CN209774657U - Automatic danger inspection robot - Google Patents
Automatic danger inspection robot Download PDFInfo
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- CN209774657U CN209774657U CN201920255938.6U CN201920255938U CN209774657U CN 209774657 U CN209774657 U CN 209774657U CN 201920255938 U CN201920255938 U CN 201920255938U CN 209774657 U CN209774657 U CN 209774657U
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Abstract
The utility model discloses an automatic machine people is patrolled and examined in danger, including patrolling and examining the track, running gear, travel drive mechanism and monitor control device, monitor control device includes the box, the telescopic link, electronic circuit board and rotating electrical machines, running gear includes connecting plate and walking wheel, be provided with the walking motor in the connecting plate, the lower extreme at the connecting plate is installed in the last logical rotation of upper end of telescopic link, the lower extreme and the rotating electrical machines transmission of telescopic link are connected, the integration has microcontroller on the electronic circuit board, power module, sensor group and wireless transmission module, sensor group includes air velocity transducer, harmful gas sensor, temperature and humidity sensor, dust sensor, oxygen sensor and smoke transducer. The utility model discloses simple structure, it is small, can realize the acquisition to environmental parameter such as humiture, wind speed, oxygen concentration, harmful gas, combustible gas, dust granule, realize all-round patrolling and examining, be convenient for make precautionary measure.
Description
Technical Field
the utility model belongs to the technical field of chemical industry factory building internal environment monitoring, concretely relates to automatic dangerization patrols and examines robot.
Background
the chemical plant is a place for industrial production and development, workers work in the plant, and the environment of the chemical plant which is well maintained is the premise for production. Equipment and process piping are the leading factor that leads to chemical industry factory building environmental problem, carry out environmental monitoring to equipment and process piping department, be more close to the danger source, the acquisition environmental monitoring situation that can be timely accurate, consequently, in order to protect the staff not to be hurt, work goes on smoothly, must carry out real-time supervision to the environment that chemical industry factory building equipment and pipeline were located, and present traditional chemical industry factory building environmental monitoring system, especially to the environmental monitoring that equipment and process piping were located perfect inadequately, its function is also too single. Therefore, the automatic danger inspection robot with the advantages of simple structure and reasonable design is lacking at present, the size is small, the cost is low, the acquisition of environmental parameters such as temperature, humidity, wind speed, oxygen concentration, harmful gas, combustible gas and dust particles can be realized, the all-dimensional inspection is realized, the precautionary measures can be conveniently taken, and the safety factor of workers is improved.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that not enough among the above-mentioned prior art provides an automatic dangerization and patrols and examines robot, its simple structure, reasonable in design, and is small, and is with low costs, can realize the acquisition to environmental parameter such as humiture, wind speed, oxygen concentration, harmful gas, combustible gas, dust granule, realizes all-round patrolling and examining, is convenient for make precautionary measure, and it is strong to improve staff's factor of safety practicality.
In order to solve the technical problem, the utility model discloses a technical scheme is: the utility model provides an automatic robot is patrolled and examined in danger which characterized in that: the chemical plant environment monitoring system comprises an inspection track arranged at the top in a chemical plant, a traveling mechanism arranged on the inspection track, a traveling driving mechanism for driving the traveling mechanism to move along the inspection track, and a monitoring control device for controlling the traveling driving mechanism and monitoring the environment in the chemical plant;
The monitoring control device comprises a box body, a telescopic rod arranged at the top of the box body, an electronic circuit board and a rotating motor, wherein the electronic circuit board and the rotating motor are arranged in the box body;
The electronic circuit board is integrated with a microcontroller, a power supply module, a sensor group and a wireless transmission module connected with the microcontroller, the sensor group comprises a wind speed sensor, a harmful gas sensor, a temperature and humidity sensor, a dust sensor, an oxygen sensor and a smoke sensor, and an alarm is arranged at the bottom of the box body;
The output ends of the wind speed sensor, the harmful gas sensor, the temperature and humidity sensor, the dust sensor, the oxygen sensor and the smoke sensor are all connected with the input end of a microcontroller, a liquid crystal display screen is arranged on the box body, the alarm and the liquid crystal display screen are controlled by the microcontroller, and the microcontroller is an STM32F103VET6 microcontroller.
The automatic danger patrol robot is characterized in that: the temperature and humidity sensor is an AM2301 temperature and humidity sensor, and the output end of the temperature and humidity sensor is connected with a PC1 pin of the microcontroller;
the harmful gas sensor is an MQ135 gas sensor P13, a VCC pin of the MQ135 gas sensor P13 is connected with a 5V power supply output end, a GND pin of the MQ135 gas sensor P13 is grounded, a DO pin of the MQ135 gas sensor P13 is divided into two paths, one path is connected with the 5V power supply output end through a resistor R34, and the other path is connected with a drain electrode of a MOS field effect transistor Q2; the source electrode of the MOS field effect transistor Q2 is divided into two paths, one path is connected with one end of a resistor R35, and the other path is connected with a PE15 pin of the microcontroller; the grid of the MOS field effect transistor Q2 is connected with one end of a resistor R32, the connection end of the other end of the resistor R32 and the other end of the resistor R35 is connected with a 3.3V power output end, and the AO pin of the MQ135 gas sensor P13 is connected with the PB1 pin of the microcontroller.
The automatic danger patrol robot is characterized in that: the smoke sensor is an MQ2 smoke sensor P7, a VCC pin of the MQ2 smoke sensor P7 is connected with a 5V power supply output end, a GND pin of the MQ2 smoke sensor P7 is grounded, a DO pin of the MQ2 smoke sensor P7 is divided into two paths, one path is connected with the 5V power supply output end through a resistor R21, and the other path is connected with a drain electrode of an MOS field effect transistor Q1; the source electrode of the MOS field effect transistor Q1 is divided into two paths, one path is connected with one end of a resistor R22, and the other path is connected with a PD0 pin of the microcontroller; the grid of the MOS field effect transistor Q1 is connected with one end of a resistor R19, the connection end of the other end of the resistor R19 and the other end of the resistor R22 is connected with a 3.3V power output end, and the AO pin of the MQ2 smoke sensor P7 is connected with the PB0 pin of the microcontroller.
The automatic danger patrol robot is characterized in that: the dust sensor is a GP2Y1014AU0F dust sensor P14, a Vled pin of the GP2Y1014AU0F dust sensor P14 is divided into two paths, one path is connected with a 5V power supply output end through a resistor R52, and the other path is grounded through a capacitor C51; the LED-GND pin of the GP2Y1014AU0F dust sensor P14 is grounded with the S-GND pin of the GP2Y1014AU0F dust sensor P14, the LED pin of the GP2Y1014AU0F dust sensor P14 is connected with the collector of a triode Q6, the base of the triode Q6 is divided into two paths, one path is connected with the PE14 pin of the microcontroller through a resistor R59, and the other path is grounded through a resistor R61; the emitter of the triode Q6 is grounded, the VO pin of the GP2Y1014AU0F dust sensor P14 is connected with the PA7 pin of the microcontroller, and the VCC pin of the GP2Y1014AU0F dust sensor P14 is connected with the 5V power output end.
The automatic danger patrol robot is characterized in that: the oxygen sensor comprises an oxygen sensor P3 and a communication chip U4 with the model number of SP485EEN-L/TR, a GND pin of the oxygen sensor P3 is grounded, a VCC pin of the oxygen sensor P3 is connected with a 5V power supply output end, a 485-B pin of the oxygen sensor P3 is divided into three paths, one path is connected with one end of a resistor R9, the other path is grounded through a resistor R7, and the third path is connected with a7 th pin of the communication chip U4; the 485-A pin of the oxygen sensor P3 is divided into three paths, one path is connected with the other end of the resistor R9, the other path is connected with the 3.3V power output end through the resistor R15, and the third path is connected with the 6 th pin of the communication chip U4; the 1 st pin of communication chip U4 meets with microcontroller's PC10 pin, the 2 nd pin of communication chip U4 with the link of the 3 rd pin of communication chip U4 meets with microcontroller's PE0 pin, the 4 th pin of communication chip U4 meets with microcontroller's PC11 pin, the 5 th pin ground connection of communication chip U4, the 8 th pin of communication chip U4 divides two the tunnel, and one way connects 3.3V power output end, and another way is through electric capacity C17 ground connection.
