_IF1 input circuit, is input to three pieces of voltage stabilizing chips through switch SW1.
Chip, which is inputted, by the partial pressure of R3 and R7 reads battery power situation in real time.Two pieces of TPS7350 steady 5V in three pieces of voltage stabilizing chips, one
The steady 3.3V of block TPS7333, the circuit diagram of power module 7 are as shown in figure 11.
Optionally, it is equipped with two layers of bracket 3 above the bottom of robot body 1,5 centimetres away from bottom of first layer bracket 3, the
20 centimetres away from bottom of two layers of bracket 3, motor drive ic 4, microcontroller chip 5, speed acquisition sensor 6 and power module 7 are pacified
On first layer bracket 3, human body infrared inductor 8, fire defector chip 9, MQ135 air quality sensor 10 and MQ5 can
Combustion gas body sensor 11 is mounted on second layer bracket 3.
User can need robot when using the patrol robot disclosed by the utility model based on electromagnetic navigation
It carrying out being laid with metal wire on the path of patrol, then patrol robot detects the specified route of metal wire by electromagnetic sensing chip,
Electrically driven chip is controlled by microcontroller chip 5, drives two rear wheels, realizes patrol robot by regulation path navigation
Advance, the speed that speed acquisition sensor 6 advances to patrol robot detects, specifically can clearance to the revolving speeds of two rear-wheels
Detected, by being calculated travel speed, microcontroller chip 5 can be adjusted according to current travel speed patrol robot with
Suitable speed is advanced.
Human body infrared inductor 8 in patrol robot detects human body invasion, realizes safe antitheft effect, flame
Whether detection chip 9 is to catching fire and detecting, and MQ135 air quality sensor 10 and MQ5 combustible gas sensor 11 are to toxic
Gas and fuel gas leakage are detected, and are realized and are alarmed by alarm department 13, SIM900A wireless communication chips can be by alarm signal
Breath is timely fed back to users' mobile end, and the information that display screen 12 can will test intuitively is shown, is detected by patrol
And alarm, realize that indoor patrol is intelligent, the indoor security of effective guarantee user.
4-bit DIP switch can close human body infrared detection when user is in indoor, avoid the wrong report of alarm, can be in machine
Device people's path termination is equipped with magnet, detects the magnet on road by tongue tube and detects path termination, 4-bit DIP switch
It may control whether that detection stops running signal.
Electromagnetic navigation technology is and to load pilot frequency over the metal lines in traveling road surfacing metal wire, by leading
Draw the identification of frequency to realize navigation.Guide wire is hidden, not easy to pollute and damaged, and guiding principle is simple and reliable, convenient for control
Communication, noiseless to acousto-optic, cost of investment is low.
It should be understood by those ordinary skilled in the art that: the discussion of any of the above embodiment is exemplary only, not
It is intended to imply that the scope of the present disclosure (including claim) is limited to these examples；Under the thinking of the utility model, the above reality
Applying can also be combined between the technical characteristic in example or different embodiments, and there are the utility model as described above
Many other variations of different aspect, for simplicity, they are not provided in details.Therefore, all spirit in the utility model
Within principle, any omission, modification, equivalent replacement, improvement for being made etc. should be included in the protection scope of the utility model
Within.
Claims (9)
1. a kind of indoor patrol robot based on electromagnetic navigation characterized by comprising
Robot body；
Running part, the running part are mounted on the bottom of the robot body；
Motor drive ic is mounted on the robot body, is connect with the running part；
Microcontroller chip is mounted on affiliated robot body, and the input that output pin is connected to the motor drive ic is drawn
Foot；
Electromagnetic sensing chip, including the electromagnetic sensor composed in parallel by capacitor and I-shaped inductive, the electromagnetic sensor peace
Mounted in the direction of advance front end of the robot body, the output pin of the electromagnetic sensor is connected to the defeated of operation amplifier chip
Enter pin, the operation amplifier chip is successively filtered out capacitor and Schottky diode by output pin, is connected to the microcontroller
The A/D of chip acquires pin；
Speed acquisition sensor is mounted on the running part, and the output pin of speed acquisition sensor is connected to the microcontroller
The input pin of chip；
Human body infrared inductor is mounted on the robot body, and output pin is connected to the input of the microcontroller chip
Pin；
Alarm department, the input pin of the alarm department are connected to the output pin of the microcontroller chip.
2. a kind of indoor patrol robot based on electromagnetic navigation according to claim 1, it is characterised in that: the walking
Portion uses three wheeler structure, including one only with universal wheel front-wheel and a pair of rear wheels, be equipped in the motor drive ic
The motor for driving two rear wheels respectively, is realized by differential and is turned to.
3. a kind of indoor patrol robot based on electromagnetic navigation according to claim 2, it is characterised in that: the speed
It acquires sensor and uses two speed encoders, be separately mounted on two rear-wheels, vehicle wheel rotational speed is converted into umber of pulse,
It is sent to the microcontroller chip.
