CN210148073U - Campus autonomous patrol robot based on Beidou positioning - Google Patents
Campus autonomous patrol robot based on Beidou positioning Download PDFInfo
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- CN210148073U CN210148073U CN201920696159.XU CN201920696159U CN210148073U CN 210148073 U CN210148073 U CN 210148073U CN 201920696159 U CN201920696159 U CN 201920696159U CN 210148073 U CN210148073 U CN 210148073U
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Abstract
A campus autonomous patrol robot based on Beidou positioning comprises a cross-country chassis mechanism, a camera shooting holder mechanism, a four-rotor shutdown box mechanism and a main control mechanism; the camera shooting pan-tilt mechanism comprises a horizontal rotating platform, the horizontal rotating platform is fixedly assembled at the top of a bottom plate, a shell of a first steering engine is fixedly assembled at the top of the horizontal rotating platform, an output shaft of the first steering engine is fixedly assembled with a vertical rotating platform, the top of the vertical rotating platform is obliquely assembled with a second steering engine, and an output shaft of the second steering engine is fixedly assembled with a camera; the main control mechanism includes the main control box, and main control box internally mounted has big dipper orientation module, sensor and control chip, and display screen, control button and WIFI data transmission module are installed at main control box top, the utility model discloses not only can ensure campus safety, reduce manpower and materials and input, but also made things convenient for the teachers and students head of a family to go on a journey in the campus, save time raises the efficiency. The method can well solve the problems in campus safety, has high feasibility and is suitable for batch production. Has good social and economic benefits.
Description
Technical Field
The utility model belongs to the technical field of campus security protection and navigation, concretely relates to campus is machine people of independently patrolling based on big dipper location.
Background
With the rapid development of advanced education in China, the school-handling scale of colleges and universities is continuously enlarged, and the campus socialization phenomenon is increasingly obvious, so that the campus security cannot be ignored, and the method comprises the following steps: personal safety, property safety, fire safety, life safety, traffic safety, and the like. Colleges and universities have patrol personnel, but workers often have a sense of relaxation; the dynamics in the campus cannot be monitored constantly; the related information cannot be fed back in time; long time is needed from the appearance of hidden dangers to the discovery of the hidden dangers and then to the solution of the hidden dangers; too much manpower and material resources make the cost too high. There is currently no reasonably effective solution to these problems.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem that prior art exists, the utility model provides a campus is robot of independently patrolling based on big dipper location, technical scheme as follows:
a campus autonomous patrol robot based on Beidou positioning comprises a cross-country chassis mechanism, a camera shooting holder mechanism, a four-rotor shutdown box mechanism and a main control mechanism;
the cross-country chassis mechanism comprises a bottom plate and a square tube frame, wherein motor supports are fixedly assembled at four corners of the bottom plate respectively, driving motors are fixedly assembled on the four motor supports respectively, cross-country wheels are assembled on output shafts of the four driving motors respectively, the four cross-country wheels are parallel to each other, and the square tube frame is assembled at the top of the bottom plate;
the camera shooting pan-tilt mechanism comprises a horizontal rotating platform and a first steering engine, the horizontal rotating platform is fixedly assembled at the top of a bottom plate, a shell of the first steering engine is fixedly assembled at the top of the horizontal rotating platform, an output shaft of the first steering engine is fixedly assembled with a vertical rotating platform, the top of the vertical rotating platform is obliquely assembled with a second steering engine, an output shaft of the second steering engine is fixedly assembled with a camera fixing plate, and a camera is fixedly assembled on the camera fixing plate;
the four-rotor shutdown box mechanism comprises a containing box, a cross mark is arranged at the bottom of the inner wall of the containing box, four rotors are contained in the containing box, a Beidou positioning module is installed in the four rotors, the top of the containing box is opened and covered with a containing box cover, and the containing box cover is provided with an automatic opening and closing mechanism;
the main control mechanism includes the main control box, main control box internally mounted has big dipper orientation module, sensor and control chip, the display screen is installed at main control box top, control button and WIFI data transmission module, big dipper orientation module, driving motor, a sensor, the display screen, control button, WIFI data transmission module, the camera, first steering wheel, second steering wheel and third steering wheel are connected with the control chip electricity respectively, the camera, the sensor is used for gathering video source data and environmental information data respectively, and give control chip with data transmission, control chip carries out data transmission through WIFI data transmission module and four rotors and host computer, the display screen is used for showing the notice information of host computer, environmental information data and send control command to control chip, control button is used for sending alarm command to control chip and host computer.