The automatic danger patrol robot is characterized in that: the wind speed sensor is composed of a DP-FS485 wind speed sensor P1 and a communication chip U3 with the model number of SP485EEN-L/TR, a GND pin of the DP-FS485 wind speed sensor P1 is grounded, a VCC pin of the DP-FS485 wind speed sensor P1 is connected with a 12V power supply output end, a 485-B pin of the DP-FS485 wind speed sensor P1 is divided into three paths, one path is connected with one end of a resistor R8, the other path is grounded through a resistor R6, and the third path is connected with a7 th pin of the communication chip U3; the 485-A pin of the DP-FS485 wind speed sensor P1 is divided into three paths, one path is connected with the other end of the resistor R8, the other path is connected with the 3.3V power output end through the resistor R14, and the third path is connected with the 6 th pin of the communication chip U3; the 1 st pin of communication chip U3 meets with microcontroller's PD6 pin, the 2 nd pin of communication chip U3 with the link of the 3 rd pin of communication chip U3 meets with microcontroller's PE1 pin, the 4 th pin of communication chip U3 meets with microcontroller's PD5 pin, the 5 th pin ground connection of communication chip U3, the 8 th pin of communication chip U3 divides two the tunnel, and one way connects 3.3V power output end, and another way is through electric capacity C16 ground connection.
The automatic danger patrol robot is characterized in that: the wireless transmission module comprises a chip USR-LTE-7S4, a SIM card P18 and an A-type USB interface P16, wherein the 3 rd pin of the chip USR-LTE-7S4 is divided into two paths, one path is connected with one end of a resistor R57, and the other path is connected with the cathode of a voltage regulator tube D4; the 4 th pin of the chip USR-LTE-7S4 is divided into two paths, one path is connected with one end of a resistor R56, and the other path is connected with the cathode of a voltage regulator tube D5; the anode of the voltage regulator tube D4 and the anode of the voltage regulator tube D5 are both grounded, the other end of the resistor R57 is connected with the D-pin of the A-type USB interface P16, the other end of the resistor R56 is connected with the D + pin of the A-type USB interface P16, the 6 th pin of the chip USR-LTE-7S4 is connected with the PD9 pin of the microcontroller, the 7 th pin of the chip USR-LTE-7S4 is connected with the PD8 pin of the microcontroller, the 9 th pin of the chip USR-LTE-7S4 is connected with one end of the resistor R46, the other end of the resistor R46 is connected with the base of a triode Q4, the emitter of the triode Q4 is grounded, the collector of the triode Q4 is connected with the cathode of a light emitting diode LED5, the anode of the light emitting diode LED5 is connected with the 3.8V power supply output end through the resistor R42, the first end of the chip USR-LTE-7S4 is connected with the resistor R43, the other end of the resistor R43 is divided into two paths, one path is connected with the output end of a 3.3V power supply, and the other path is connected with the collector of a triode Q5; the emitter of the triode Q5 is grounded, the base of the triode Q5 is divided into two paths, one path is connected with a PE13 pin of the microcontroller through a resistor R47, and the other path is grounded through a resistor R51; the 11 th pin and the 12 th pin of the chip USR-LTE-7S4 are grounded, the 23 rd pin of the chip USR-LTE-7S4 is connected with the 3 rd pin of the SIM card P18, the 22 nd pin of the chip USR-LTE-7S4 is connected with the 5 th pin of the SIM card P18, the 21 st pin of the chip USR-LTE-7S4 is connected with the 6 th pin of the SIM card P18, the 1 st pin and the 4 th pin of the SIM card P18 are connected with a 1.8V power output end, the 16 th pin of the chip USR-LTE-7S4 is divided into two paths, one path is grounded through a capacitor C46, a capacitor C47 and a capacitor C48 which are connected in parallel, and the other path is connected with a 3.8V power output end; the 15 th pin of the chip USR-LTE-7S4 is connected with one end of a resistor R48, the other end of the resistor R48 is connected with the base electrode of a triode Q3, the emitting electrode of the triode Q3 is grounded, the collecting electrode of the triode Q3 is connected with the cathode of a light-emitting diode LED4, and the anode of the light-emitting diode LED4 is connected with the 3.8V power output end through the resistor R41.
The automatic danger patrol robot is characterized in that: the power supply module comprises a lithium ion battery, a 12V-to-5V voltage module, a 5V-to-3.3V voltage module, a 5V-to-3.8V voltage module and a 5V-to-1.8V voltage module;
The 12V-to-5V voltage module comprises a chip LM596-5V, wherein the 1 st pin of the chip LM596-5V is divided into two paths, one path is connected with the output end of a lithium ion battery, the other path is grounded through a capacitor C28, a capacitor C29 and a capacitor C30 which are connected in parallel, the 3 rd pin and the 5 th pin of the chip LM596-5V are grounded, the 2 nd pin of the chip LM596-5V is divided into two paths, one path is connected with the cathode of a voltage regulator tube D3, and the other path is connected with one end of an inductor L2; the 4 th pin of the chip LM596-5V is divided into four paths, the first path is connected with the other end of the inductor L2, the second path is grounded through a capacitor C31 and a capacitor C32 which are connected in parallel, the third path is connected with one end of a resistor R33, and the fourth path is connected with one end of a resistor R31; the other end of the resistor R31 is a 5V power output end, the other end of the resistor R33 is connected with the anode of the light-emitting diode LED2, and the cathode of the light-emitting diode LED2 is grounded.
The automatic danger patrol robot is characterized in that: the 5V-to-3.3V voltage module comprises a chip LM1117-3.3V, a1 st pin of the chip LM1117-3.3V is grounded, a3 rd pin of the chip LM1117-3.3V is divided into two paths, one path is connected with a 5V power supply output end, and the other path is grounded through a capacitor C36 and a capacitor C33 which are connected in parallel; the 2 nd pin of the chip LM1117-3.3V is divided into four paths, the first path is connected with the 4 th pin of the chip LM1117-3.3V, the second path is grounded through a capacitor C34 and a capacitor C37 which are connected in parallel, the third path is connected with one end of a resistor R37, the fourth path is connected with one end of a resistor R36, the other end of the resistor R36 is a 3.3V power output end, the other end of the resistor R37 is connected with the anode of a light-emitting diode LED3, and the cathode of the light-emitting diode LED3 is grounded;
the 5V-to-3.8V voltage module comprises a chip MP1482, a1 st pin of the chip MP1482 is connected with one end of a capacitor C35, a2 nd pin of the chip MP1482 is divided into three paths, one path is connected with a 5V power supply output end, the other path is grounded through a capacitor C38, a capacitor C39 and a capacitor C40 which are connected in parallel, and the third path is connected with one end of a resistor R39; the 7 th pin of the chip MP1482 is connected with the other end of the resistor R39, the 8 th pin of the chip MP1482 is grounded through a capacitor C41, the 4 th pin of the chip MP1482 is grounded, the 6 th pin of the chip MP1482 is divided into two paths, one path is grounded through the resistor R49 and the capacitor C45 which are connected in series, and the other path is grounded through the capacitor C44; the 5 th pin of the chip MP1482 is divided into two paths, one path is grounded through a resistor R50, and the other path is connected with one end of a resistor R44; the 3 rd pin of the chip MP1482 is divided into two paths, one path is connected with the other end of the capacitor C35, and the other path is connected with one end of the inductor L3; the other end of the inductor L3 is divided into five paths, the first path is connected with the other end of the resistor R44, the second path is grounded through a capacitor C42, the third path is grounded through a capacitor C43, the fourth path is connected with one end of the resistor R45, and the fifth path is connected with one end of the resistor R40; the other end of the resistor R45 is connected with the anode of the light-emitting diode LED6, the other end of the resistor R40 is a 3.8V power output end, and the cathode of the light-emitting diode LED6 is grounded;
The 5V to 1.8V voltage module comprises a chip LP5900SD-1.8, a pin 4 of the chip LP5900SD-1.8 is divided into two paths, one path is connected with a 5V power output end, and the other path is grounded through a capacitor C65; the 2 nd pin of the chip LP5900SD-1.8 is divided into two paths, one path is connected with the output end of a 3.3V power supply, and the other path is grounded through a resistor R65; the 1 st pin of the chip LP5900SD-1.8 is divided into two paths, one path is a 1.8V power supply output end, and the other path is grounded through a capacitor C66; and the No. 3 pin of the chip LP5900 SD-1.8.
