CN109015702A - The wheeled guest-meeting robot of science and technology center with temperature-monitoring function - Google Patents
The wheeled guest-meeting robot of science and technology center with temperature-monitoring function Download PDFInfo
- Publication number
- CN109015702A CN109015702A CN201811145076.8A CN201811145076A CN109015702A CN 109015702 A CN109015702 A CN 109015702A CN 201811145076 A CN201811145076 A CN 201811145076A CN 109015702 A CN109015702 A CN 109015702A
- Authority
- CN
- China
- Prior art keywords
- pin
- chip
- temperature
- main control
- steering engine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012544 monitoring process Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 239000002184 metal Substances 0.000 claims description 18
- 210000004709 eyebrow Anatomy 0.000 claims description 17
- 210000003128 head Anatomy 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 8
- 101100042610 Arabidopsis thaliana SIGB gene Proteins 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 102100028780 AP-1 complex subunit sigma-2 Human genes 0.000 claims description 3
- 101100421503 Arabidopsis thaliana SIGA gene Proteins 0.000 claims description 3
- 101100055680 Homo sapiens AP1S2 gene Proteins 0.000 claims description 3
- 101100294408 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) MOT2 gene Proteins 0.000 claims description 3
- 101000983338 Solanum commersonii Osmotin-like protein OSML15 Proteins 0.000 claims description 3
- 239000003990 capacitor Substances 0.000 claims description 3
- 101150117326 sigA gene Proteins 0.000 claims description 3
- 230000001815 facial effect Effects 0.000 claims 1
- 238000005266 casting Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000008921 facial expression Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 101000688543 Homo sapiens Shugoshin 2 Proteins 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 102100024238 Shugoshin 2 Human genes 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000005662 electromechanics Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to the wheeled guest-meeting robots of science and technology center with temperature-monitoring function, the present invention is larger in order to solve nowadays activity space needed for guest-meeting robot on the market, it has a single function, the problem of people reduce its feeling of freshness, the robot includes head, body, Omni-mobile chassis and control system, the head includes shell, LCD screen, public address system, digital thermometer module, Tiao Mei mechanism, the body includes arm, ultrasonic wave module and main support, the Omni-mobile chassis includes auxiliary support and mobile device, the control system is based on main control chip STM32F103C8T, with the LCD screen, public address system, digital thermometer module, Tiao Mei mechanism, ultrasonic wave module, arm is connected with the control on Omni-mobile chassis, the present invention provides one kind flexibly to move, contour structures Interest is strong and has the robot of temperature monitoring and temperature casting function, and the present invention is applied to temperature monitoring and welcome field.
Description
Technical field
The present invention relates to intellect service robot fields, and in particular to the wheeled welcome of science and technology center with temperature-monitoring function
Robot.
Background technique
It is sociable, can be movably walking, moreover it is possible to greeting, which is sold and sprouted ... talks about guest-meeting robot, many people recall 2010
Year the Shanghai World's Fair mascot " Hypon " that attracts the attention of millions of people, guest-meeting robot is won success quickly rapidly since then, major meeting-place, hotel,
Market, science and technology center etc., which all try to be the first, to be added this full of fraicheur " funny fellow ", but is walked recently once well-known for a time in urban district
Guest-meeting robot nowadays otherwise make no public appearances or become ornaments.
The invention discloses the wheeled guest-meeting robots of science and technology center with temperature-monitoring function, for science and technology center's visitor number
The problem of more robot movable limited space, the robot are distributed in auxiliary support by three self-driven omnidirectional wheels are triangular in shape
Upper composition Omni-mobile chassis, the common chassis relative to the directive wheel of driving wheel one of traditional guest-meeting robot two are laid out, this
It is more flexible to invent robot movement, pivot stud and simple for structure rationally distributed may be implemented；For traditional welcome's machine
The real-time monitoring of science and technology center's internal temperature may be implemented in the problem of device people has a single function, digital thermometer module of the present invention,
Temperature analog signal is transformed into digital signal, is shown in the LCD screen, history is shown on the left of the LCD screen screen
Temperature, the LCD screen screen right side show that Current Temperatures, the public address system include that temperature broadcast device and welcome broadcast dress
It sets, temperature broadcast device can broadcast the temperature of the current indoor venue shown in LCD screen, and welcome's broadcast device can root
The location information of control system visitor is fed back to according to the ultrasonic wave module, realizes the casting of welcome's voice；It is directed to people
The problem of reducing for guest-meeting robot feeling of freshness, robot Tiao Mei of the present invention mechanism may be implemented robot and make " to choose
The face action of eyebrow ", the movement that welcome's lift hand may be implemented in the arm keep entire robot full of moving sense.
