CN212009843U - Execution end based on real-time teleoperation multifunctional application platform - Google Patents
Execution end based on real-time teleoperation multifunctional application platform Download PDFInfo
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- CN212009843U CN212009843U CN202020812778.3U CN202020812778U CN212009843U CN 212009843 U CN212009843 U CN 212009843U CN 202020812778 U CN202020812778 U CN 202020812778U CN 212009843 U CN212009843 U CN 212009843U
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Abstract
The application discloses execution end based on real-time teleoperation multifunctional application platform, including installing video detection device, state detection device, direction executive device, speed executive device and control system on the self-propelled device, video detection device, state detection device, direction executive device, speed executive device all connect control system. Has the following advantages: can clean and spray the function automatically, be equipped with rotatory filter core and improve the life of the motor that induced drafts, can gather each item data from running gear in real time, artifical remote control's place is cleaned, is sprinkled, is patrol, security protection, plant protection, gardens are maintained, agriculture and forestry operation, engineering operation, traffic management operation etc. have fine impetus to the improvement of field mechanical automation degree such as sanitation, gardens, security protection, fire control, epidemic prevention.
Description
Technical Field
The utility model relates to an execution end based on multi-functional application platform of real-time teleoperation, specific saying so relates to an execution end based on multi-functional application platform of real-time teleoperation such as artifical remote control's place cleans, sprinkles, patrol, security, plant protection, gardens are maintained, agricultural operation, engineering operation, traffic facilities management.
Background
With the rapid economic growth of China, real estate, gardens, squares, large-scale enterprises, transportation and storage, agriculture and forestry fields, infrastructure, modern transportation facilities and other places are rapidly increased, and the new change cannot be met by manpower-based cleaning, patrol, security, plant protection, garden pruning, agriculture and forestry operation, engineering operation, traffic facility management and other works.
The rapid development of automation technology and communication technology makes it possible for mobile equipment to replace manpower. However, there are still some disadvantages that are not satisfactory from the viewpoint of recent development.
To summarize, this field can be broadly divided into the following three cases:
first, self-propelled devices are operated to work using manual field operations. The mode not only needs considerable expense in labor protection, protection and the like, but also has obvious defects in toxic and harmful places, epidemic situations and the like.
Second, remote control is used to operate the self-propelled device on site, but radio is the chosen remote control medium. The greatest disadvantage of this is the distance limitation between the handling end and the autonomous device to be handled.
The third kind, the electronic self-propelled equipment of remote control load that is using in the existing market is mostly single function, and concentrates and be applied to the fire control field, and product cost is on the high side and the wasting of resources is serious.
In order to adapt to the development trend of the economy of China and make up for the technical requirements in the field, a multifunctional electric self-propelled equipment application platform based on a wireless network on the basis of a mobile phone communication channel is urgently needed.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem is to above not enough, an execution end based on multi-functional application platform of real-time teleoperation is provided, can clean and spray the function automatically, it has improved the life of the motor that induced drafts to be equipped with rotatory filter core, can gather each item data from running gear in real time, can control electronic self-propelled equipment and realize automatic speed governing, automatic steering, touch obstacle meeting automatic brake, artifical remote control's field is cleaned, the watering, patrol, the security protection, the plant protection, gardens are maintained, the agriculture and forestry operation, the engineering operation, traffic management operation etc., to the sanitation, gardens, the security protection, fire control, the improvement of field mechanical automation degree such as epidemic prevention has fine pushing action.
For solving the technical problem, the utility model discloses a following technical scheme:
an execution end based on a real-time teleoperation multifunctional application platform comprises a self-walking device, wherein a video detection device, a state detection device, a direction execution device, a speed execution device and a control system are installed on the self-walking device, and the video detection device, the state detection device, the direction execution device and the speed execution device are all connected with the control system.
Further, including from the running gear main part, from the upper portion of running gear main part install heat dissipation case and garbage collection box, be equipped with drive rear axle and water tank between heat dissipation case and the garbage collection box, the top of heat dissipation case is equipped with control system, respectively installs two nozzles at both ends around the running gear main part, and the nozzle is connected with the water pump, and the water pump passes through the pipe connection water tank.