The automatic danger patrol robot is characterized in that: the liquid crystal display screen is an LCD240128 display screen, a VDD pin of the LCD240128 display screen is connected with a 5V power supply output end, a VSS pin of the LCD240128 display screen is grounded, a VO pin of the LCD240128 display screen is connected with a sliding end of a sliding resistor R38, and the LCD240128 display screen is provided with a VDD pin of a V terminal, a VDD pin of a V terminal is connected with a VSS pin of a V terminal, a VO pin ofA pin,A pin,A pin,pin andthe pins are respectively connected with a PA2 pin, a PA3 pin, a PE3 pin, a PE4 pin and a PA1 pin of the microcontroller, D0-D7 pins of the LCD240128 display screen are respectively connected with PE12-PE5 pins of the microcontroller, an FS pin of the LCD240128 display screen is connected with a PE2 pin of the microcontroller, a VOUT pin of the LCD240128 display screen is connected with a fixed end of a sliding resistor R38, the other fixed end of the sliding resistor R38 is grounded, an LEDA of the LCD 128 display screen is connected with a 5V power output end, and an LEDK of the LCD240128 display screen is grounded.
Compared with the prior art, the utility model has the following advantage:
1. the utility model discloses the running gear who adopts adapts to chemical industry factory building environment effectively, conveniently follows and patrols and examines rail movement, is provided with the telescopic link, can stretch out and draw back from top to bottom, and can rotate under the rotating electrical machines effect to drive the up-and-down rotary motion of monitor control device, along with monitor control device's removal, the environmental aspect in the different spaces of equipment and the process pipeline department in the all-round monitoring factory building realizes all-round control.
2. The utility model discloses the sensor group who adopts includes temperature and humidity sensor, harmful gas sensor and smoke transducer to and dust sensor, oxygen sensor and wind speed sensor, be for environmental parameter such as humiture, harmful gas, combustible gas, dust granule, oxygen concentration, wind speed to the chemical industry factory building environment monitors and acquires, so that in time make the adjustment to the process, avoid the staff to be in dangerous condition.
3. the wireless transmission module adopted by the utility model is in wireless connection with the monitoring mobile phone through the wireless transmission module, realizes the remote monitoring of the automatic dangerous inspection robot and the acquisition of environmental parameter data, and ensures the safety of the environment where the working personnel are located in the chemical plant; on the other hand, the monitoring of a plurality of automatic dangerous inspection robots is realized through the monitoring mobile phone, so that a plurality of chemical plant sites are managed conveniently.
To sum up, the utility model discloses simple structure, reasonable in design, it is small, with low costs, can realize the acquisition to environmental parameter such as humiture, wind speed, oxygen concentration, harmful gas, combustible gas, dust granule, realize all-round patrolling and examining, be convenient for make precautionary measure, improve that staff's factor of safety practicality is strong.
The technical solution of the present invention is further described in detail by the accompanying drawings and examples.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a top view of fig. 1.
fig. 3 is a schematic block diagram of the circuit of the present invention.
Fig. 4 is a schematic circuit diagram of the harmful gas sensor of the present invention.
Fig. 5 is a schematic circuit diagram of the smoke sensor of the present invention.
Fig. 6 is a schematic circuit diagram of the dust sensor of the present invention.
Fig. 7 is a schematic circuit diagram of the oxygen sensor of the present invention.
Fig. 8 is a schematic circuit diagram of the wind speed sensor of the present invention.
fig. 9 is a schematic circuit diagram of the wireless transmission module of the present invention.
fig. 10 is a schematic circuit diagram of the 12V to 5V voltage module according to the present invention.
fig. 11 is a schematic circuit diagram of the voltage module of the present invention for converting 5V to 3.3V.
Fig. 12 is a schematic circuit diagram of the voltage module of the present invention for converting 5V to 3.8V.
Fig. 13 is a schematic circuit diagram of the voltage module of the present invention for converting 5V to 1.8V.
Fig. 14 is a schematic diagram of the circuit connection relationship between the driving module of the walking motor and the walking motor according to the present invention.
fig. 15 is a schematic diagram of a circuit connection relationship between the rotating electric machine driving module and the rotating electric machine according to the present invention.
Fig. 16 is a schematic circuit diagram of the liquid crystal display of the present invention.
Description of reference numerals:
1-connecting plate; 2-a walking motor; 3, a wireless transmission module;
4, a walking motor driving module; 5-a wind speed sensor; 6-harmful gas sensor;
7-temperature and humidity sensor; 8-a dust sensor; 9-an oxygen sensor;
10-a smoke sensor; 11-rotating electrical machine drive module; 12-a camera;
13-alarm; 14-a rotating electrical machine; 15-electronic circuit board;
16-a microcontroller; 17-a power supply module; 18-a box body;
19-liquid crystal display screen; 20, a telescopic rod; 21-a travelling wheel;
22-inspecting the track.
Detailed Description
as shown in fig. 1, fig. 2 and fig. 3, the utility model comprises an inspection track 22 arranged at the top in the chemical plant, a traveling mechanism installed on the inspection track 22, a traveling driving mechanism for driving the traveling mechanism to move along the inspection track 22, and a monitoring and controlling device for controlling the traveling driving mechanism and monitoring the environment in the chemical plant;
The monitoring and controlling device comprises a box body 18, an expansion link 20 arranged at the top of the box body 18, an electronic circuit board 15 and a rotating motor 14, wherein the electronic circuit board 15 and the rotating motor 14 are arranged in the box body 18, the walking mechanism comprises a connecting plate 1 and walking wheels 21 which are arranged at two ends of the connecting plate 1 and can move along an inspection track 22, a walking motor 2 in transmission connection with the walking wheels 21 is arranged in the connecting plate 1, the upper end of the expansion link 20 is rotatably arranged at the bottom of the connecting plate 1 through a bearing, and the lower end of the expansion link 20 is in transmission connection with the rotating motor 14;
A microcontroller 16, a power supply module 17, a sensor group and a wireless transmission module 3 connected with the microcontroller 16 are integrated on the electronic circuit board 15, the sensor group comprises a wind speed sensor 5, a harmful gas sensor 6, a temperature and humidity sensor 7, a dust sensor 8, an oxygen sensor 9 and a smoke sensor 10, and an alarm 13 is arranged at the bottom of the box body 18;
The output ends of the wind speed sensor 5, the harmful gas sensor 6, the temperature and humidity sensor 7, the dust sensor 8, the oxygen sensor 9 and the smoke sensor 10 are all connected with the input end of the microcontroller 16, a liquid crystal display screen 19 is arranged on the box body 18, the alarm 13 and the liquid crystal display screen 19 are controlled by the microcontroller 16, and the microcontroller 16 is an STM32F103VET6 microcontroller.