Summary of the invention
The present invention is in order to which activity space is larger, has a single function, people needed for solving guest-meeting robot nowadays on the market
The problem of reducing for its feeling of freshness, disclose that one kind can be moved flexibly, contour structures interest is strong and has temperature monitoring and temperature
Science and technology center's guest-meeting robot of degree casting function.
The present invention is adopted the technical scheme that solve the above-mentioned problems: the robot includes head, body, omnidirectional
Mobile chassis and control system, the head include shell, LCD screen, public address system, digital thermometer module, Tiao Mei mechanism, institute
Stating public address system includes temperature broadcast device and welcome's broadcast device, the temperature broadcast device include temperature monitor and control device and
First loudspeaker, welcome's broadcast device include playback module and the second loudspeaker, and the public address system is mounted on the shell
The position of lower plate, the LCD screen are mounted on the position of the intermediate plate of the shell, the digital thermometer module and shell
Upper plate is affixed, and the Tiao Mei mechanism includes the first steering engine bracket, steering engine, eyebrow component, steering wheel, and the steering engine passes through the first steering engine
The upper plate of bracket and the shell is affixed, and the output shaft of the steering engine and the steering wheel are affixed, and steering wheel and the eyebrow component are solid
It connects；
The body includes arm, ultrasonic wave module and main support, and the arm includes all-metal large torque steering engine, steering wheel, hand
Arm member, the second steering engine bracket, the main support includes plate in main support upper plate and main support, the all-metal large torque steering engine
Affixed by the second steering engine bracket and plate in main support, main support upper plate and the head are affixed, and the ultrasonic wave module is fixed
It is mounted on plate in main support；
The Omni-mobile chassis includes auxiliary support and mobile device, the auxiliary support include auxiliary support upper plate, auxiliary support lower plate,
The fixed support of three motors, three pillars, the mobile device include three two-phase stepping motors, six shaft couplings, driver,
Three omni-directional wheels, three groups of belt drivers, battery modules, three two-phase stepping motors are triangularly arranged in auxiliary support
On, and fixed by the fixed support of corresponding three motors, the output shaft of three two-phase stepping motors band corresponding with three groups
The input shaft of transmission device is sequentially connected by shaft coupling, the output shaft of the belt driver by shaft coupling with it is corresponding entirely
It is sequentially connected to wheel, the driver is arranged on the battery module, and battery module is placed in the auxiliary support lower plate；
The control system based on main control chip STM32F103C8T, collocation STC89C52 chip, DS18B20 chip,
XFS5152CE chip, AT24C02 chip and TPA2005DIDRBR chip, with the LCD screen, public address system, digital thermometer
Module, Tiao Mei mechanism, ultrasonic wave module, arm are connected with Omni-mobile chassis control, and the public address system includes temperature casting
Device and welcome's broadcast device, the temperature broadcast device include temperature monitor and control device and the first loudspeaker, the temperature monitoring
Controller is connect with main control chip STM32F103C8T and is used for based on XFS5152CE chip, TPA2005DIDRBR chip
Broadcast venue internal temperature；Welcome's broadcast device is connect with main control chip STM32F103C8T for broadcasting welcome's voice；
The LCD screen is connect for showing current venue temperature and historical temperature with digital thermometer module；Digital thermometer module with
Based on STC89C52 chip, DS18B20 chip and AT24C02 chip, for monitoring and storing Current Temperatures；The Tiao Mei mechanism
It is connect with the main control chip STM32F103C8T, for realizing aughty changeable facial expression；The ultrasonic wave module and master