The automatic opening and closing mechanism comprises a third steering engine, a first connecting rod and a second connecting rod, the storage box cover is assembled at the top of the storage box in a sliding mode, the third steering engine is assembled on the outer side wall of the storage box, one end of the first connecting rod is fixedly connected with an output shaft of the third steering engine, the other end of the first connecting rod is rotatably assembled with one end of the second connecting rod, and the other end of the second connecting rod is fixedly assembled with the bottom of the storage box cover.
The sensors specifically include an air temperature sensor, an air humidity sensor, a carbon dioxide sensor, and a PM2.5 sensor.
The driving motor is electrically connected with the control chip through a motor driving module, the model of the motor driving module is TB6612, and the driving motor is an RF-370 series motor.
Air temperature sensor, air humidity transducer, carbon dioxide sensor and PM2.5 sensor adopt VOC485 air sensor module.
The model of camera is RER-USB8MP02G, control chip's model is raspberry group 3 generation B + type, the model of display screen is 7 cun raspberry group electric capacity touch-sensitive screen, the model of four rotors is Crazepony WiFi drawing pass version, the model of first steering wheel, second steering wheel and third steering wheel is MG 996360 °, the model of WIFI data transmission module is XRbot Link4.0, the model of big dipper orientation module is middle branch electron BD + GPS ATGM 336H.
Horizontal rotating platform bottom is equipped with a plurality of hexagonal copper post, a plurality of hexagonal copper post and bottom plate top fixed assembly.
The bottom plate and the square tube frame are made of aluminum or aluminum alloy materials.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model adopts the cross-country chassis mechanism, which can run in most of the landform in the campus, and has good damping effect; the camera is prevented from shaking due to overlarge amplitude, and the image is not clear;
2. the utility model adopts the aluminum chassis and the square aluminum frame, which can reduce the whole weight while ensuring the strength of the whole structure;
3. the utility model adopts the camera head mechanism, which can enlarge the visual field range of the camera, and make the camera more flexible and convenient, and easier to catch and track the object;
4. the utility model can enlarge the visual field range of the patrol robot by applying four small rotors and four small rotors, so that the patrol robot can monitor a wider area and increase the flexibility of the patrol robot;
5. the utility model adopts the mode of combining WiFi data transmission and campus local area network to transmit data through the wireless antenna, thereby saving cost, being safe, having large data transmission capacity and high speed;
6. in the utility model, the patrol robot collects video source data, environmental information data and the like, and transmits the video source data, the environmental information data and the like to the terminal upper computer monitoring system through WiFi data transmission and campus local area network, so that the real-time position of the patrol robot in the campus, the video image and the environmental information of the position can be seen in the terminal, the safety and the high efficiency are realized, and the labor cost is saved;
7. the important mechanisms of the utility model are all packaged into boxes, such as a main control mechanism and a four-rotor shutdown box mechanism, which are not easy to damage, reasonable in design and structuralization and more convenient to maintain;
in a word, the utility model relates to a campus is patrol robot independently based on big dipper location not only can ensure campus safety, reduces manpower and materials input, but also has made things convenient for the teachers and students' head of a family to go on a journey in the campus, saves time, raises the efficiency. The method can well solve the problems in campus safety, has high feasibility and is suitable for batch production. Has good social and economic benefits.
