CN108225410A - Smart motion environmental parameter monitoring device and method - Google Patents
Smart motion environmental parameter monitoring device and method Download PDFInfo
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- CN108225410A CN108225410A CN201711208699.0A CN201711208699A CN108225410A CN 108225410 A CN108225410 A CN 108225410A CN 201711208699 A CN201711208699 A CN 201711208699A CN 108225410 A CN108225410 A CN 108225410A
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- 230000033001 locomotion Effects 0.000 title claims abstract description 61
- 230000007613 environmental effect Effects 0.000 title claims abstract description 33
- 238000012806 monitoring device Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title description 4
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 claims abstract description 16
- 238000012544 monitoring process Methods 0.000 claims abstract description 16
- 238000004891 communication Methods 0.000 claims abstract description 15
- 239000000428 dust Substances 0.000 claims abstract description 10
- 238000009434 installation Methods 0.000 claims abstract description 9
- 238000005070 sampling Methods 0.000 claims description 5
- 238000012360 testing method Methods 0.000 claims description 5
- 238000004088 simulation Methods 0.000 claims description 4
- 238000004321 preservation Methods 0.000 claims description 2
- 238000010998 test method Methods 0.000 claims description 2
- 238000012546 transfer Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- 238000013500 data storage Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000002245 particle Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- General Physics & Mathematics (AREA)
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Abstract
The present invention provides a kind of smart motion environmental parameter monitoring devices, including crust of the device and by the data acquisition module of electric connection, independently sensing motion module, network communication module, master control borad and power module, the Temperature Humidity Sensor, PM2.5 dust sensors, alcohol gas sensor and the VOC gas sensor that are mounted on crust of the device that data acquisition module includes data collecting card and is connected with the digital-to-analogue I/O port of the data collecting card；Autonomous sensing motion module includes motor drive module, infrared obstacle sensor, tracking sensor and movement master control borad, master control borad, network communication module, motor drive module install the first half in the device, front, tracking sensor are mounted on bottom of device in the device for infrared obstacle sensor installation.Portability of the present invention and flexibility are high, suitable for various complex environments, can synchronization interface display environment parameter, overload alarm provides strong support for the comprehensive diversity monitoring of environment.
Description
Technical field
The present invention relates to automatic detection, motion control and Internet of Things field, and in particular, to a kind of smart motion environment
Parameter monitor device and method.
Background technology
Temperature, humidity, sensitive gas (alcohol, VOC etc.), dust etc. is (for satellite assembly workshop, chip manufacture high-tech
Workshop) environment factor affects the normal operation of precision instrument and equipment, while closely related with the safety of workshop.
Power house environment sensor is typically fixed, and is limited to mill construction, and sensor distribution can not necessarily be contained
Lid workshop.More popular ground robot currently on the market has logistics automated guided vehicle (AGV) in traditional industries and sweeps
Floor-washing robot, either AGV or sweeping robot are more the motion control skills that workshop provides navigation channel or family LAN
Art does not have and remotely checks workshop or family comprehensive environmental parameter and the function of carrying out remote control.Smart motion environment is joined
Number monitoring device senses movement control technology, network communications technology and safety precaution skill for this situation by integrated use
Art, to build safe and efficient power house environment Monitoring and management system.Smart motion environmental parameter monitoring device will according to environment
Selection corresponding sports mode is sought, covers entire workshop, while acquiring, handle to power house environment parameters remote, showing, intelligent sound
Light is alarmed.
Invention content
For the defects in the prior art, the object of the present invention is to provide a kind of smart motion environmental parameter monitoring device and
Method acquires data, and motion control and Internet of Things mechanics of communication are integrated in one, and considerably increase the comprehensive of enviromental monitoring equipment
Property and flexibility, can be adapted for various complex environments, network data can be stored in for the collected data of real time kinematics
In library, strong support is provided for the comprehensive on-line monitoring of environment dynamic.