Furthermore, a suction fan is installed on the rear side of the garbage collection box, a filter element is arranged in the garbage collection box and connected with a filter element rotating motor, the filter element rotating motor controls the filter element to rotate, a rolling brush is installed on the lower portion of the garbage collection box and connected with a rolling brush motor, and the rolling brush is located at the bottom of the self-walking device main body;
and two sides of the front end of the bottom of the self-walking device main body are respectively provided with a side brush, and the side brushes are connected with side brush motors.
Furthermore, the two ends of the driving rear axle are respectively provided with a brake disc, the driving rear axle is provided with a walking motor, the walking motor is connected with a differential speed reducer, the brake discs are connected with a brake pump, and the brake pump is connected with a brake electric cylinder.
Furthermore, two rear wheels are respectively arranged on two sides of the rear end of the bottom of the self-walking device main body, and the rear wheels are connected with a walking motor through chains;
the middle of the front end of the bottom of the self-walking device main body is provided with a front wheel, and the front wheel is connected with a steering motor.
Further, control system includes the CPU module, the CPU module is connected with communication module, output module, audible and visual alarm module, environmental information module and input module, control system communicates with teleoperation computer 3 through communication module, communication module includes the IP camera, 4G network module and loRa wireless module, output module includes the drive electricity lock unit, the drive brake unit, the direction of drive unit, drive speed governing unit, the drive electricity lock unit, the drive brake unit, the direction of drive unit, drive speed governing unit all is connected with the driving motor unit, environmental information module includes speed detecting element, ultrasonic ranging unit, temperature and humidity detecting element and human response unit, input module includes turning to position detecting element, water tank liquid level detecting element and battery power detecting element, audible and visual alarm module includes loudspeaker control unit, the output module, audible and visual alarm module, environmental information module and input module, control system includes the loudspeaker control unit, the output module, audible, The device comprises an illuminating lamp control unit and an alarm lamp control unit.
Further, the CPU module comprises a chip U2, and the model number of the chip U2 is STM32F407ZET 6;
the driving motor unit comprises a chip U3, and the model of the chip U3 is AM26LS 31;
Further, pin 2 of the chip U3 is connected to pin 1 of the connector P8, pin 6 of the chip U3 is connected to pin 2 of the connector P8, pin 10 of the chip U8 is connected to pin 1 of the connector P8, pin 14 of the chip U8 is connected to pin 2 of the connector P8, pin 3 of the chip U8 is connected to one end of the resistor R8, the other end of the resistor R8 is connected to pin 11 of the connector P8, pin 5 of the chip U8 is connected to one end of the resistor R8, the other end of the resistor R8 is connected to pin 9 of the connector P8, pin 11 of the chip U8 is connected to one end of the resistor R8, the other end of the resistor R8 is connected to pin 5 of the connector P8, pin 13 of the chip U8 is connected to one end of the resistor R8, the other end of the resistor R8 is connected to pin 3 of the connector P8, pin 3 of the resistor R8 is connected to one end of the connector P8, the other end of the resistor R8 is connected to the connector P8, the connector P36, the pin 3 of the connector P9 is connected with one end of a resistor R25, the other end of the resistor R25 is connected with the pin 12 of the connector P4, the pin 4 of the connector P9 is connected with one end of a resistor R28, and the other end of the resistor R28 is connected with the pin 3 of the connector P4.
Furthermore, the driving motor unit further comprises a triode Q1, a pin 1 of the triode Q1 is grounded, a pin 3 of the triode Q1 is connected with one end of a resistor R39, the other end of the resistor R39 is connected with a pin 7 of a connector P4, a pin 2 of the triode Q1 is connected with one end of a resistor R37, the other end of the resistor R37 is connected with a pin 21 of a chip U2 and one end of a resistor R35, and the other end of the resistor R35 is connected with + 3.3V; the driving motor unit further comprises a triode Q2, a pin 1 of the triode Q2 is grounded, a pin 3 of the triode Q2 is connected with one end of a resistor R40, the other end of the resistor R40 is connected with a pin 1 of a connector P4, a pin 2 of the triode Q2 is connected with one end of a resistor R38, the other end of the resistor R38 is connected with a pin 22 of a chip U2 and one end of a resistor R36, and the other end of the resistor R36 is connected with + 3.3V.