Control chip STM32F103C8T connection is used to detect the location information of the visitor of surrounding；The big torsion of the all-metal that the arm includes
Square steering engine and main control chip STM32F103C8T control connect, and the movement of hand is lifted for completing welcome；The Omni-mobile chassis
Including auxiliary support and mobile device, the mobile device is controlled by main control chip STM32F103C8T and is moved；
PA2/USART2_TX, PA3/USART2_RX pin of the main control chip STM32F103C8T of the control system respectively with
RXD, TXD pin of the STC89C52 chip connect, and carry out single-chip microcontroller two machine communication and are total to ground, the STC89C52 chip
P2.2 pin is connect with the I/O pin of the DS18B20 chip, and P2.0/SCL, P2.1/SDA of the STC89C52 chip draw
Foot follows IIC communication protocol, the main control chip respectively at SCL, SDA pin connection of the AT24C02 chip
PB15/SPI2_MOSI pin, PB14/SPI2_MISO pin, the PB13/SPI2_SCK pin, PB12/ of STM32F103C8T
SPI2_NSS pin draws respectively at the SPI_SI pin of XFS5152CE chip, SP1_SO pin, SPI_SCK pin, SPI_SSEL
Foot connection, AO_N pin, AO_P pin and NI+, NI- pin of TPA2005DIDRBR chip of the XFS5152CE chip connect
It connects, VO+ pin, the VO- pin of the TPA2005DIDRBR chip are connected in parallel on and the first loudspeaker with capacitor C1 and resistance R1 respectively
Positive and negative grade input terminal connection；
Welcome's broadcast device includes playback module and the second loudspeaker, the PB6/ of the main control chip STM32F103C8T
I2C1_SCL/TIM4_CH1 pin and PB7/I2C1_SDA/TIM4_CH2 pin draw respectively at SDA, SCL of the playback module
OUT+, OUT- pin of foot connection, the playback module are connected respectively at the positive and negative grade input terminal of second loudspeaker；
P1.0, P1.1, P1.2, P1.3, P1.4, P1.5, P1.6, P1.7, P0.0, P0.1, P0.2 of the STC89C52 chip
Pin is connect with D7, D6, D5, D4, D3, D2, D1, D0, RS, RW, E pin of LCD screen respectively；
The PB3 pin of the S1 pin of the steering engine of left side eyebrow position and main control chip STM32F103C8T connect in the Tiao Mei mechanism
It connects, the S2 pin of the steering engine of the right eyebrow position and the PB10 pin of main control chip STM32F103C8T connect in the Tiao Mei mechanism
It connects；
Trig, Echo pin of the ultrasonic wave module are connected respectively at PB8, PB9 pin of main control chip STM32F103C8T;
The SIG1 pin of the all-metal large torque steering engine of the leftward position of the arm is with main control chip STM32F103C8T's
The connection of PB11 pin, the SIG2 pin and main control chip of the all-metal large torque steering engine of the right positions of the arm
The PA15 pin of STM32F103C8T connects；
The driver of the mobile device mainly based on LV8731_2 chip, the main control chip STM32F103C8T's
PC13, PC14, PC15, PA4, PA5, PA6, PB0, PB1, PB2 pin respectively at three LV8731_2 chips STEP/DC22,
Tri- pin connections of FR/DC21, ST, OUT1A, OUT1B, OUT2A, OUT2B pin difference of three LV8731_2 chips
It is connect with 1,2,3,4 pins of three described two-phase stepping motor MOTOR_1, MOTOR_2, MOTOR_3.
The invention has the following advantages: guest-meeting robot original may be implemented in the Omni-mobile chassis that the 1, present invention designs
Ground turns to, and the two-phase stepping motor is sequentially connected by belt driver and omni-directional wheel, rationally utilizes the auxiliary support lower plate
The confined space and compact-sized succinct, stability and damping property are relative to the directive wheel of driving wheel one of traditional guest-meeting robot two
Common chassis layout greatly improve；2, it is furnished with the dull inflexible facial expression of traditional guest-meeting robot and fixed be used as
Arm structure compare, robot may be implemented the present invention provides Tiao Mei mechanism described in a kind of head and make the lively of " choosing eyebrow "
The movement that welcome lifts hand may be implemented in face action, arm；3, it is had a single function compared to traditional guest-meeting robot, without temperature monitoring
Function, and the problem of temperature monitoring equipment typically no locomotive function, guest-meeting robot mobile monitoring section may be implemented in the present invention
Real time temperature in the venue of skill shop.