The present invention is realized especially by following scheme：
A kind of smart motion environmental parameter monitoring device, including crust of the device and the data acquisition module that passes through electric connection
Block, independently sensing motion module, network communication module, master control borad and power module, the data acquisition module are adopted including data
Truck and Temperature Humidity Sensor, PM2.5 dust sensors, alcohol gas sensor and VOC gas on crust of the device
Body sensor, the Temperature Humidity Sensor, PM2.5 dust sensors, alcohol gas sensor and VOC gas sensor with it is described
The digital-to-analogue I/O port of data collecting card is connected；The autonomous sensing motion module include motor drive module, infrared obstacle sensor,
Tracking sensor and movement master control borad, master control borad, network communication module, motor drive module install the first half in the device, red
Front, tracking sensor are mounted on bottom of device in the device for outer obstacle sensor installation, and the power module includes installation
Battery module in crust of the device lower half and the power switch mounted on crust of the device bottom.The battery module is
12A direct currents during 3000Ah power, are connected to modules, for system power supply.
Preferably, the motor drive module includes rubber wheel and motor, which is one group, is symmetrically mounted on
Device both sides, motor model are mounted on device chassis for 28PA51G/28ZYT47-1280ME13, are connect with rubber wheel, electricity
Machine driving line is connected with motor driving plate delivery outlet, is moved for driving device.
Preferably, the Temperature Humidity Sensor model DHT11, on crust of the device, data line is connected to acquisition
Card digital I/O port, for acquiring environment temperature and humidity data；The PM2.5 dust sensors model GP2Y1014AU, installation
On crust of the device, data line is connected to O mouthfuls of capture card digital analog I, for acquiring environment PM2.5 data；The alcohol gas
Body sensor model MP-3B, on crust of the device, data line is connected to capture card simulation I/O port, for acquiring environment
Alcohol gas concentration parameter；The VOC gas sensor model number is MS1100, and on crust of the device, data line is connected to
Capture card simulates I/O port, for acquiring environment VOC gas concentration parameter；
Preferably, the infrared obstacle sensor is mounted on front inside device, and three sensors collectively form
Field-of-view angle is 120 °, and distance radius 3-80cm is adjustable, and data line is connected to master control borad digital I/O port, for detecting preceding object
Object.The tracking sensor is mounted on bottom of device, and from the ground at 15mm-20mm distances, data line is connected to master control borad number
I/O port, for detecting retaining rail diatom.
Preferably, the network communication module includes network transceiving module A and network transceiving module B, the movement master control
Plate uses AVR controllers, and motor driving plate model L298N, network transceiving module A models ESP8266 are to be laminated slot
Mode is fixed on inside device, for the motion control to device under various motor patterns；The data collecting card is adopted using AVR
Truck, network transceiving module Type B number is fixed in a manner of slot is laminated inside device for ESP8266, for receiving and sending
Environmental parameter.
The present invention also provides a kind of test methods of smart motion environmental parameter monitoring device, which is characterized in that including
Following steps：
S1, constructed as above complete the assembling of environmental parameter monitoring device；
S2, according to monitoring of environmental, select autonomous obstacle motion monitoring pattern or fixed navigation channel motion monitoring pattern, if
The latter is selected, needs to arrange width on the ground>The black navigation channel line of 50mm；
S3, installation's power source switch is pressed, device is automatically connected to default routing, is connected into internet, logs in monitoring software；
S4, internet, setting timed motion acquisition time period, sampling are connected to by mobile phone or computer monitor software
Channel, sample frequency, alarming value and test record information；All sampling settings and datalogging information will be written into file simultaneously
Inquiry can be transferred；
S5, selection radio motion pattern, including autonomous obstacle motor pattern and fixed navigation channel motor pattern, press acquisition by
Button setting in motion acquires environmental parameter；
S6, user press the acquisition of software stop button stop signal in the suitable time, select data in the database
File carries out the inquiry of record information, including：Humiture, dust concentration, alcohol gas concentration, VOC gas concentration etc.；
After S7, data acquisition and preservation, log off and press power switch to device powers down.