Further, the driving motor unit further comprises a connector P7, wherein a pin 6 of the connector P7 is connected with one end of a resistor R19, one end of a resistor R22, one end of a capacitor C8 and one end of a diode LED2, the other end of the resistor R19 is connected with +3.3V, the other end of the resistor R22 is connected with a pin 13 of a chip U2, the other end of the capacitor C8 is grounded, the other end of the diode LED2 is connected with one end of a resistor R18, and the other end of the resistor R18 is connected with + 3.3V; a pin 5 of the connector P7 is connected with one end of a resistor R30, one end of a resistor R33, one end of a capacitor C11 and one end of a diode LED4, the other end of the resistor R30 is connected with +3.3V, the other end of the resistor R33 is connected with a pin 18 of a chip U2, the other end of the capacitor C11 is grounded, the other end of the diode LED4 is connected with one end of a resistor R29, and the other end of the resistor R29 is connected with + 3.3V; a pin 3 of the connector P7 is connected with one end of a resistor R21, one end of a resistor R23, one end of a capacitor C9 and one end of a diode LED3, the other end of the resistor R21 is connected with +3.3V, the other end of the resistor R23 is connected with a pin 15 of a chip U2, the other end of the capacitor C9 is grounded, the other end of the diode LED3 is connected with one end of a resistor R20, and the other end of the resistor R20 is connected with + 3.3V; the 2 feet of the connector P7 are connected with one end of a resistor R32, one end of a resistor R34, one end of a capacitor C12 and one end of a diode LED5, the other end of the resistor R32 is connected with +3.3V, the other end of the resistor R34 is connected with the 20 feet of a chip U2, the other end of the capacitor C12 is grounded, the other end of the diode LED5 is connected with one end of a resistor R31, and the other end of the resistor R31 is connected with + 3.3V.
The utility model adopts the above technical scheme, compare with prior art, have following technological effect:
1. this patent an execution end based on multi-functional application platform of real-time teleoperation, can artifical long-range real-time safety operation, the on-the-spot executive power is strong, the manifold remote control of safe and reliable function is from walking equipment, it is poor to be particularly suitable for site environment, the working range is wide, there is poisonous and harmful epidemic situation or the condition of personal danger, artifical remote control's place is cleaned, the watering, patrol, security, plant protection, gardens are maintained, agriculture and forestry operation, engineering operation, traffic management operation etc. can wide application in fields such as sanitation, gardens, security, fire control, epidemic prevention, agriculture and forestry crop management, engineering operation, traffic facilities management.
2. This patent an execution end based on multi-functional application platform of real-time teleoperation in can clean automatically and spray the function, be equipped with rotatory filter core and improve the life of the motor that induced drafts, can gather each item data from running gear in real time, can control to realize automatic speed regulation, automatic steering from running gear, touch obstacle meeting automatic braking.
3. By means of the level of the current mobile phone communication technology and the technical processing of the real-time remote control multifunctional electric self-walking device manual remote operation platform, after an operator sends an operation action instruction, the delay time of a field self-walking device video image obtained through a display device can reach millisecond level and far exceeds the execution operation speed of the self-walking device, so that the operator can control the execution operation of the self-walking device as the field operation self-walking device, and the man-machine fusion degree is greatly improved.
4. This patent is through the working method who faces the on-the-spot self-propelled device of real-time long-range teleoperation of field operation, has alleviateed operating personnel's intensity of labour greatly, has reduced expenses such as the labour protection that needs because of the field work, protection by a wide margin, has guaranteed labourer's personal safety to the at utmost, makes the applicable place of on-the-spot self-propelled device obtain very big expansion.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a diagram showing an application platform of the present invention;
FIG. 2 is a simplified structural diagram of the application platform of the present invention;
fig. 3 is a block diagram of the structure of the control end of the present invention;
fig. 4 is a block diagram of the control system of the present invention;
fig. 5 is a circuit diagram of the CPU module of the present invention;
fig. 6 is a circuit diagram of a driving motor unit according to the present invention;
fig. 7-13 are mechanical structural views of the self-propelled device of the present invention.