Drawings
Fig. 1 is a schematic left side view of the present invention;
fig. 2 is a schematic front view of the present invention;
fig. 3 is a top view of the main control mechanism of the present invention;
fig. 4 is a schematic structural view of the camera pan-tilt mechanism of the present invention;
fig. 5 is a schematic structural view of the automatic opening and closing mechanism of the present invention;
fig. 6 is a system flow diagram of the present invention.
Wherein: a base plate 1; a square tube frame 2; a motor support 3; a drive motor 4; a cross-country wheel 5; a horizontal rotating table 6; a first steering engine 7; a vertical rotary table 8; a second steering engine 9; a camera fixing plate 10; a hexagonal copper pillar 11; a receiver box 12; a storage box cover 13; a main control box 14; a third steering engine 15; a first link 16; a second link 17; a display screen 18; WIFI data transmission module 19.
Detailed Description
It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
As shown in fig. 1 to 6, the utility model provides a campus autonomous patrol robot based on Beidou positioning, which comprises a cross-country chassis mechanism, a camera head mechanism, a four-rotor shutdown box mechanism and a main control mechanism;
the cross-country chassis mechanism comprises a bottom plate 1 and a square tube frame 2 and is used for fixing and protecting the whole structure of the robot, motor supports 3 are fixedly assembled at four corners of the bottom plate 1 respectively, driving motors 4 are fixedly assembled on the four motor supports 3 respectively, cross-country wheels 5 are assembled on output shafts of the four driving motors 4 respectively, specifically, the driving motors 4 are connected with the cross-country wheels 5 through couplers, the couplers are fixed on the output shafts of the driving motors 4 through hexagon socket head screws, the four cross-country wheels 5 are parallel to each other, and the square tube frame 2 is assembled at the top of the bottom plate 1;
the camera shooting pan-tilt mechanism comprises a horizontal rotating platform 6 and a first steering engine 7, wherein the horizontal rotating platform 6 is fixedly assembled at the top of a bottom plate 1, a shell of the first steering engine 7 is fixedly assembled at the top of the horizontal rotating platform 6, an output shaft of the first steering engine 7 is fixedly assembled with a vertical rotating platform 8, the top of the vertical rotating platform 8 is obliquely assembled with a second steering engine 9, an output shaft of the second steering engine 9 is fixedly assembled with a camera fixing plate 10, and the camera fixing plate 10 is fixedly assembled with a camera;
in this embodiment, by host computer (PC end), send data instruction, can control first steering wheel 7 and the 9 rotation directions of second steering wheel, after first steering wheel 7 received the "turned angle" instruction of PC end, first steering wheel 7 alright in order to realize the rotation of 0-360 degrees of horizontal direction, after second steering wheel 9 received the "turned angle" instruction of PC end, second steering wheel 9 alright in order to realize the rotation of 0-360 degrees on the vertical direction for the camera can obtain the video image of 0-360 degrees direction, improve supervision efficiency.