Compared with prior art, the present invention has following advantageous effect：The present invention acquires data, motion control and object
Connection mechanics of communication is integrated in one, and considerably increases the comprehensive and flexibility of enviromental monitoring equipment, can be according to various complicated rings
Corresponding sports pattern is configured in border.Collected ambient parameter data can be opened in software database, in real time to tested
Environment carries out overload alarm, and strong support is provided for the comprehensive on-line monitoring of environment dynamic.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the structure diagram of smart motion environmental parameter monitoring device of the embodiment of the present invention.
Wherein 1 is VOC gas sensor, and 2 be alcohol gas sensor, and 3 be crust of the device, and 4 be rubber wheel, and 5 is store
Battery, 6 be direct current generator, and 7 be infrared obstacle sensor, and 8 be PM2.5 sensors, and 9 be Temperature Humidity Sensor, and 10 be sensor number
According to capture card, 11 be network transceiving module 1 and 2,12 be motor driving plate, and 13 be motion control board.
Fig. 2 is the work flow diagram of smart motion environmental parameter monitoring device of the embodiment of the present invention.
Specific embodiment
With reference to specific embodiment, the present invention is described in detail.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
As shown in Figure 1, an embodiment of the present invention provides a kind of smart motion environmental parameter monitoring device, including crust of the device
5 and by the data acquisition module of electric connection, independently sense motion module, network communication module, master control borad and power supply mould
Block；The data acquisition module includes data collecting card 9 and the VOC gas sensor 1 on crust of the device, alcohol gas
Body sensor 2, Temperature Humidity Sensor 3, PM2.5 sensors 4, the autonomous sensing motion module include motor drive module 6, red
Outer obstacle sensor 10, tracking sensor and movement master control borad 8, master control borad, network communication module 7, motor drive module installation
The first half in the device, front, tracking sensor are described mounted on bottom of device in the device for infrared obstacle sensor installation
Power module includes opening mounted on the battery module 13 of crust of the device lower half and the power supply mounted on crust of the device bottom
It closes.The battery module is 12A direct currents, during 3000Ah power, modules is connected to, for system power supply.Motor drives
Dynamic model block includes rubber wheel 12 and direct current generator 11, which is one group, is symmetrically mounted on device both sides, direct current
Machine model 28PA51G/28ZYT47-1280ME13, nominal torque 1NM, encoder resolution：64CPR (shaft drive axis)
8384CPR (transformer axis), on device chassis, connect with rubber wheel, and motor driving line is exported with motor driving plate
Mouth is connected, and is moved for driving device
The 1 model MS1100 of VOC gas sensor, detectable concentration 0-100ppm.2 type of alcohol gas sensor
Number be MP-3B, detectable concentration 0.04-4mg/L.The 3 model DHT11 of Temperature Humidity Sensor reads temperature humidity data, temperature
Spend 0-50 DEG C of measurement range, humidity range 20-90%RH.The PM2.5 dust sensors 4 model GP2Y1014AU is sensitive
It spends for 0.1mg/m3, 0.03 μm of smallest particles detection ability.The 6 model L298N dual H-bridge direct current generators of motor drive module
Driving chip, it is possible to provide 20W power.
The 7 model ESP8266 of network communication module, dominant frequency support 80MHz and 160MHz, built-in ICP/IP protocol
Stack, WIFI2.4GHz support WPA/WPA2 safe modes.Specifically, the network communication module include network transceiving module A and
Network transceiving module B, the movement master control borad is using AVR controllers, motor driving plate model L298N, network transceiving module A
Model ESP8266 is fixed in a manner of slot is laminated inside device, under various motor patterns to the movement control of device
System；The data collecting card uses AVR capture cards, and network transceiving module Type B number is fixed for ESP8266 in a manner of slot is laminated
Portion in the device, for receiving and sending environmental parameter
The movement 8 model AVR ATmega328 motion controllers of master control borad, 32K sizes Flash, 2K byte SRAM,
1K bytes EEPROM, 16MHz clock frequency.The 9 model AVR capture cards of data collecting card, 13 Digital I/O acquisition ports, 6
A simulation IO acquisition ports, 10 AD acquisition precisions, 1khz sample frequencys.Infrared 10 digital signal of the obstacle sensor output,
Detecting distance adjustable extent 3-80cm.