Detailed Description
From running gear 6 including from running gear main part 31, install heat dissipation case 32 and refuse collection box 55 from the upper portion of running gear main part 31, be equipped with drive rear axle 66 and water tank 34 between heat dissipation case 32 and the refuse collection box 55, the top of heat dissipation case 32 is equipped with control system 33, respectively installs two nozzles 37 from running gear main part 31 front and back both ends, and nozzle 37 is connected with water pump 38, and water pump 38 passes through pipe connection water tank 34.
The suction fan 51 is installed on the rear side of the garbage collection box 55, the filter element 52 is arranged in the garbage collection box 55, the filter element 52 is connected with the filter element rotating motor 54, the filter element rotating motor 54 controls the filter element 52 to rotate, the rolling brush 53 is installed on the lower portion of the garbage collection box 55, the rolling brush 53 is connected with the rolling brush motor 56, and the rolling brush 53 is located at the bottom of the self-walking device main body 31.
Two sides of the front end of the bottom of the self-walking device main body 31 are respectively provided with a side brush 92, and the side brushes 92 are connected with a side brush motor 91.
Two ends of the driving rear axle 66 are respectively provided with a brake disc 63, the driving rear axle 66 is provided with a traveling motor 61, the traveling motor 61 is connected with a differential speed reducer 62, the brake discs 63 are connected with a brake pump 64, and the brake pump 64 is connected with a brake electric cylinder 65.
Two rear wheels 13 are respectively arranged on two sides of the rear end of the bottom of the self-walking device main body 31, and the rear wheels 13 are connected with a walking motor 61 through chains 11.
The middle of the front end of the bottom of the self-walking device main body 31 is provided with a front wheel 12, and the front wheel 12 is connected with a steering motor 14.
The filter element rotating motor 54, the side brush motor 91, the walking motor 61, the brake electric cylinder 65, the steering motor 13, the suction fan 51, the rolling brush motor 56 and the water pump 38 are all connected with the control system 33, the control system 33 receives a brake signal, the walking motor 61 and the brake electric cylinder 65 are started simultaneously, the walking motor 61 drives the differential speed reducer to decelerate, the brake electric cylinder 65 pushes the brake pump 64 to act, the brake pump 64 pushes the brake disc 63 to act simultaneously, and the self-walking device brakes.
As shown in fig. 1 to 4, the control system comprises a CPU module, the CPU module is connected with a communication module, an output module, an audible and visual alarm module, an environmental information module and an input module, the control system communicates with the teleoperation computer 3 through the communication module, the communication module comprises a webcam, a 4G network module and a LoRa wireless module, the output module comprises a driving electric lock unit, a driving brake unit, a driving direction unit and a driving speed regulation unit, the driving electric lock unit, the driving brake unit, the driving direction unit and the driving speed regulation unit are all connected with a driving motor unit, in addition, the output module can also be provided with a water sprinkling pump unit, a cleaning motor unit and the like according to the function requirements of an execution end, the environmental information module comprises a speed detection unit, an ultrasonic ranging unit, a temperature and humidity detection unit and a human body induction unit, the input module comprises a, The water tank liquid level detection unit and battery power detection unit, the sound light alarm module includes loudspeaker control unit, light control unit and alarm lamp control unit.
The application platform comprises a control end, an execution end and a cloud server, the control end and the execution end are connected with the cloud server through a network module, and the control end and the execution end are communicated through a wireless network.
The cloud server is connected with the control end and the execution end through a network, serves as a transfer station for data interaction of the control end and the execution end, receives a command sent by the control end, receives information returned by the execution end, forwards the command sent by the control end to the execution end, and forwards the information returned by the execution end to the control end.
The control end comprises a remote operation computer 3, an image display device 1 used for displaying the environment and the state of the execution end and an operation device 2 used for realizing man-machine interaction, wherein the remote operation computer 3 is respectively communicated with the image display device 1 and the operation device 2.
The control device 2 comprises a special control rocker 20, the output of the special control rocker 20 is connected with a controller 21, and the controller 21 is communicated with the teleoperation computer 3.
The teleoperation computer 3 is internally provided with a functional module for controlling the motion of the execution end, a graphic display functional module for realizing the remote display of the environment, a real-time image processing functional module for processing a video image of a real-time environment, a communication control functional module for realizing the remote data communication and a real-time state monitoring functional module for monitoring the real-time state of the execution end.