Detailed description of the invention
The whole structural schematic diagram of Fig. 1 present invention；
The structural schematic diagram on the head of the present invention Fig. 2；
The partial schematic diagram on the Omni-mobile chassis of the present invention Fig. 3；
Fig. 4 control system schematic diagram of the present invention；
The circuit of Fig. 5 control system main control chip STM32D103C8T of the present invention, ultrasonic wave module HC_SR04 and public address system is former
Reason figure；
The circuit diagram of Fig. 6 control system digital thermometer module and LCD screen of the present invention；
Three LV8731_2 chips of driver and three two-phase stepping motor MOTOR_1 described in Fig. 7 control system of the present invention,
The circuit diagram of MOTOR_2, MOTOR_3；
The steering engine of the eyebrow position in the control system left side of the present invention Fig. 8, the steering engine of the right eyebrow position, the all-metal of leftward position are big
Torque steering engine, right positions all-metal large torque steering engine circuit diagram.
Specific embodiment
Specific embodiment 1: illustrating present embodiment in conjunction with Fig. 1, Fig. 2, Fig. 3, there is temperature prison described in present embodiment
The wheeled guest-meeting robot of the science and technology center of brake includes head 1, body 2, Omni-mobile chassis 3 and control system 4, the head
Include shell 1-1, LCD screen 1-2, public address system 1-3, digital thermometer module 1-4, Tiao Mei mechanism 1-5, the public address system 1-
3 include temperature broadcast device 1-31 and welcome's broadcast device 1-32, and the temperature broadcast device 1-31 includes temperature monitor and control
Device 1-31A and the first loudspeaker 1-31B, welcome's broadcast device 1-32 includes playback module 1-32A and the second loudspeaker 1-32B,
The public address system 1-3 is mounted on the position of the lower plate of the shell 1-1, and the LCD screen 1-2 is mounted on the shell 1-1
Intermediate plate position, the upper plate of the digital thermometer module 1-4 and shell 1-1 is affixed, and the Tiao Mei mechanism 1-5 includes the
One steering engine bracket 1-51, steering engine 1-52, eyebrow component 1-53, steering wheel 1-54, the steering engine 1-52 pass through the first steering engine bracket 1-
51 is affixed with the upper plate of the shell 1-1, and the output shaft of the steering engine 1-52 and the steering wheel 1-54 are affixed, steering wheel 1-54 and institute
It is affixed to state eyebrow component 1-53.
LCD screen 1-2 is the prior art in present embodiment, and manufacturer is Shenzhen Xian Shi Electronics Co., Ltd., model
LCD16x04(G)。
Welcome's broadcast device 1-32 is the prior art in present embodiment, and manufacturer is the diligent male limited public affairs of science and technology in Shenzhen
Department, model MPER.
Steering engine 1-52 is the prior art in present embodiment, and manufacturer is Te You robot model Science and Technology Ltd.,
Model DS3115.
Specific embodiment 2: embodiment is described with reference to Fig. 1, body 2 described in present embodiment include arm 2-1,
Ultrasonic wave module 2-2 and main support 2-3, the arm 2-1 include all-metal large torque steering engine 2-1A, steering wheel 2-1B, arm structure
Part 2-1C, the second steering engine bracket 2-1D, the main support 2-3 includes plate 2-3B in main support upper plate 2-3A and main support, described
All-metal large torque steering engine 2-1A by the second steering engine bracket 2-1D and plate 2-3B in main support it is affixed, main support upper plate 2-3A and
The head 1 is affixed, and the ultrasonic wave module 2-2 is fixedly mounted on plate 2-3B in main support.
All-metal large torque steering engine 2-1A is the prior art in present embodiment, and manufacturer is that happy unreal Sol science and technology is limited
Company, model LF-20MG.
Ultrasonic wave module 2-2 is the prior art in present embodiment, and manufacturer is the limited public affairs of Beijing micro-control Tianxiang electronics
Department, model HC-SR04.