As shown in fig. 4, in this embodiment, the temperature and humidity sensor 7 is an AM2301 temperature and humidity sensor, and an output end of the temperature and humidity sensor 7 is connected to a pin PC1 of the microcontroller 16;
The harmful gas sensor 6 is an MQ135 gas sensor P13, a VCC pin of the MQ135 gas sensor P13 is connected with a 5V power supply output end, a GND pin of the MQ135 gas sensor P13 is grounded, a DO pin of the MQ135 gas sensor P13 is divided into two paths, one path is connected with the 5V power supply output end through a resistor R34, and the other path is connected with a drain electrode of a MOS field effect transistor Q2; the source electrode of the MOS field effect transistor Q2 is divided into two paths, one path is connected with one end of a resistor R35, and the other path is connected with a PE15 pin of the microcontroller 16; the grid of the MOS field effect transistor Q2 is connected with one end of a resistor R32, the connection end of the other end of the resistor R32 and the other end of the resistor R35 is connected with a 3.3V power output end, and the AO pin of the MQ135 gas sensor P13 is connected with the PB1 pin of the microcontroller 16.
as shown in fig. 5, in this embodiment, the smoke sensor 10 is an MQ2 smoke sensor P7, a VCC pin of the MQ2 smoke sensor P7 is connected to a 5V power output terminal, a GND pin of the MQ2 smoke sensor P7 is grounded, a DO pin of the MQ2 smoke sensor P7 is divided into two paths, one path is connected to the 5V power output terminal through a resistor R21, and the other path is connected to a drain of a MOS field effect transistor Q1; the source electrode of the MOS field effect transistor Q1 is divided into two paths, one path is connected with one end of a resistor R22, and the other path is connected with a PD0 pin of the microcontroller 16; the grid of the MOS field effect transistor Q1 is connected with one end of a resistor R19, the connection end of the other end of the resistor R19 and the other end of the resistor R22 is connected with a 3.3V power output end, and the AO pin of the MQ2 smoke sensor P7 is connected with the PB0 pin of the microcontroller 16.
As shown in fig. 6, in this embodiment, the dust sensor 8 is a GP2Y1014AU0F dust sensor P14, a Vled pin of the GP2Y1014AU0F dust sensor P14 is divided into two paths, one path is connected to a 5V power output terminal through a resistor R52, and the other path is grounded through a capacitor C51; the LED-GND pin of the GP2Y1014AU0F dust sensor P14 is grounded with the S-GND pin of the GP2Y1014AU0F dust sensor P14, the LED pin of the GP2Y1014AU0F dust sensor P14 is connected with the collector of a triode Q6, the base of the triode Q6 is divided into two paths, one path is connected with the PE14 pin of the microcontroller 16 through a resistor R59, and the other path is grounded through a resistor R61; the emitter of the triode Q6 is grounded, the VO pin of the GP2Y1014AU0F dust sensor P14 is connected with the PA7 pin of the microcontroller 16, and the VCC pin of the GP2Y1014AU0F dust sensor P14 is connected with the 5V power output end.
as shown in fig. 7, in this embodiment, the oxygen sensor 9 includes an oxygen sensor P3 and a communication chip U4 with model number SP485EEN-L/TR, a GND pin of the oxygen sensor P3 is grounded, a VCC pin of the oxygen sensor P3 is connected to a 5V power output terminal, a 485-B pin of the oxygen sensor P3 is divided into three paths, one path is connected to one end of a resistor R9, the other path is grounded via a resistor R7, and the third path is connected to a7 th pin of the communication chip U4; the 485-A pin of the oxygen sensor P3 is divided into three paths, one path is connected with the other end of the resistor R9, the other path is connected with the 3.3V power output end through the resistor R15, and the third path is connected with the 6 th pin of the communication chip U4; the 1 st pin of communication chip U4 meets with microcontroller 16's PC10 pin, the 2 nd pin of communication chip U4 with the link of the 3 rd pin of communication chip U4 meets with microcontroller 16's PE0 pin, the 4 th pin of communication chip U4 meets with microcontroller 16's PC11 pin, the 5 th pin ground connection of communication chip U4, the 8 th pin of communication chip U4 divides two ways, and one way connects 3.3V power output end, and another way is through electric capacity C17 ground connection.
as shown in fig. 8, in this embodiment, the wind speed sensor 5 is a DP-FS485 wind speed sensor P1 and a communication chip U3 with a model number of SP485EEN-L/TR, a GND pin of the DP-FS485 wind speed sensor P1 is grounded, a VCC pin of the DP-FS485 wind speed sensor P1 is connected to a 12V power output terminal, a 485-B pin of the DP-FS485 wind speed sensor P1 is divided into three paths, one path is connected to one end of a resistor R8, the other path is grounded via a resistor R6, and the third path is connected to a7 th pin of the communication chip U3; the 485-A pin of the DP-FS485 wind speed sensor P1 is divided into three paths, one path is connected with the other end of the resistor R8, the other path is connected with the 3.3V power output end through the resistor R14, and the third path is connected with the 6 th pin of the communication chip U3; the 1 st pin of the communication chip U3 is connected with the PD6 pin of the microcontroller 16, the 2 nd pin of the communication chip U3 and the connecting end of the 3 rd pin of the communication chip U3 are connected with the PE1 pin of the microcontroller 16, the 4 th pin of the communication chip U3 is connected with the PD5 pin of the microcontroller 16, the 5 th pin of the communication chip U3 is grounded, the 8 th pin of the communication chip U3 is divided into two paths, one path is connected with the 3.3V power output end, and the other path is grounded through the capacitor C16.
As shown in fig. 9, in this embodiment, the wireless transmission module 3 includes a chip USR-LTE-7S4, a SIM card P18, and an a-type USB interface P16, the 3 rd pin of the chip USR-LTE-7S4 is divided into two paths, one path is connected to one end of a resistor R57, and the other path is connected to the cathode of a voltage regulator D4; the 4 th pin of the chip USR-LTE-7S4 is divided into two paths, one path is connected with one end of a resistor R56, and the other path is connected with the cathode of a voltage regulator tube D5; the anode of the voltage regulator tube D4 and the anode of the voltage regulator tube D5 are both grounded, the other end of the resistor R57 is connected with the D-pin of the type-A USB interface P16, the other end of the resistor R56 is connected with the D + pin of the type-A USB interface P16, the 6 th pin of the chip USR-LTE-7S4 is connected with the PD9 pin of the microcontroller 16, the 7 th pin of the chip USR-LTE-7S4 is connected with the PD8 pin of the microcontroller 16, the 9 th pin of the chip USR-LTE-7S4 is connected with one end of the resistor R46, the other end of the resistor R46 is connected with the base of the triode Q4, the emitter of the triode Q4 is grounded, the collector of the triode Q4 is connected with the cathode of the light emitting diode LED5, the anode of the light emitting diode LED5 is connected with the 3.8V power output end through the resistor R42, and the first end of the chip USR-LTE-7S4 is connected with the pin 43, the other end of the resistor R43 is divided into two paths, one path is connected with the output end of a 3.3V power supply, and the other path is connected with the collector of a triode Q5; the emitter of the triode Q5 is grounded, the base of the triode Q5 is divided into two paths, one path is connected with a PE13 pin of the microcontroller 16 through a resistor R47, and the other path is grounded through a resistor R51; the 11 th pin and the 12 th pin of the chip USR-LTE-7S4 are grounded, the 23 rd pin of the chip USR-LTE-7S4 is connected with the 3 rd pin of the SIM card P18, the 22 nd pin of the chip USR-LTE-7S4 is connected with the 5 th pin of the SIM card P18, the 21 st pin of the chip USR-LTE-7S4 is connected with the 6 th pin of the SIM card P18, the 1 st pin and the 4 th pin of the SIM card P18 are connected with a 1.8V power output end, the 16 th pin of the chip USR-LTE-7S4 is divided into two paths, one path is grounded through a capacitor C46, a capacitor C47 and a capacitor C48 which are connected in parallel, and the other path is connected with a 3.8V power output end; the 15 th pin of the chip USR-LTE-7S4 is connected with one end of a resistor R48, the other end of the resistor R48 is connected with the base electrode of a triode Q3, the emitting electrode of the triode Q3 is grounded, the collecting electrode of the triode Q3 is connected with the cathode of a light-emitting diode LED4, and the anode of the light-emitting diode LED4 is connected with the 3.8V power output end through the resistor R41.