The control end is used for enabling an operator to acquire state information of the execution end through human-computer interaction (a computer and a display device), commands (such as starting, stopping, advancing, backing, steering, accelerating and decelerating and the like) to be executed are sent to the computer through operating the operation device, the computer is connected with the cloud server through a network, the commands to be executed are forwarded to the cloud server, meanwhile, the state information (such as videos, audios, distances, water levels and the like) returned by the cloud is received and displayed on a screen, and therefore the operator of the operation device can make response measures and send commands according to the state information.
The execution end is connected with the cloud server through the network module, receives a control end command forwarded by the cloud, executes corresponding actions, collects data such as audio, video and environmental information, returns the information data to the server through the network, forwards the information data to the control end, and can directly interact with the control end in a wireless mode under the abnormal condition of the network.
The execution end is communicated with the teleoperation computer 3 through a wireless network, is installed on a self-walking device 6 of field operation and is used for acquiring environment and self state data of the self-walking device 6 and executing and driving the self-walking device 6.
The video detection device 8 comprises a front-mounted network camera arranged in front of the self-walking device 6 and a rear-mounted network camera arranged behind the self-walking device 6, and the front-mounted network camera and the rear-mounted network camera are communicated with the teleoperation computer 3 through a wireless network.
The state detection device 7 comprises a speed sensor, an infrared human body sensor, a steering position sensor and an ultrasonic ranging sensor or a laser ranging sensor, wherein the speed sensor is arranged on the self-walking device 6 and used for acquiring walking speed during movement, the infrared human body sensor is used for sensing a human body, the steering position sensor is used for acquiring a steering position, and the ultrasonic ranging sensor or the laser ranging sensor is arranged at the front end of the self-walking device 6 and used for ranging.
The state detection device 7 further comprises an ultrasonic liquid level sensor, a battery electric quantity sensor and a temperature and humidity sensor, wherein the ultrasonic liquid level sensor is installed in the self-walking device 6 and used for detecting the liquid level of the water tank, the battery electric quantity sensor is used for detecting the electric quantity of the battery, and the temperature and humidity sensor is used for detecting the temperature and the humidity.
The direction actuator 9 includes a direction driving mechanism that controls the steering of the self-propelled device 6 by driving the motor.
The speed executing device 10 comprises an electric lock driving mechanism, a brake driving mechanism and a speed regulating driving mechanism, and the electric lock driving mechanism, the brake driving mechanism and the speed regulating driving mechanism are all driven by a driving motor to control the speed of the self-walking device 6.
The drive electricity lock unit is used for controlling an electricity lock driving mechanism, the drive brake unit is used for controlling a brake driving mechanism, the drive speed regulation unit is used for controlling a speed regulation driving mechanism, the drive direction unit is used for controlling a direction driving mechanism, the steering position detection unit is used for controlling a steering position sensor, the water tank liquid level detection unit is used for controlling an ultrasonic liquid level sensor, the battery electric level detection unit is used for controlling a battery electric level sensor, the speed detection unit is used for controlling a speed sensor, the ultrasonic distance measurement unit is used for controlling an ultrasonic distance measurement sensor, the temperature and humidity detection unit is used for controlling a temperature and humidity sensor, and the human body induction unit is used for.
As shown in fig. 5, the CPU module includes a chip U2, and the model number of the chip U2 is STM32F407ZET 6.
As shown in fig. 6, the driving motor unit includes a chip U3, the model of the chip U3 is AM26LS31, pin 1 of the chip U3 is connected with pin 60 of the chip U2, pin 4 of the chip U3 is connected with pin 59 of the chip U2, pin 7 of the chip U3 is connected with pin 64 of the chip U2, pin 9 of the chip U3 is connected with pin 65 of the chip U2, pin 12 of the chip U3 is connected with pin 66 of the chip U2, and pin 15 of the chip U3 is connected with pin 63 of the chip U2.