The four-rotor shutdown box mechanism comprises a containing machine box 12, a cross mark is arranged at the bottom of the inner wall of the containing machine box 12, four rotors are contained in the containing machine box 12, a Beidou positioning module is installed in the four rotors, a containing box cover 13 is covered on an opening at the top of the containing machine box 12, and an automatic opening and closing mechanism is arranged on the containing box cover 13;
the main control mechanism comprises a main control box 14, a Beidou positioning module, a sensor and a control chip are installed inside the main control box 14, a display screen 18 is installed at the top of the main control box 14, a control button and a WIFI data transmission module 19 are installed on the top of the main control box 14, the Beidou positioning module, a driving motor 4, the sensor, the display screen 18, the control button, the WIFI data transmission module 19, a camera, a first steering engine 7, a second steering engine 9 and a third steering engine 15 are respectively and electrically connected with the control chip, the camera and the sensor are respectively used for acquiring video source data and environmental information data and transmitting the data to the control chip, the control chip is in data transmission with a four rotor wing and an upper computer through the WIFI data transmission module 19, the display screen 18 is used for displaying notification information of the upper computer, the environmental information data and sending a control instruction to the control chip, and the control button is used;
in this embodiment, when the upper computer (PC end) sends out a relevant instruction, the main control box 14 receives data information, further processes and analyzes the information, and feeds back the data to the first steering engine 7, the second steering engine 9 and the camera to make them respond correspondingly; meanwhile, the image data received by the camera is transmitted to an upper computer through the WIFI data transmission module 19 in the main control box 14 in combination with the campus local area network, and real-time video display and analysis are performed. The main control box 14 is connected with four driving motors 4 on the chassis, when receiving speed regulation parameters sent by an upper computer, the WIFI data transmission module 19 receives the relevant data and transmits the relevant data to the control chip raspberry type 3B +, the control chip raspberry type 3B + processes the data and then regulates and controls PWM, the PWM motor speed regulation mechanism controls the voltage of a TB6612 motor driving module pin, and finally the rotating speed of the 4 driving motors 4 is regulated, so that the advancing state of advancing, backing, left-turning, right-turning, static, original-turning, fast maneuvering and slow patrol is realized.
The control chip in the main control box 14 is of a raspberry type B + type, data calculation and program storage are carried out, a WIFI data transmission module 19 is equipped for data transmission of maximum 1.5M/S of 1000 meters farthest, two Beidou positioning modules are equipped, one Beidou positioning module is located on a robot, the other Beidou positioning module is located on a four-rotor aircraft and used for position information collection, the Beidou positioning is adopted because the Beidou positioning is independently researched and developed in China, the safety and the reliability are higher, the robot can continuously work for 24 hours by carrying a 50000ma rechargeable power supply, a MOS tube motor drives a first steering engine 7, a second steering engine 9 and a third steering engine 15 to carry out parameter PID adjustment, various environment sensors (adopting a model VOC485 air sensor module) such as an air sensor module can monitor environment information and detect carbon dioxide concentration, PM2.5, temperature, humidity and the like and feed back the environment information to an upper computer, a voice module is further arranged in the main control box 14, the voice information from the upper computer can be received and broadcasted outwards in time, the display touch screen is used for information interaction between a user and the robot, and information can be fed back to the upper computer in time when necessary.
The automatic opening and closing mechanism comprises a third steering engine 15, a first connecting rod 16 and a second connecting rod 17, the storage box cover 13 is assembled at the top of the storage box 12 in a sliding mode, the third steering engine 15 is assembled on the outer side wall of the storage box 12, one end of the first connecting rod 16 is fixedly connected with an output shaft of the third steering engine 15, the other end of the first connecting rod 16 is rotatably assembled with one end of the second connecting rod 17, and the other end of the second connecting rod 17 is fixedly assembled with the bottom of the storage box cover 13.
The working principle of the automatic opening and closing mechanism is as follows: the third steering engine 15 drives the first connecting rod 16 to rotate, so that the storage box cover 13 is pulled at the top of the storage box 12 through the second connecting rod 17.
In this embodiment, the four rotors stay in the containing case 12 when not operating, a red cross mark is arranged in the containing case 12 for calibrating the parking of the four rotors, and the containing case cover 13 is stably opened by the transmission of the automatic opening and closing mechanism when the four rotors operate; when four rotors carry out position information interaction through big dipper location and robot, be located patrol robot top, when the camera of four rotors below discerned red "ten" sign, four rotors descend to accomodating machine box 12 in, when four rotors safety fall into the box back, accomodate lid 13 through the transmission of automatic mechanism that opens and shuts, steadily close accomodate lid 13. The introduction of four rotors has improved the flexibility of robot, and the land and air fuses video monitoring, not only makes monitoring range expand, is favorable to the overall situation in addition the accuse, the accurate trend of confirming the suspect. In the face of emergency, the control reaction is quicker.