As shown in fig. 10, in this embodiment, the power module 17 includes a lithium ion battery, a 12V to 5V voltage module, a 5V to 3.3V voltage module, a 5V to 3.8V voltage module, and a 5V to 1.8V voltage module;
The 12V-to-5V voltage module comprises a chip LM596-5V, wherein the 1 st pin of the chip LM596-5V is divided into two paths, one path is connected with the output end of a lithium ion battery, the other path is grounded through a capacitor C28, a capacitor C29 and a capacitor C30 which are connected in parallel, the 3 rd pin and the 5 th pin of the chip LM596-5V are grounded, the 2 nd pin of the chip LM596-5V is divided into two paths, one path is connected with the cathode of a voltage regulator tube D3, and the other path is connected with one end of an inductor L2; the 4 th pin of the chip LM596-5V is divided into four paths, the first path is connected with the other end of the inductor L2, the second path is grounded through a capacitor C31 and a capacitor C32 which are connected in parallel, the third path is connected with one end of a resistor R33, and the fourth path is connected with one end of a resistor R31; the other end of the resistor R31 is a 5V power output end, the other end of the resistor R33 is connected with the anode of the light-emitting diode LED2, and the cathode of the light-emitting diode LED2 is grounded.
As shown in fig. 11, 12 and 13, in this embodiment, the 5V to 3.3V voltage module includes a chip LM1117-3.3V, a1 st pin of the chip LM1117-3.3V is grounded, a3 rd pin of the chip LM1117-3.3V is divided into two paths, one path is connected to the 5V power output terminal, and the other path is grounded through a capacitor C36 and a capacitor C33 which are connected in parallel; the 2 nd pin of the chip LM1117-3.3V is divided into four paths, the first path is connected with the 4 th pin of the chip LM1117-3.3V, the second path is grounded through a capacitor C34 and a capacitor C37 which are connected in parallel, the third path is connected with one end of a resistor R37, the fourth path is connected with one end of a resistor R36, the other end of the resistor R36 is a 3.3V power output end, the other end of the resistor R37 is connected with the anode of a light-emitting diode LED3, and the cathode of the light-emitting diode LED3 is grounded;
The 5V-to-3.8V voltage module comprises a chip MP1482, a1 st pin of the chip MP1482 is connected with one end of a capacitor C35, a2 nd pin of the chip MP1482 is divided into three paths, one path is connected with a 5V power supply output end, the other path is grounded through a capacitor C38, a capacitor C39 and a capacitor C40 which are connected in parallel, and the third path is connected with one end of a resistor R39; the 7 th pin of the chip MP1482 is connected with the other end of the resistor R39, the 8 th pin of the chip MP1482 is grounded through a capacitor C41, the 4 th pin of the chip MP1482 is grounded, the 6 th pin of the chip MP1482 is divided into two paths, one path is grounded through the resistor R49 and the capacitor C45 which are connected in series, and the other path is grounded through the capacitor C44; the 5 th pin of the chip MP1482 is divided into two paths, one path is grounded through a resistor R50, and the other path is connected with one end of a resistor R44; the 3 rd pin of the chip MP1482 is divided into two paths, one path is connected with the other end of the capacitor C35, and the other path is connected with one end of the inductor L3; the other end of the inductor L3 is divided into five paths, the first path is connected with the other end of the resistor R44, the second path is grounded through a capacitor C42, the third path is grounded through a capacitor C43, the fourth path is connected with one end of the resistor R45, and the fifth path is connected with one end of the resistor R40; the other end of the resistor R45 is connected with the anode of the light-emitting diode LED6, the other end of the resistor R40 is a 3.8V power output end, and the cathode of the light-emitting diode LED6 is grounded;
The 5V to 1.8V voltage module comprises a chip LP5900SD-1.8, a pin 4 of the chip LP5900SD-1.8 is divided into two paths, one path is connected with a 5V power output end, and the other path is grounded through a capacitor C65; the 2 nd pin of the chip LP5900SD-1.8 is divided into two paths, one path is connected with the output end of a 3.3V power supply, and the other path is grounded through a resistor R65; the 1 st pin of the chip LP5900SD-1.8 is divided into two paths, one path is a 1.8V power supply output end, and the other path is grounded through a capacitor C66; and the No. 3 pin of the chip LP5900 SD-1.8.
As shown in fig. 16, in this embodiment, the LCD 19 is an LCD240128, a VDD pin of the LCD240128 is connected to the 5V power output terminal, a VSS pin of the LCD240128 is grounded, a VO pin of the LCD240128 is connected to a sliding terminal of a sliding resistor R38, and the LCD240128 is connected to a sliding terminal of the sliding resistor R38a pin,A pin,a pin,pin andThe pins are respectively connected with a PA2 pin, a PA3 pin, a PE3 pin, a PE4 pin and a PA1 pin of the microcontroller 16, D0-D7 pins of the LCD240128 display screen are respectively connected with PE12-PE5 pins of the microcontroller 16, an FS pin of the LCD240128 display screen is connected with a PE2 pin of the microcontroller 16, a VOUT pin of the LCD240128 display screen is connected with one fixed end of a sliding resistor R38, the other fixed end of the sliding resistor R38 is grounded, an LEDA of the LCD240128 display screen is connected with a 5V power output end, and an LEDK of the LCD240128 display screen is grounded.
In this embodiment, the MQ135 gas sensor is provided because the gas-sensitive material used by the MQ135 gas sensor is tin dioxide with low conductivity in clean air, when the MQ135 gas sensor is in an environment where a pollutant gas exists, the conductivity of the sensor increases with the increase of the concentration of the pollutant gas in the air, and the change of the conductivity is converted into an output signal corresponding to the concentration of the pollutant gas, so that the monitoring of the pollutant gas in the air is realized, and the MQ135 gas sensor has high sensitivity to ammonia gas, sulfide and benzene series steam, low cost and long service life.
In the embodiment, the gas-sensitive material used by the MQ2 smoke sensor is tin dioxide with lower conductivity in clean air, when combustible gas exists in the environment where the MQ2 smoke sensor is located, the conductivity of the sensor is increased along with the increase of the concentration of the combustible gas in the air, and the change of the conductivity is converted into an output signal corresponding to the concentration of the combustible gas, so that the monitoring of the combustible gas in the air is realized, and the MQ135 gas sensor has high sensitivity to liquefied gas, propane and hydrogen, is low in cost, and further monitors various combustible gases.
In this embodiment, an infrared light emitting diode and a phototransistor are arranged in the GP2Y1014AU0F dust sensor, the opposite angles are arranged to allow the dust sensor to monitor dust reflection light in the air, a hole is arranged in the center of the GP2Y1014AU0F dust sensor to allow air to freely flow through, and LED light is emitted in a directional manner, the dust content is determined by monitoring light refracted by dust in the air, that is, an analog voltage proportional to the measured dust concentration is output.
In the embodiment, the oxygen sensor 8 is a ZZ-S-O2-A oxygen sensor, and the waterproof glue design is adopted, so that the inside and the outside of the oxygen sensor are completely isolated, and the inside of the oxygen sensor is completely waterproof, so that the oxygen sensor effectively uses a humid environment and is effectively suitable for monitoring the severe environment of a chemical plant; in addition, the device is light, convenient, simple and convenient to install, firm and durable.