The pin 2 of the chip U3 is connected with the pin 1 of the connector P8, the pin 6 of the chip U3 is connected with the pin 2 of the connector P8, the pin 10 of the chip U8 is connected with the pin 1 of the connector P8, the pin 14 of the chip U8 is connected with the pin 2 of the connector P8, the pin 3 of the chip U8 is connected with one end of the resistor R8, the other end of the resistor R8 is connected with the pin 11 of the connector P8, the pin 5 of the chip U8 is connected with one end of the resistor R8, the other end of the resistor R8 is connected with the pin 9 of the connector P8, the pin 11 of the chip U8 is connected with one end of the resistor R8, the other end of the resistor R8 is connected with the pin 5 of the connector P8, the pin 13 of the chip U8 is connected with one end of the resistor R8, the pin 3 of the resistor R8 is connected with one end of the connector P8, the pin 3 of the connector P8 is connected with one end of the resistor R8, the other end of, the pin 3 of the connector P9 is connected with one end of a resistor R25, the other end of the resistor R25 is connected with the pin 12 of the connector P4, the pin 4 of the connector P9 is connected with one end of a resistor R28, and the other end of the resistor R28 is connected with the pin 3 of the connector P4.
The driving motor unit further comprises a triode Q1, a pin 1 of the triode Q1 is grounded, a pin 3 of the triode Q1 is connected with one end of a resistor R39, the other end of the resistor R39 is connected with a pin 7 of a connector P4, a pin 2 of the triode Q1 is connected with one end of a resistor R37, the other end of the resistor R37 is connected with a pin 21 of a chip U2 and one end of a resistor R35, and the other end of the resistor R35 is connected with + 3.3V; the driving motor unit further comprises a triode Q2, a pin 1 of the triode Q2 is grounded, a pin 3 of the triode Q2 is connected with one end of a resistor R40, the other end of the resistor R40 is connected with a pin 1 of a connector P4, a pin 2 of the triode Q2 is connected with one end of a resistor R38, the other end of the resistor R38 is connected with a pin 22 of a chip U2 and one end of a resistor R36, and the other end of the resistor R36 is connected with + 3.3V.
The driving motor unit further comprises a connector P7, wherein a pin 6 of the connector P7 is connected with one end of a resistor R19, one end of a resistor R22, one end of a capacitor C8 and one end of a diode LED2, the other end of the resistor R19 is connected with +3.3V, the other end of the resistor R22 is connected with a pin 13 of a chip U2, the other end of the capacitor C8 is grounded, the other end of the diode LED2 is connected with one end of a resistor R18, and the other end of the resistor R18 is connected with + 3.3; a pin 5 of the connector P7 is connected with one end of a resistor R30, one end of a resistor R33, one end of a capacitor C11 and one end of a diode LED4, the other end of the resistor R30 is connected with +3.3V, the other end of the resistor R33 is connected with a pin 18 of a chip U2, the other end of the capacitor C11 is grounded, the other end of the diode LED4 is connected with one end of a resistor R29, and the other end of the resistor R29 is connected with + 3.3V; a pin 3 of the connector P7 is connected with one end of a resistor R21, one end of a resistor R23, one end of a capacitor C9 and one end of a diode LED3, the other end of the resistor R21 is connected with +3.3V, the other end of the resistor R23 is connected with a pin 15 of a chip U2, the other end of the capacitor C9 is grounded, the other end of the diode LED3 is connected with one end of a resistor R20, and the other end of the resistor R20 is connected with + 3.3V; the 2 feet of the connector P7 are connected with one end of a resistor R32, one end of a resistor R34, one end of a capacitor C12 and one end of a diode LED5, the other end of the resistor R32 is connected with +3.3V, the other end of the resistor R34 is connected with the 20 feet of a chip U2, the other end of the capacitor C12 is grounded, the other end of the diode LED5 is connected with one end of a resistor R31, and the other end of the resistor R31 is connected with + 3.3V.
This patent an execution end based on multi-functional application platform of real-time teleoperation, can artifical long-range real-time safety operation, the on-the-spot executive power is strong, the manifold remote control of safe and reliable function is from walking equipment, it is poor to be particularly suitable for site environment, the working range is wide, there is poisonous and harmful epidemic situation or the condition of personal danger, artifical remote control's place is cleaned, the watering, patrol, security, plant protection, gardens are maintained, agriculture and forestry operation, engineering operation, traffic management operation etc. can wide application in fields such as sanitation, gardens, security, fire control, epidemic prevention, agriculture and forestry crop management, engineering operation, traffic facilities management.