The sensors specifically include an air temperature sensor, an air humidity sensor, a carbon dioxide sensor, and a PM2.5 sensor.
The utility model discloses a damping device for the road, including driving motor 4, drive motor 4, TB6612, driving motor 4, TB6612 motor drive module passes through the output of pin high-low voltage, controls driving motor 4's rotational speed, makes the automobile body can stably realize advancing, the backspacing, turn, adopt cross country wheel 5 to be the square and arrange on aluminum alloy bottom plate 1, it is more dexterous during the turn, and reduce the moment that the automobile body received, cross country wheel 5 has stronger land fertility of grabbing to and good shock attenuation effect.
Air temperature sensor, air humidity transducer, carbon dioxide sensor and PM2.5 sensor adopt VOC485 air sensor module.
The model of the camera is RER-USB8MP02G, the model of the control chip is raspberry group 3 generation B + type, the model of the display screen 18 is 7 inch raspberry group capacitive touch screen, the model of the four rotors is Crazepony WiFi drawing transmission version, the models of the first steering engine 7, the second steering engine 9 and the third steering engine 15 are MG 996360 degrees, the model of the WIFI data transmission module 19 is XRbot Link4.0, and the model of the Beidou positioning module is Zhongke microelectronics BD + GPS ATGM 336H.
The bottom of the horizontal rotating platform 6 is provided with a plurality of hexagonal copper cylinders 11, and the plurality of hexagonal copper cylinders 11 are fixedly assembled with the top of the bottom plate 1.
The bottom plate 1 and the square tube frame 2 are made of aluminum or aluminum alloy materials.
The utility model provides an use as follows:
security personnel issue movement instructions through an upper computer (PC end), then data are transmitted through a campus local area network, a main control box 14 transmits and receives data through a wireless WIFI data transmission module 19, the rotating speed of a motor is controlled by adjusting a PWM (pulse width modulation) to adjust L298N, so that the robot autonomously patrols at a low speed in a campus, collected video source data and environmental information data are transmitted to the upper computer, and user side interaction data are transmitted to the upper computer through WiFi data transmission and the campus local area network, so that a user can observe and monitor videos, environmental information parameters and the global position of the robot in real time; when a user interacts data with the robot through the touch display screen 18, the robot uploads important data to the upper computer for analysis, and the response of an alarm signal of a control button is preferentially processed by a program in the raspberry group; the security personnel can transmit important information to the robot through the upper computer, and the robot can issue an emergency notice through the onboard voice module to remind passers-by; security personnel accessible host computer control robot is patrol in the campus in optional position, and power information is monitored constantly to the raspberry group, and when the robot electric quantity was low excessively, the information that "the electric quantity is low" was handled to the raspberry group to send the suggestion information of "the electric quantity is low" for host computer (PC end).
The above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.
Claims (8)
1. A campus autonomous patrol robot based on Beidou positioning is characterized by comprising a cross-country chassis mechanism, a camera shooting holder mechanism, a four-rotor shutdown box mechanism and a main control mechanism;
the cross-country chassis mechanism comprises a bottom plate and a square tube frame, wherein motor supports are fixedly assembled at four corners of the bottom plate respectively, driving motors are fixedly assembled on the four motor supports respectively, cross-country wheels are assembled on output shafts of the four driving motors respectively, the four cross-country wheels are parallel to each other, and the square tube frame is assembled at the top of the bottom plate;
the camera shooting pan-tilt mechanism comprises a horizontal rotating platform and a first steering engine, the horizontal rotating platform is fixedly assembled at the top of a bottom plate, a shell of the first steering engine is fixedly assembled at the top of the horizontal rotating platform, an output shaft of the first steering engine is fixedly assembled with a vertical rotating platform, the top of the vertical rotating platform is obliquely assembled with a second steering engine, an output shaft of the second steering engine is fixedly assembled with a camera fixing plate, and a camera is fixedly assembled on the camera fixing plate;
the four-rotor shutdown box mechanism comprises a containing box, a cross mark is arranged at the bottom of the inner wall of the containing box, four rotors are contained in the containing box, a Beidou positioning module is installed in the four rotors, the top of the containing box is opened and covered with a containing box cover, and the containing box cover is provided with an automatic opening and closing mechanism;
the main control mechanism includes the main control box, main control box internally mounted has big dipper orientation module, sensor and control chip, the display screen is installed at main control box top, control button and WIFI data transmission module, big dipper orientation module, driving motor, a sensor, the display screen, control button, WIFI data transmission module, the camera, first steering wheel, second steering wheel and third steering wheel are connected with the control chip electricity respectively, the camera, the sensor is used for gathering video source data and environmental information data respectively, and give control chip with data transmission, control chip carries out data transmission through WIFI data transmission module and four rotors and host computer, the display screen is used for showing the notice information of host computer, environmental information data and send control command to control chip, control button is used for sending alarm command to control chip and host computer.