Specific embodiment 3: illustrate present embodiment in conjunction with Fig. 1, Fig. 3, Omni-mobile chassis 3 described in present embodiment
It include auxiliary support upper plate 3-1A, auxiliary support lower plate 3-1B, three including auxiliary support 3-1 and mobile device 3-2, the auxiliary support 3-1
The fixed support 3-1C of a motor, three pillars 3-1D, the mobile device 3-2 include three two-phase stepping motor 3-2A, six
Shaft coupling 3-2B, driver 3-2C, three omni-directional wheel 3-2D, three groups of belt driver 3-2E, battery module 3-2F, described three
Two-phase stepping motor 3-2A is triangularly arranged on auxiliary support 3-1, and by the fixed support 3-1C of corresponding three motors
Fixed, the input shaft of the output shaft of three two-phase stepping motor 3-2A belt driver 3-2E corresponding with three groups passes through shaft coupling
The output shaft of device 3-2B transmission connection, the belt driver 3-2E is driven by shaft coupling 3-2B with corresponding omni-directional wheel 3-2D
Connection, the driver 3-2C are arranged on the battery module 3-2F, and battery module 3-2F is placed on the auxiliary support lower plate
On 3-1B.
Two-phase stepping motor 3-2A is the prior art in present embodiment, and manufacturer is that Xing Fengyuan electromechanics in Shenzhen is limited
Company, model FY42EM150A.
Specific embodiment 4: illustrating present embodiment in conjunction with Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, controlled described in present embodiment
System 4 processed based on main control chip STM32F103C8T, collocation STC89C52 chip, DS18B20 chip, XFS5152CE chip,
AT24C02 chip and TPA2005DIDRBR chip, with the LCD screen 1-2, public address system 1-3, digital thermometer module 1-4,
Tiao Mei mechanism 1-5, ultrasonic wave module 2-2, arm 2-1 and the control connection of Omni-mobile chassis 3, the public address system 1-3 include
Temperature broadcast device 1-31 and welcome's broadcast device 1-32, the temperature broadcast device 1-31 include temperature monitor and control device 1-
31A and the first loudspeaker 1-31B, the temperature monitor and control device 1-31A are with XFS5152CE chip, TPA2005DIDRBR chip
It is main, and connect with main control chip STM32F103C8T for broadcasting venue internal temperature；Welcome's broadcast device 1-32 and master
Chip STM32F103C8T connection is controlled for broadcasting welcome's voice；The LCD screen 1-2 connect use with digital thermometer module 1-4
In the current venue temperature of display and historical temperature；Digital thermometer module 1-4 with STC89C52 chip, DS18B20 chip and
Based on AT24C02 chip, for monitoring and storing Current Temperatures；The Tiao Mei mechanism 1-5 and the main control chip
STM32F103C8T connection, for realizing aughty changeable facial expression；The ultrasonic wave module 2-2 and main control chip
STM32F103C8T connection is used to detect the location information of the visitor of surrounding；The all-metal large torque that the arm 2-1 includes
Steering engine 2-1A and main control chip STM32F103C8T control connects, and the movement of hand is lifted for completing welcome；The Omni-mobile bottom
Disk 3 includes that auxiliary support 3-1 and mobile device 3-2, the mobile device 3-2 are moved by main control chip STM32F103C8T control；
PA2/USART2_TX, PA3/USART2_RX pin of the main control chip STM32F103C8T of the control system 4 is distinguished
It is connect with RXD, TXD pin of the STC89C52 chip, carry out single-chip microcontroller two machine communication and is total to ground, the STC89C52 chip
P2.2 pin connect with the I/O pin of the DS18B20 chip, P2.0/SCL, P2.1/SDA of the STC89C52 chip
Pin follows IIC communication protocol, the main control chip respectively at SCL, SDA pin connection of the AT24C02 chip
PB15/SPI2_MOSI pin, PB14/SPI2_MISO pin, the PB13/SPI2_SCK pin, PB12/ of STM32F103C8T
SPI2_NSS pin draws respectively at the SPI_SI pin of XFS5152CE chip, SP1_SO pin, SPI_SCK pin, SPI_SSEL
Foot connection, AO_N pin, AO_P pin and NI+, NI- pin of TPA2005DIDRBR chip of the XFS5152CE chip connect