The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (10)
1. An execution end based on a real-time teleoperation multifunctional application platform is characterized in that: the automatic walking device comprises a self-walking device (6) which is provided with a video detection device (8), a state detection device (7), a direction execution device (9), a speed execution device (10) and a control system, wherein the video detection device (8), the state detection device (7), the direction execution device (9) and the speed execution device (10) are all connected with the control system.
2. The execution terminal based on the real-time teleoperation multifunctional application platform of claim 1, wherein: from running gear (6) including from running gear main part (31), heat dissipation case (32) and garbage collection box (55) are installed from the upper portion of running gear main part (31), be equipped with between heat dissipation case (32) and garbage collection box (55) drive rear axle (66) and water tank (34), the top of heat dissipation case (32) is equipped with control system (33), respectively install two nozzles (37) from both ends around running gear main part (31), nozzle (37) are connected with water pump (38), water pump (38) are through pipe connection water tank (34).
3. The execution terminal based on the real-time teleoperation multifunctional application platform of claim 2, wherein: a suction fan (51) is installed on the rear side of the garbage collection box (55), a filter element (52) is arranged in the garbage collection box (55), the filter element (52) is connected with a filter element rotating motor (54), the filter element rotating motor (54) controls the filter element (52) to rotate, a rolling brush (53) is installed on the lower portion of the garbage collection box (55), the rolling brush (53) is connected with a rolling brush motor (56), and the rolling brush (53) is located at the bottom of the self-walking device main body (31);
two sides of the front end of the bottom of the self-walking device main body (31) are respectively provided with an edge brush (92), and the edge brushes (92) are connected with an edge brush motor (91).
4. The execution terminal based on the real-time teleoperation multifunctional application platform of claim 2, wherein: the two ends of the driving rear axle (66) are respectively provided with a brake disc (63), the driving rear axle (66) is provided with a traveling motor (61), the traveling motor (61) is connected with a differential speed reducer (62), the brake discs (63) are connected with a brake pump (64), and the brake pump (64) is connected with a brake electric cylinder (65).
5. The execution terminal based on the real-time teleoperation multifunctional application platform of claim 2, wherein: two rear wheels (13) are respectively arranged on two sides of the rear end of the bottom of the self-walking device main body (31), and the rear wheels (13) are connected with a walking motor (61) through a chain (11);
the middle of the front end of the bottom of the self-walking device main body (31) is provided with a front wheel (12), and the front wheel (12) is connected with a steering motor (14).
6. The execution terminal based on the real-time teleoperation multifunctional application platform of claim 2, wherein: the control system comprises a CPU module, the CPU module is connected with a communication module, an output module, an audible and visual alarm module, an environmental information module and an input module, the control system is communicated with the teleoperation computer 3 through the communication module, the communication module comprises a network camera, a 4G network module and a LoRa wireless module, the output module comprises a driving electric lock unit, a driving brake unit, a driving direction unit, a driving speed regulation unit and a driving electric lock unit, the driving brake unit, the driving direction unit, the driving speed regulation unit all are connected with the driving motor unit, the environmental information module includes speed detecting element, ultrasonic ranging unit, temperature and humidity detecting element and human response unit, input module includes steering position detecting element, water tank liquid level detecting element and battery power detecting element, the audible and visual alarm module includes loudspeaker the control unit, light the control unit and alarm lamp the control unit.
7. The execution terminal based on the real-time teleoperation multifunctional application platform of claim 6, wherein: the CPU module comprises a chip U2, and the model number of the chip U2 is STM32F407ZET 6;
the driving motor unit comprises a chip U3, and the model of the chip U3 is AM26LS 31;
pin 1 of the chip U3 is connected with pin 60 of the chip U2, pin 4 of the chip U3 is connected with pin 59 of the chip U2, pin 7 of the chip U3 is connected with pin 64 of the chip U2, pin 9 of the chip U3 is connected with pin 65 of the chip U2, pin 12 of the chip U3 is connected with pin 66 of the chip U2, and pin 15 of the chip U3 is connected with pin 63 of the chip U2.