2. The campus autonomous patrol robot based on Beidou positioning as recited in claim 1, wherein the automatic opening and closing mechanism comprises a third steering engine, a first connecting rod and a second connecting rod, the storage box cover is slidably assembled on the top of the storage box, the third steering engine is assembled on the outer side wall of the storage box, one end of the first connecting rod is fixedly connected with an output shaft of the third steering engine, the other end of the first connecting rod is rotatably assembled with one end of the second connecting rod, and the other end of the second connecting rod is fixedly assembled with the bottom of the storage box cover.
3. The campus autonomous patrol robot based on Beidou positioning according to claim 1, wherein the sensors specifically comprise an air temperature sensor, an air humidity sensor, a carbon dioxide sensor and a PM2.5 sensor.
4. The campus autonomous patrol robot based on Beidou positioning according to claim 1, wherein the driving motor is electrically connected with the control chip through a motor driving module, the model of the motor driving module is TB6612, and the driving motor is an RF-370 series motor.
5. The campus autonomous patrol robot based on Beidou positioning according to claim 3, wherein the air temperature sensor, the air humidity sensor, the carbon dioxide sensor and the PM2.5 sensor adopt a VOC485 air sensor module.
6. The campus autonomous patrol robot based on Beidou positioning according to claim 1, wherein the model of the camera is RER-USB8MP02G, the model of the control chip is raspberry type 3 generation B +, the model of the display screen is 7 inch raspberry type capacitive touch screen, the model of the quad rotor is Crazepony WiFi image transmission version, the models of the first steering engine, the second steering engine and the third steering engine are MG 996360 °, the model of the WIFI data transmission module is XRbot Link4.0, and the model of the Beidou positioning module is Zhongke microelectronic BD + GPS ATGM 336H.
7. The campus autonomous patrol robot based on Beidou positioning according to claim 1, wherein a plurality of hexagonal copper cylinders are assembled at the bottom of the horizontal rotating platform and fixedly assembled with the top of the bottom plate.
8. The campus autonomous patrol robot based on Beidou positioning according to claim 1, wherein the bottom plate and the square tube frame are made of aluminum or aluminum alloy.
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| CN110076748A (en) * | 2019-05-15 | 2019-08-02 | 沈阳航空航天大学 | A kind of autonomous patrol robot in campus based on Beidou positioning |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110076748A (en) * | 2019-05-15 | 2019-08-02 | 沈阳航空航天大学 | A kind of autonomous patrol robot in campus based on Beidou positioning |
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Effective date of registration: 20200717 Address after: 110000 No. 52 North Avenue, Huanggu District, Shenyang, Liaoning, the Yellow River Patentee after: Shenyang Hangda Intelligent Equipment Co., Ltd Address before: 110136 Shenyang Province, moral economic development zone, moral, South Street, No. 37, No. Patentee before: SHENYANG AEROSPACE University |