In this embodiment, DP-FS485 air velocity transducer, the appearance is small and exquisite light, portable and equipment, can effectively obtain external environment information, and its box adopts high-quality aluminum alloy ex-trusions, and the spraying plastics processing is electroplated to the outside, has characteristics such as good anticorrosive, anti-corrosion, can guarantee that the instrument uses the rustless carving phenomenon for a long time, cooperates inside smooth bearing system simultaneously, has ensured information acquisition's accuracy nature, by the wide application in the wind speed measurement of environment such as greenhouse, environmental protection, weather station, boats and ships, pier, breed.
In this embodiment, 18 bottoms of box are equipped with camera 13, camera 12 meets with microcontroller 16, sets up camera 13, is in order to gather the indoor image of chemical plant to the indoor image transmission of chemical plant that will monitor is to microcontroller 1, the long-range artificial environmental conditions in looking over the chemical plant of being convenient for.
it should be noted that, the connection between the camera 13 and the microcontroller 16 can refer to the connection schematic diagram P8 of the STM32F103ZET6 single chip microcomputer and the OV7670 camera module disclosed in the embedded portable multifunctional image capturing system based on ARM, which is the chinese utility model patent with application number CN 201620012886.6.
in this embodiment, the walking motor 2 is a stepping motor M1 with model number 42BYG 450-34.
in this embodiment, the rotary motor 14 is a stepper motor M2 model 42BYG 450-34.
As shown in fig. 14, in this embodiment, the walking motor driving module 4 includes a chip U20 with a model number of ULN2003A, pin 1 to pin 4 of the chip U20 are respectively connected to pins PC6 to PC9 of the microcontroller 16, pin 16 of the chip U20 is connected to one end of a first winding of the stepping motor M1, pin 13 of the chip U20 is connected to the other end of the first winding of the stepping motor M1, pin 14 of the chip U20 is connected to one end of a second winding of the stepping motor M1, pin 15 of the chip U20 is connected to the other end of the second winding of the stepping motor M1, pin 9 of the chip U20 is connected to a 5V power output terminal, and both the common end of the first winding of the stepping motor M1 and the common end of the second winding of the stepping motor M1 are connected to a 12V power output terminal.
As shown in fig. 15, in this embodiment, the rotary electric machine driving module 11 includes a chip U21 of an ULN2003A, pin 1 to pin 4 of the chip U21 are respectively connected to pins PB12 to PB15 of the microcontroller 16, pin 16 of the chip U21 is connected to one end of a first winding of the stepping motor M2, pin 13 of the chip U21 is connected to the other end of the first winding of the stepping motor M2, pin 14 of the chip U21 is connected to one end of a second winding of the stepping motor M2, pin 15 of the chip U21 is connected to the other end of the second winding of the stepping motor M2, pin 9 of the chip U21 is connected to a 5V power output terminal, and a common terminal of the first winding of the stepping motor M2 and a common terminal of the second winding of the stepping motor M2 are both connected to a 12V power output terminal.
In this embodiment, the alarm 13 is arranged, so that when any environmental parameter of temperature, humidity, harmful gas, combustible gas, dust particles, oxygen concentration, wind speed and the like in the chemical plant is not satisfactory, the microcontroller 16 controls the alarm 13 to give an alarm, so that measures can be taken in advance to avoid accidents.
It should be noted that the power supply module 17 not only supplies power to the microcontroller 16, but also supplies power to other power utilization modules.
When the utility model is used, the automatic danger inspection robot is installed on the inspection track 22, the 12V power output by the lithium ion battery is converted into the 5V power through the 12V to 5V voltage module, the 5V power is converted into the 3.3V power through the 5V to 3.3V voltage module, the 5V power is converted into the 3.8V power through the 5V to 3.8V voltage module, the 5V power is converted into the 1.8V power through the 5V to 1.8V voltage module, the 3.3V power supplies power to the microcontroller 16, the 5V power and the 3.3V power supply power to the sensor group, the 3.3V power, the 3.8V power and the 1.8V power supply power to the wireless transmission module 3, the microcontroller 16, the sensor group and the wireless transmission module 3 enter the working state, the microcontroller 16 controls the walking motor 2 to rotate through the walking motor driving module 4, the walking motor 2 rotates to drive the walking wheel 21 to move along the inspection track 22, in the process that the travelling wheels 21 move along the routing inspection track 22, the microcontroller 16 controls the rotating motor 4 to rotate through the rotating motor driving module 11, the rotating motor 4 rotates to drive the telescopic rod 20 to rotate, so that the camera 12 is driven to rotate, the camera 13 can acquire images in a chemical plant room in an all-dimensional mode, and meanwhile, the sensor group can monitor the environment state in the chemical plant room in an all-dimensional mode; the wind speed sensor 5 monitors wind speed in a chemical plant in real time, monitored wind speed in a chemical plant room is sent to the microcontroller 16, the temperature and humidity sensor 7 monitors temperature and humidity in the chemical plant room in real time, monitored temperature and humidity in the chemical plant room are sent to the microcontroller 16, the harmful gas sensor 6 monitors harmful gas in the chemical plant room in real time, monitored harmful gas in the chemical plant room is sent to the microcontroller 16, the smoke sensor 10 monitors combustible gas in the chemical plant room in real time, monitored combustible gas in the chemical plant room is sent to the microcontroller 16, the dust sensor 8 monitors dust concentration in the chemical plant room in real time, monitored dust concentration in the chemical plant room is sent to the microcontroller 16, and the oxygen sensor 9 monitors oxygen concentration in the chemical plant room in real time, and will monitor the interior oxygen concentration of chemical plant room and send to microcontroller 16, microcontroller 16 control liquid crystal display 19 shows the interior wind speed of chemical plant room received, humiture in the chemical plant room, harmful gas in the chemical plant room, combustible gas, dust concentration and oxygen concentration, thereby be convenient for monitor and acquire environmental parameter such as humiture in the chemical plant room, harmful gas, combustible gas, the dust granule, oxygen concentration, wind speed, in order in time to make the adjustment to the production technology process, avoid the staff to be in dangerous condition. In addition, the microcontroller 16 sends the received parameters such as the wind speed in the chemical plant, the temperature and humidity in the chemical plant room, the concentration of harmful gases, combustible gases, dust, oxygen and the like in the chemical plant room to the monitoring mobile phone through the wireless transmission module 3, and the parameters are wirelessly connected with the monitoring mobile phone through the wireless transmission module 3, so that the remote monitoring of the automatic dangerous inspection robot and the acquisition of environmental parameter data are realized, and the safety of the site environment of a worker is ensured; and the monitoring of a plurality of automatic danger inspection robots is realized through the monitoring mobile phone, so that the fields of a plurality of chemical plants are managed conveniently, the use is convenient, the cost is low, and the safety factor is high.
The above, only be the utility model discloses a preferred embodiment, it is not right the utility model discloses do any restriction, all according to the utility model discloses the technical entity all still belongs to any simple modification, change and the equivalent structure change of doing above embodiment the utility model discloses technical scheme's within the scope of protection.
Claims (10)
1. the utility model provides an automatic robot is patrolled and examined in danger which characterized in that: the system comprises an inspection track (22) arranged at the top in a chemical plant, a travelling mechanism arranged on the inspection track (22), a travelling driving mechanism for driving the travelling mechanism to move along the inspection track (22), and a monitoring control device for controlling the travelling driving mechanism and monitoring the environment in the chemical plant;
the monitoring and controlling device comprises a box body (18), a telescopic rod (20) arranged at the top of the box body (18), an electronic circuit board (15) and a rotating motor (14) which are arranged in the box body (18), wherein the walking mechanism comprises a connecting plate (1) and walking wheels (21) which are arranged at two ends of the connecting plate (1) and can move along an inspection track (22), a walking motor (2) in transmission connection with the walking wheels (21) is arranged in the connecting plate (1), the upper end of the telescopic rod (20) is rotatably arranged at the bottom of the connecting plate (1) through a bearing, and the lower end of the telescopic rod (20) is in transmission connection with the rotating motor (14);
The electronic circuit board (15) is integrated with a microcontroller (16), a power supply module (17), a sensor group and a wireless transmission module (3) connected with the microcontroller (16), the sensor group comprises a wind speed sensor (5), a harmful gas sensor (6), a temperature and humidity sensor (7), a dust sensor (8), an oxygen sensor (9) and a smoke sensor (10), and an alarm (13) is arranged at the bottom of the box body (18);
the output of wind speed sensor (5), harmful gas sensor (6), temperature and humidity sensor (7), dust sensor (8), oxygen sensor (9) and smoke transducer (10) all meets with the input of microcontroller (16), be provided with liquid crystal display (19) on box (18), alarm (13) and liquid crystal display (19) are controlled by microcontroller (16), microcontroller (16) are STM32F103VET6 microcontroller.