The VOC gas sensor 1, alcohol gas sensor 2, Temperature Humidity Sensor 3, PM2.5 sensors 4 can carry out
Hot plug operations, timely recovery capability, autgmentability and the flexibility of such system can be improved.The data collecting card 9
It is connected with VOC gas sensor 1, alcohol gas sensor 2, Temperature Humidity Sensor 3, PM2.5 sensors 4, sample frequency 1KHz,
Resolution ratio is 10, is wirelessly transmitted to PC or mobile phone terminal by network transceiving module 7WIFI, simultaneous display is deposited on interface
It stores up to database.
As shown in Fig. 2, this specific implementation is in use, open login system, it can be into after username and password is proved to be successful
Enter environmental parameter monitoring the page, if permission judge the result is that without permission, directly terminate this test.It is successfully entered ring
Behind the parameter monitoring interface of border, setting the timed motion acquisition time period, motor pattern, sampling channel, sample frequency, alarming value with
And test record information, program automatically checks newly-built task, if without mistake, can be opened if pressing start button
Begin acquisition environmental parameter, and completes the storage or analysis of parameter, if task configuration is problematic, needs to re-start acquisition tasks
Configuration, after the completion of acquisition, user can select to exit the program, and can also reselect the functions such as data readback.
This specific implementation realizes motion pick, wireless network transmissions and the data storage of various environmental parameters, increases
The comprehensive and flexibility of enviromental monitoring equipment is added, corresponding sports pattern can be configured according to various complex environments.For adopting
The ambient parameter data collected can be opened in software database, carry out overload alarm to test environment in real time, moved for environment
The comprehensive on-line monitoring of state provides strong support.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (10)
1. a kind of smart motion environmental parameter monitoring device, which is characterized in that including crust of the device and pass through electric connection
Data acquisition module independently senses motion module, network communication module, master control borad and power module, the data acquisition module
Temperature Humidity Sensor, PM2.5 dust sensors, alcohol gas sensing including data collecting card and on crust of the device
Device and VOC gas sensor, the Temperature Humidity Sensor, PM2.5 dust sensors, alcohol gas sensor and VOC gas pass
Sensor is connected with the digital-to-analogue I/O port of the data collecting card；The autonomous sensing motion module includes motor drive module, infrared
Obstacle sensor, tracking sensor and movement master control borad, master control borad, network communication module, motor drive module are mounted on device
The interior first half, front, tracking sensor are mounted on bottom of device, the power supply mould in the device for infrared obstacle sensor installation
Block includes the battery module mounted on crust of the device lower half and the power switch mounted on crust of the device bottom.
2. a kind of smart motion environmental parameter monitoring device as described in claim 1, which is characterized in that the motor drives mould
Block includes rubber wheel and motor, which is one group, is symmetrically mounted on device both sides, motor model 28PA51G/
28ZYT47-1280ME13 is mounted on device chassis, is connect with rubber wheel, motor driving line and motor driving plate delivery outlet
It is connected, is moved for driving device.
3. smart motion environmental parameter monitoring device according to claim 1, which is characterized in that
The Temperature Humidity Sensor model DHT11, on crust of the device, data line is connected to capture card digital I/O port,
For acquiring environment temperature and humidity data.
4. smart motion environmental parameter monitoring device according to claim 1, which is characterized in that the PM2.5 dust passes
Sensor model GP2Y1014AU, on crust of the device, data line is connected to O mouthfuls of capture card digital analog I, for acquiring
Environment PM2.5 data.
5. smart motion environmental parameter monitoring device according to claim 1, which is characterized in that the alcohol gas sensing
Device model MP-3B, on crust of the device, data line is connected to capture card simulation I/O port, for acquiring environment alcohol gas
Bulk concentration parameter.
6. smart motion environmental parameter monitoring device according to claim 1, which is characterized in that the VOC gas sensing
Device model MS1100, on crust of the device, data line is connected to capture card simulation I/O port, for acquiring environment VOC gas
Bulk concentration parameter.