It connects, VO+ pin, the VO- pin of the TPA2005DIDRBR chip are connected in parallel on and the first loudspeaker with capacitor C1 and resistance R1 respectively
The positive and negative grade input terminal of 1-31B connects；
Welcome's broadcast device 1-32 includes playback module 1-32A and the second loudspeaker 1-32B, the main control chip
The PB6/I2C1_SCL/TIM4_CH1 pin and PB7/I2C1_SDA/TIM4_CH2 pin of STM32F103C8T is respectively at described
SDA, SCL pin of playback module 1-32A connects, and OUT+, OUT- pin of the playback module 1-32A is respectively at described second
The positive and negative grade input terminal of loudspeaker 1-32B connects；
P1.0, P1.1, P1.2, P1.3, P1.4, P1.5, P1.6, P1.7, P0.0, P0.1, P0.2 of the STC89C52 chip
Pin is connect with D7, D6, D5, D4, D3, D2, D1, D0, RS, RW, E pin of LCD screen 1-2 respectively；
The S1 pin of the steering engine 1-52 of left side eyebrow position is with main control chip STM32F103C8T's in the Tiao Mei mechanism 1-5
PB3 pin connects, the S2 pin and main control chip of the steering engine 1-52 of the right eyebrow position in the Tiao Mei mechanism 1-5
The PB10 pin of STM32F103C8T connects；
Trig, Echo pin of the ultrasonic wave module 2-2 connects respectively at PB8, PB9 pin of main control chip STM32F103C8T
It connects;
The SIG1 pin and main control chip of the all-metal large torque steering engine 2-1A of the leftward position of the arm 2-1
The PB11 pin of STM32F103C8T connects, the SIG2 of the all-metal large torque steering engine 2-1A of the right positions of the arm 2-1
Pin is connect with the PA15 pin of main control chip STM32F103C8T；
The driver 3-2C of the mobile device 3-2 is mainly based on LV8731_2 chip, the main control chip
PC13, PC14, PC15, PA4, PA5, PA6, PB0, PB1, PB2 pin of STM32F103C8T is respectively at three LV8731_2 cores
STEP/DC22, FR/DC21, ST tri- pins connection of piece, OUT1A, OUT1B of three LV8731_2 chips, OUT2A,
OUT2B pin 1,2,3,4 pins with three described two-phase stepping motor 3-2A:MOTOR_1, MOTOR_2, MOTOR_3 respectively
Connection.
Working principle
Temperature monitor and control process of the invention is as follows:
The digital thermometer module is based on STC89C52 chip, DS18B20 chip and AT24C02 chip, DS18B20 chip
Using Single Wire Bus Technology, i.e. transmission data may be implemented again, STC89C52 chip is written by software programming and obtains for transmission clock
The relevant data of the temperature that DS18B20 chip monitors, STC89C52 chip can once read 2 bytes totally 16 when reading data
Position, is converted to current actual temperature value multiplied by 0.0625 after running through, STC89C52 chip passes through the temperature value converted
LED screen shows the visitor of science and technology center, and the P0.0 pin of STC89C52 chip is connect with LED screen RS pin, reads for controlling
In LED screen, the RW pin in LED screen is write information when being low level for information or write information, after having configured RS and RW pin,
Temperature information is transmitted in data line bus, temperature information is sent into LED screen to one high impulse of E pin, can will finally be worked as
Temperature display on the left of the LCD screen screen, assisted by iic bus by the AT24C02 chip and STC89C52 chip in cup
View communication, the SDA serial date transfer/output end and the P2.1/SDA serial data of STC89C52 chip of AT24C02 chip are defeated
Enter/output end connection, AT24C02 chip temperature inside information, AT24C02 chip are written or read for STC89C52 chip
SCL serial clock input terminal connect with the P2.0/SCL serial clock terminal of STC89C52 chip, lead to realize clock two panels IC
Between synchronous serial communication, the real time temperature data of reading are sent to I2C data/address bus by the end SDA by STC89C52 chip
On, AT24C02 chip stores temperature data, then is read out to be shown on the left of LCD screen screen by STC89C52 chip and use
In the displaying of historical temperature.