2. The automatic danger inspection robot according to claim 1, characterized in that: the temperature and humidity sensor (7) is an AM2301 temperature and humidity sensor, and the output end of the temperature and humidity sensor (7) is connected with a PC1 pin of the microcontroller (16);
The harmful gas sensor (6) is an MQ135 gas sensor P13, a VCC pin of the MQ135 gas sensor P13 is connected with a 5V power supply output end, a GND pin of the MQ135 gas sensor P13 is grounded, a DO pin of the MQ135 gas sensor P13 is divided into two paths, one path is connected with the 5V power supply output end through a resistor R34, and the other path is connected with a drain electrode of a MOS field effect transistor Q2; the source electrode of the MOS field effect transistor Q2 is divided into two paths, one path is connected with one end of a resistor R35, and the other path is connected with a PE15 pin of the microcontroller (16); the grid of the MOS field effect transistor Q2 is connected with one end of a resistor R32, the connection end of the other end of the resistor R32 and the other end of the resistor R35 is connected with a 3.3V power output end, and the AO pin of the MQ135 gas sensor P13 is connected with the PB1 pin of the microcontroller (16).
3. The automatic dangerous inspection robot according to claim 1 or 2, characterized in that: the smoke sensor (10) is an MQ2 smoke sensor P7, a VCC pin of the MQ2 smoke sensor P7 is connected with a 5V power supply output end, a GND pin of the MQ2 smoke sensor P7 is grounded, a DO pin of the MQ2 smoke sensor P7 is divided into two paths, one path is connected with the 5V power supply output end through a resistor R21, and the other path is connected with a drain electrode of a MOS field effect transistor Q1; the source electrode of the MOS field effect transistor Q1 is divided into two paths, one path is connected with one end of a resistor R22, and the other path is connected with a PD0 pin of the microcontroller (16); the grid of the MOS field effect transistor Q1 is connected with one end of a resistor R19, the connection end of the other end of the resistor R19 and the other end of the resistor R22 is connected with a 3.3V power output end, and the AO pin of the MQ2 smoke sensor P7 is connected with the PB0 pin of the microcontroller (16).
4. The automatic dangerous inspection robot according to claim 1 or 2, characterized in that: the dust sensor (8) is a GP2Y1014AU0F dust sensor P14, a Vled pin of the GP2Y1014AU0F dust sensor P14 is divided into two paths, one path is connected with a 5V power supply output end through a resistor R52, and the other path is grounded through a capacitor C51; the LED-GND pin of the GP2Y1014AU0F dust sensor P14 is grounded with the S-GND pin of the GP2Y1014AU0F dust sensor P14, the LED pin of the GP2Y1014AU0F dust sensor P14 is connected with the collector of a triode Q6, the base of the triode Q6 is divided into two paths, one path is connected with the PE14 pin of the microcontroller (16) through a resistor R59, and the other path is grounded through a resistor R61; the emitting electrode of the triode Q6 is grounded, the VO pin of the GP2Y1014AU0F dust sensor P14 is connected with the PA7 pin of the microcontroller (16), and the VCC pin of the GP2Y1014AU0F dust sensor P14 is connected with the 5V power output end.
5. The automatic dangerous inspection robot according to claim 1 or 2, characterized in that: the oxygen sensor (9) comprises an oxygen sensor P3 and a communication chip U4 with the model number of SP485EEN-L/TR, a GND pin of the oxygen sensor P3 is grounded, a VCC pin of the oxygen sensor P3 is connected with a 5V power supply output end, a 485-B pin of the oxygen sensor P3 is divided into three paths, one path is connected with one end of a resistor R9, the other path is grounded through a resistor R7, and the third path is connected with a7 th pin of the communication chip U4; the 485-A pin of the oxygen sensor P3 is divided into three paths, one path is connected with the other end of the resistor R9, the other path is connected with the 3.3V power output end through the resistor R15, and the third path is connected with the 6 th pin of the communication chip U4; the 1 st pin of communication chip U4 meets with microcontroller (16) PC10 pin, the 2 nd pin of communication chip U4 with the link of the 3 rd pin of communication chip U4 meets with microcontroller (16) PE0 pin, the 4 th pin of communication chip U4 meets with microcontroller (16) PC11 pin, the 5 th pin ground connection of communication chip U4, the 8 th pin of communication chip U4 divides two the tunnel, and one tunnel connects 3.3V power output end, and another tunnel is through electric capacity C17 ground connection.
6. the automatic dangerous inspection robot according to claim 1 or 2, characterized in that: the wind speed sensor (5) is a DP-FS485 wind speed sensor P1 and a communication chip U3 with the model number of SP485EEN-L/TR, a GND pin of the DP-FS485 wind speed sensor P1 is grounded, a VCC pin of the DP-FS485 wind speed sensor P1 is connected with a 12V power supply output end, a 485-B pin of the DP-FS485 wind speed sensor P1 is divided into three paths, one path is connected with one end of a resistor R8, the other path is grounded through a resistor R6, and the third path is connected with a7 th pin of the communication chip U3; the 485-A pin of the DP-FS485 wind speed sensor P1 is divided into three paths, one path is connected with the other end of the resistor R8, the other path is connected with the 3.3V power output end through the resistor R14, and the third path is connected with the 6 th pin of the communication chip U3; the 1 st pin of the communication chip U3 is connected with the PD6 pin of the microcontroller (16), the 2 nd pin of the communication chip U3 is connected with the 3 rd pin of the communication chip U3, the connecting end of the communication chip U3 is connected with the PE1 pin of the microcontroller (16), the 4 th pin of the communication chip U3 is connected with the PD5 pin of the microcontroller (16), the 5 th pin of the communication chip U3 is grounded, the 8 th pin of the communication chip U3 is divided into two paths, one path is connected with the 3.3V power output end, and the other path is grounded through the capacitor C16.