7. smart motion environmental parameter monitoring device according to claim 1, which is characterized in that the infrared obstacle sensing
Device is mounted on front inside device, and the field-of-view angle collectively formed of three sensors is 120 °, and distance radius 3-80cm can
It adjusts, data line is connected to master control borad digital I/O port, for detecting front obstacle.
8. smart motion environmental parameter monitoring device according to claim 1, which is characterized in that the tracking sensor peace
Mounted in bottom of device, from the ground at 15mm-20mm distances, data line is connected to master control borad digital I/O port, for detecting retaining rail
Diatom.
9. smart motion environmental parameter monitoring device according to claim 1, which is characterized in that the network communication module
Including network transceiving module A and network transceiving module B, the movement master control borad is using AVR controllers, motor driving plate model
L298N, network transceiving module A models ESP8266 is fixed in a manner of slot is laminated inside device, for various movement moulds
To the motion control of device under formula；The data collecting card use AVR capture cards, network transceiving module Type B number for ESP8266 with
The mode that slot is laminated is fixed on inside device, for receiving and sending environmental parameter.
10. a kind of test method of smart motion environmental parameter monitoring device, which is characterized in that include the following steps：
S1, such as claim 1-9 any one of them structure complete the assembling of environmental parameter monitoring device；
S2, according to monitoring of environmental, autonomous obstacle motion monitoring pattern or fixed navigation channel motion monitoring pattern are selected, if selection
The latter needs to arrange width on the ground>The black navigation channel line of 50mm；
S3, installation's power source switch is pressed, device is automatically connected to default routing, is connected into internet, logs in monitoring software；
S4, internet is connected to by mobile phone or computer monitor software, setting timed motion acquisition time period, sampling are logical
Road, sample frequency, alarming value and test record information；All sampling settings and datalogging information will be written into file and simultaneously may be used
Transfer inquiry；
S5, selection radio motion pattern including autonomous obstacle motor pattern and fixed navigation channel motor pattern, are pressed acquisition button and are opened
Beginning motion pick environmental parameter；
S6, user press the acquisition of software stop button stop signal in the suitable time, select data file in the database,
Carry out the inquiry of record information；
After S7, data acquisition and preservation, log off and press power switch to device powers down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711208699.0A CN108225410A (en) | 2017-11-27 | 2017-11-27 | Smart motion environmental parameter monitoring device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711208699.0A CN108225410A (en) | 2017-11-27 | 2017-11-27 | Smart motion environmental parameter monitoring device and method |
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| CN201711208699.0A Pending CN108225410A (en) | 2017-11-27 | 2017-11-27 | Smart motion environmental parameter monitoring device and method |
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| US20040128097A1 (en) * | 2002-12-31 | 2004-07-01 | Lamarca Anthony G. | Robotic sensor calibration system |
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| CN205176656U (en) * | 2015-12-03 | 2016-04-20 | 无锡职业技术学院 | Atmospheric environmental monitoring intelligent vehicle |
| CN206311970U (en) * | 2017-01-06 | 2017-07-07 | 长沙理工大学 | Intelligent tracking monitoring cart system based on STM32 |
| CN206411484U (en) * | 2016-12-29 | 2017-08-15 | 北京罗克佳华信息技术股份有限公司 | Indoor intelligent joint control equipment with environmental monitoring is controlled based on infrared and radio frequency |
-
2017
- 2017-11-27 CN CN201711208699.0A patent/CN108225410A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040128097A1 (en) * | 2002-12-31 | 2004-07-01 | Lamarca Anthony G. | Robotic sensor calibration system |
| CN202947759U (en) * | 2012-08-24 | 2013-05-22 | 扬州大学 | Wireless environment monitoring vehicle |
| CN204143619U (en) * | 2014-09-29 | 2015-02-04 | 福州大学 | For the intelligent wireless kinematic system of indoor air chemical pollution |
| CN104990574A (en) * | 2015-07-10 | 2015-10-21 | 朱婷婷 | Intelligent mobile monitoring information remote-transmitting system |
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Application publication date: 20180629 |