8. The execution terminal based on the real-time teleoperation multifunctional application platform of claim 7, wherein: the pin 2 of the chip U3 is connected with the pin 1 of the connector P8, the pin 6 of the chip U3 is connected with the pin 2 of the connector P8, the pin 10 of the chip U8 is connected with the pin 1 of the connector P8, the pin 14 of the chip U8 is connected with the pin 2 of the connector P8, the pin 3 of the chip U8 is connected with one end of the resistor R8, the other end of the resistor R8 is connected with the pin 11 of the connector P8, the pin 5 of the chip U8 is connected with one end of the resistor R8, the other end of the resistor R8 is connected with the pin 9 of the connector P8, the pin 11 of the chip U8 is connected with one end of the resistor R8, the other end of the resistor R8 is connected with the pin 5 of the connector P8, the pin 13 of the chip U8 is connected with one end of the resistor R8, the pin 3 of the resistor R8 is connected with one end of the connector P8, the pin 3 of the connector P8 is connected with one end of the resistor R8, the other end of, the pin 3 of the connector P9 is connected with one end of a resistor R25, the other end of the resistor R25 is connected with the pin 12 of the connector P4, the pin 4 of the connector P9 is connected with one end of a resistor R28, and the other end of the resistor R28 is connected with the pin 3 of the connector P4.
9. The execution terminal based on the real-time teleoperation multifunctional application platform of claim 7, wherein: the driving motor unit further comprises a triode Q1, a pin 1 of the triode Q1 is grounded, a pin 3 of the triode Q1 is connected with one end of a resistor R39, the other end of the resistor R39 is connected with a pin 7 of a connector P4, a pin 2 of the triode Q1 is connected with one end of a resistor R37, the other end of the resistor R37 is connected with a pin 21 of a chip U2 and one end of a resistor R35, and the other end of the resistor R35 is connected with + 3.3V; the driving motor unit further comprises a triode Q2, a pin 1 of the triode Q2 is grounded, a pin 3 of the triode Q2 is connected with one end of a resistor R40, the other end of the resistor R40 is connected with a pin 1 of a connector P4, a pin 2 of the triode Q2 is connected with one end of a resistor R38, the other end of the resistor R38 is connected with a pin 22 of a chip U2 and one end of a resistor R36, and the other end of the resistor R36 is connected with + 3.3V.
10. The execution terminal based on the real-time teleoperation multifunctional application platform of claim 7, wherein: the driving motor unit further comprises a connector P7, wherein a pin 6 of the connector P7 is connected with one end of a resistor R19, one end of a resistor R22, one end of a capacitor C8 and one end of a diode LED2, the other end of the resistor R19 is connected with +3.3V, the other end of the resistor R22 is connected with a pin 13 of a chip U2, the other end of the capacitor C8 is grounded, the other end of the diode LED2 is connected with one end of a resistor R18, and the other end of the resistor R18 is connected with + 3.3; a pin 5 of the connector P7 is connected with one end of a resistor R30, one end of a resistor R33, one end of a capacitor C11 and one end of a diode LED4, the other end of the resistor R30 is connected with +3.3V, the other end of the resistor R33 is connected with a pin 18 of a chip U2, the other end of the capacitor C11 is grounded, the other end of the diode LED4 is connected with one end of a resistor R29, and the other end of the resistor R29 is connected with + 3.3V; a pin 3 of the connector P7 is connected with one end of a resistor R21, one end of a resistor R23, one end of a capacitor C9 and one end of a diode LED3, the other end of the resistor R21 is connected with +3.3V, the other end of the resistor R23 is connected with a pin 15 of a chip U2, the other end of the capacitor C9 is grounded, the other end of the diode LED3 is connected with one end of a resistor R20, and the other end of the resistor R20 is connected with + 3.3V; the 2 feet of the connector P7 are connected with one end of a resistor R32, one end of a resistor R34, one end of a capacitor C12 and one end of a diode LED5, the other end of the resistor R32 is connected with +3.3V, the other end of the resistor R34 is connected with the 20 feet of a chip U2, the other end of the capacitor C12 is grounded, the other end of the diode LED5 is connected with one end of a resistor R31, and the other end of the resistor R31 is connected with + 3.3V.
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