4. a kind of indoor patrol robot based on electromagnetic navigation according to claim 1, it is characterised in that: the machine
Fire defector chip is also equipped on human body, the output pin of the fire defector chip is connected to the defeated of the microcontroller chip
Enter pin.
5. a kind of indoor patrol robot based on electromagnetic navigation according to claim 1, it is characterised in that: the machine
MQ135 Detection of Air Quality sensor and MQ5 combustible gas sensor, the MQ135 air quality are also equipped on human body
The A/D acquisition that the output pin of detection sensor and the MQ5 combustible gas sensor is respectively connected to the microcontroller chip is drawn
Foot.
6. a kind of indoor patrol robot based on electromagnetic navigation according to claim 1, it is characterised in that: the machine
The bottom of human body is equipped with tongue tube, and the output pin of the tongue tube is connected to the input pin of the microcontroller chip.
7. a kind of indoor patrol robot based on electromagnetic navigation according to claim 6, it is characterised in that: the machine
4-bit DIP switch is installed, four pins of the 4-bit DIP switch are respectively connected to the microcontroller chip on human body
Four I/O mouthfuls of pins.
8. a kind of indoor patrol robot based on electromagnetic navigation according to claim 1, it is characterised in that: the micro-control
Coremaking piece is connected with SIM900A wireless communication chips by serial ports, and the SIM900A wireless communication chips adopt microcontroller chip
The signal collected is sent to user mobile phone by short message.
9. a kind of indoor patrol robot based on electromagnetic navigation according to claim 1, it is characterised in that: the micro-control
Coremaking piece is connected with display screen by output pin, and collected information is shown by display screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920005494.0U CN209486515U (en) | 2019-01-02 | 2019-01-02 | A kind of indoor patrol robot based on electromagnetic navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920005494.0U CN209486515U (en) | 2019-01-02 | 2019-01-02 | A kind of indoor patrol robot based on electromagnetic navigation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209486515U true CN209486515U (en) | 2019-10-11 |
Family
ID=68129950
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920005494.0U Expired - Fee Related CN209486515U (en) | 2019-01-02 | 2019-01-02 | A kind of indoor patrol robot based on electromagnetic navigation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209486515U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109696914A (en) * | 2019-01-02 | 2019-04-30 | 安徽师范大学 | A kind of indoor patrol robot based on electromagnetic navigation |
| CN113138600A (en) * | 2021-05-21 | 2021-07-20 | 四川农业大学 | Intelligent meter checking robot system and working method thereof |
-
2019
- 2019-01-02 CN CN201920005494.0U patent/CN209486515U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109696914A (en) * | 2019-01-02 | 2019-04-30 | 安徽师范大学 | A kind of indoor patrol robot based on electromagnetic navigation |
| CN113138600A (en) * | 2021-05-21 | 2021-07-20 | 四川农业大学 | Intelligent meter checking robot system and working method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209486515U (en) | A kind of indoor patrol robot based on electromagnetic navigation | |
| CN104284151B (en) | A kind of transformer station ground method for inspecting and cruising inspection system | |
| CN106338999A (en) | Intelligent following anti-collision dolly and anti-collision method thereof | |
| CN203438860U (en) | Fatigue driving active monitoring system based on pressure sensor | |
| CN102141813B (en) | Inductive tracking trolley and tracking method thereof | |
| CN205852807U (en) | A kind of multi-functional patrol robot with autonomous map structuring and wireless charging | |
| CN109696914A (en) | A kind of indoor patrol robot based on electromagnetic navigation | |
| CN202838486U (en) | Bluetooth-based gate-entering and gate-exiting vehicle information management system | |
| CN206741719U (en) | Safety early warning for track curve system based on earth magnetism and video detection | |
| CN209543141U (en) | A kind of electromagnetism intelligent carriage shutdown system | |
| CN109949600A (en) | A kind of intelligent guidance system for market underground parking | |
| CN218917954U (en) | Tunnel information monitoring system | |
| CN208008401U (en) | A kind of magnetic navigation fork truck system based on top layer track | |
| CN207717908U (en) | A kind of buried cable failure detector for sentencing survey based on weak magnetic | |
| CN206147338U (en) | Automatic tracking dolly based on inductance converter | |
| CN205845316U (en) | A kind of road traffic signal controller based on vehicle dual detector | |
| CN206594826U (en) | Intelligent travelling crane traffic guidance control system for highway | |
| CN205983602U (en) | Bicycle intelligence lock system | |
| CN205388834U (en) | Based on embedded zigBee intelligence garage monitored control system | |
| CN211773246U (en) | Automatic watering device of solar energy road | |
| CN208271399U (en) | A kind of intelligent guidance system for market underground parking | |
| CN208897203U (en) | A kind of freight trolley based on AGV | |
| CN207516829U (en) | One kind measures trolley based on photoelectric sensors A VG Intelligent tracings | |
| CN207067797U (en) | A kind of intelligent carriage detects circuit | |
| CN207955627U (en) | A kind of vehicle automatic parking control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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 |