7. The automatic dangerous inspection robot according to claim 1 or 2, characterized in that: the wireless transmission module (3) comprises a chip USR-LTE-7S4, a SIM card P18 and an A-type USB interface P16, wherein the 3 rd pin of the chip USR-LTE-7S4 is divided into two paths, one path is connected with one end of a resistor R57, and the other path is connected with the cathode of a voltage stabilizing tube D4; the 4 th pin of the chip USR-LTE-7S4 is divided into two paths, one path is connected with one end of a resistor R56, and the other path is connected with the cathode of a voltage regulator tube D5; the anode of the voltage regulator tube D4 and the anode of the voltage regulator tube D5 are both grounded, the other end of the resistor R57 is connected with the D-pin of the type-A USB interface P16, the other end of the resistor R56 is connected with the D + pin of the type-A USB interface P16, the 6 th pin of the chip USR-LTE-7S4 is connected with the PD9 pin of the microcontroller (16), the 7 th pin of the chip USR-LTE-7S4 is connected with the PD8 pin of the microcontroller (16), the 9 th pin of the chip USR-LTE-7S4 is connected with one end of the resistor R46, the other end of the resistor R46 is connected with the base of the triode Q4, the emitter of the triode Q4 is grounded, the collector of the triode Q4 is connected with the cathode of the light emitting diode LED5, the anode of the light emitting diode LED5 is connected with the 3.8V power output end through the resistor R42, the first pin of the USR-LTE-7S4 is connected with the first pin 85R 43, the other end of the resistor R43 is divided into two paths, one path is connected with the output end of a 3.3V power supply, and the other path is connected with the collector of a triode Q5; the emitting electrode of the triode Q5 is grounded, the base electrode of the triode Q5 is divided into two paths, one path is connected with a PE13 pin of the microcontroller (16) through a resistor R47, and the other path is grounded through a resistor R51; the 11 th pin and the 12 th pin of the chip USR-LTE-7S4 are grounded, the 23 rd pin of the chip USR-LTE-7S4 is connected with the 3 rd pin of the SIM card P18, the 22 nd pin of the chip USR-LTE-7S4 is connected with the 5 th pin of the SIM card P18, the 21 st pin of the chip USR-LTE-7S4 is connected with the 6 th pin of the SIM card P18, the 1 st pin and the 4 th pin of the SIM card P18 are connected with a 1.8V power output end, the 16 th pin of the chip USR-LTE-7S4 is divided into two paths, one path is grounded through a capacitor C46, a capacitor C47 and a capacitor C48 which are connected in parallel, and the other path is connected with a 3.8V power output end; the 15 th pin of the chip USR-LTE-7S4 is connected with one end of a resistor R48, the other end of the resistor R48 is connected with the base electrode of a triode Q3, the emitting electrode of the triode Q3 is grounded, the collecting electrode of the triode Q3 is connected with the cathode of a light-emitting diode LED4, and the anode of the light-emitting diode LED4 is connected with the 3.8V power output end through the resistor R41.
8. The automatic dangerous inspection robot according to claim 1 or 2, characterized in that: the power module (17) comprises a lithium ion battery, a 12V-to-5V voltage module, a 5V-to-3.3V voltage module, a 5V-to-3.8V voltage module and a 5V-to-1.8V voltage module;
The 12V-to-5V voltage module comprises a chip LM596-5V, wherein the 1 st pin of the chip LM596-5V is divided into two paths, one path is connected with the output end of a lithium ion battery, the other path is grounded through a capacitor C28, a capacitor C29 and a capacitor C30 which are connected in parallel, the 3 rd pin and the 5 th pin of the chip LM596-5V are grounded, the 2 nd pin of the chip LM596-5V is divided into two paths, one path is connected with the cathode of a voltage regulator tube D3, and the other path is connected with one end of an inductor L2; the 4 th pin of the chip LM596-5V is divided into four paths, the first path is connected with the other end of the inductor L2, the second path is grounded through a capacitor C31 and a capacitor C32 which are connected in parallel, the third path is connected with one end of a resistor R33, and the fourth path is connected with one end of a resistor R31; the other end of the resistor R31 is a 5V power output end, the other end of the resistor R33 is connected with the anode of the light-emitting diode LED2, and the cathode of the light-emitting diode LED2 is grounded.
9. the automatic danger inspection robot according to claim 8, wherein: the 5V-to-3.3V voltage module comprises a chip LM1117-3.3V, a1 st pin of the chip LM1117-3.3V is grounded, a3 rd pin of the chip LM1117-3.3V is divided into two paths, one path is connected with a 5V power supply output end, and the other path is grounded through a capacitor C36 and a capacitor C33 which are connected in parallel; the 2 nd pin of the chip LM1117-3.3V is divided into four paths, the first path is connected with the 4 th pin of the chip LM1117-3.3V, the second path is grounded through a capacitor C34 and a capacitor C37 which are connected in parallel, the third path is connected with one end of a resistor R37, the fourth path is connected with one end of a resistor R36, the other end of the resistor R36 is a 3.3V power output end, the other end of the resistor R37 is connected with the anode of a light-emitting diode LED3, and the cathode of the light-emitting diode LED3 is grounded;
The 5V-to-3.8V voltage module comprises a chip MP1482, a1 st pin of the chip MP1482 is connected with one end of a capacitor C35, a2 nd pin of the chip MP1482 is divided into three paths, one path is connected with a 5V power supply output end, the other path is grounded through a capacitor C38, a capacitor C39 and a capacitor C40 which are connected in parallel, and the third path is connected with one end of a resistor R39; the 7 th pin of the chip MP1482 is connected with the other end of the resistor R39, the 8 th pin of the chip MP1482 is grounded through a capacitor C41, the 4 th pin of the chip MP1482 is grounded, the 6 th pin of the chip MP1482 is divided into two paths, one path is grounded through the resistor R49 and the capacitor C45 which are connected in series, and the other path is grounded through the capacitor C44; the 5 th pin of the chip MP1482 is divided into two paths, one path is grounded through a resistor R50, and the other path is connected with one end of a resistor R44; the 3 rd pin of the chip MP1482 is divided into two paths, one path is connected with the other end of the capacitor C35, and the other path is connected with one end of the inductor L3; the other end of the inductor L3 is divided into five paths, the first path is connected with the other end of the resistor R44, the second path is grounded through a capacitor C42, the third path is grounded through a capacitor C43, the fourth path is connected with one end of the resistor R45, and the fifth path is connected with one end of the resistor R40; the other end of the resistor R45 is connected with the anode of the light-emitting diode LED6, the other end of the resistor R40 is a 3.8V power output end, and the cathode of the light-emitting diode LED6 is grounded;
The 5V to 1.8V voltage module comprises a chip LP5900SD-1.8, a pin 4 of the chip LP5900SD-1.8 is divided into two paths, one path is connected with a 5V power output end, and the other path is grounded through a capacitor C65; the 2 nd pin of the chip LP5900SD-1.8 is divided into two paths, one path is connected with the output end of a 3.3V power supply, and the other path is grounded through a resistor R65; the 1 st pin of the chip LP5900SD-1.8 is divided into two paths, one path is a 1.8V power supply output end, and the other path is grounded through a capacitor C66; and the No. 3 pin of the chip LP5900 SD-1.8.
10. the automatic dangerous inspection robot according to claim 1 or 2, characterized in that: the liquid crystal display screen (19) is an LCD240128 display screen, a VDD pin of the LCD240128 display screen is connected with a 5V power output end, a VSS pin of the LCD240128 display screen is grounded, a VO pin of the LCD240128 display screen is connected with a sliding end of a sliding resistor R38, and the LCD240128 display screen is provided with a VDD pin of a power supply, a VSS pin of the LCD240128 display screen is connected with a sliding end of a sliding resistor R38A pin,a pin,A pin,Pin andthe pin meets with microcontroller (16) PA2 pin, PA3 pin, PE3 pin, PE4 pin and PA1 pin respectively, the D0-D7 pin of LCD240128 display screen meets with microcontroller (16) PE12-PE5 pin respectively, the FS pin of LCD240128 display screen meets with microcontroller (16) PE2 pin, the VOUT pin of LCD240128 display screen meets with a stiff end of sliding resistance R38, another stiff end ground connection of sliding resistance R38, the LEDA and the 5V power output end of LCD240128 display screen meet, the DKLE ground connection of LCD240128 display screen.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113459157A (en) * | 2020-03-31 | 2021-10-01 | 深圳市神州云海智能科技有限公司 | Robot and intelligent charging system |
| CN113517651A (en) * | 2021-09-14 | 2021-10-19 | 国网山东省电力公司莒县供电公司 | Wireless sensor type cable trench comprehensive early warning device and method |
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2019
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113459157A (en) * | 2020-03-31 | 2021-10-01 | 深圳市神州云海智能科技有限公司 | Robot and intelligent charging system |
| CN113517651A (en) * | 2021-09-14 | 2021-10-19 | 国网山东省电力公司莒县供电公司 | Wireless sensor type cable trench comprehensive early warning device and method |
| CN113517651B (en) * | 2021-09-14 | 2021-12-10 | 国网山东省电力公司莒县供电公司 | Wireless sensor type cable trench comprehensive early warning device and method |
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