The control process of the temperature of temperature broadcast device casting current indoor venue of the present invention is as follows:
The main control chip STM32F103C8T connect and is total to ground with STC89C52 chip with Serial Port Line is intersected, and reaches identical ginseng
Voltage is examined, STC89C52 chip is sent data to the collected temperature information of DS18B20 chip by TXD
The PA3/USART2_RX data receiver of STM32F103C8T chip, the STM32F103C8T chip pass through speech synthesis core
Piece XFS5152CE exports the audio file that is converted into of the temperature information of text formatting to power amplifier chip
TPA2005DIDRBR is finally transmitted to first loudspeaker by the amplified electric signal of TPA2005DIDRBR chip, completes to broadcast
Report the work of current indoor venue temperature.
Robot workflow of the present invention is as follows:
When the ultrasonic sensor HC-SR04 detects that 5m has visitor in front of robot, location information feeds back to master control core
Piece STM32F103C8T, main control chip STM32F103C8 control LV8731_2 chip in the driver, drive three two-phase steps
Into motor action, controls Omni-mobile chassis and move forward, simultaneously the playback module in welcome's broadcast device plays welcome
Voice, arm complete welcome's hand raising action full of moving sense, and Tiao Mei mechanism makes the lively face action of " choosing eyebrow ", when detecting
When 1m has visitor in front of robot, Omni-mobile chassis stops movement, and temperature broadcast device broadcasts the temperature of current indoor venue
Degree, after visitor leaves, Omni-mobile chassis, which moves backward, returns to original position, and the arm and Tiao Mei mechanism are restored
Initial angle position simultaneously stops acting.
Claims (4)
1. the wheeled guest-meeting robot of science and technology center with temperature-monitoring function, it is characterised in that: described that there is temperature-monitoring function
The wheeled guest-meeting robot of science and technology center include head (1), body (2), Omni-mobile chassis (3) and control system (4), the head
Portion includes shell (1-1), LCD screen (1-2), public address system (1-3), digital thermometer module (1-4), Tiao Mei mechanism (1-5), institute
Stating public address system (1-3) includes temperature broadcast device (1-31) and welcome's broadcast device (1-32), the temperature broadcast device (1-
It 31) include temperature monitor and control device (1-31A) and the first loudspeaker (1-31B), welcome's broadcast device (1-32) includes playback
Module (1-32A) and the second loudspeaker (1-32B), the public address system (1-3) are mounted on the position of the lower plate of the shell (1-1)
Set, the LCD screen (1-2) is mounted on the position of the intermediate plate of the shell (1-1), the digital thermometer module (1-4) with
The upper plate of shell (1-1) is affixed, and the Tiao Mei mechanism (1-5) includes the first steering engine bracket (1-51), steering engine (1-52), eyebrow structure
Part (1-53), steering wheel (1-54), the steering engine (1-52) pass through the upper plate of the first steering engine bracket (1-51) and the shell (1-1)
Affixed, the output shaft and the steering wheel (1-54) of the steering engine (1-52) are affixed, steering wheel (1-54) and the eyebrow component (1-
53) affixed.
2. according to claim 1 with the wheeled guest-meeting robot of science and technology center of temperature-monitoring function, it is characterised in that: described
Body (2) includes that arm (2-1), ultrasonic wave module (2-2) and main support (2-3), the arm (2-1) include the big torsion of all-metal
Square steering engine (2-1A), steering wheel (2-1B), arm member (2-1C), the second steering engine bracket (2-1D), the main support (2-3) include
Plate (2-3B) in main support upper plate (2-3A) and main support, the all-metal large torque steering engine (2-1A) pass through the second steering engine bracket
(2-1D) and plate (2-3B) in main support are affixed, and main support upper plate (2-3A) and the head 1 are affixed, the ultrasonic wave module
(2-2) is fixedly mounted on plate (2-3B) in main support.
3. according to claim 1 with the wheeled guest-meeting robot of science and technology center of temperature-monitoring function, it is characterised in that: described
Omni-mobile chassis (3) includes auxiliary support (3-1) and mobile device (3-2), and the auxiliary support (3-1) includes auxiliary support upper plate
(3-1A), auxiliary support lower plate (3-1B), three motors fixed support (3-1C), three pillars (3-1D), the mobile device (3-
2) include three two-phase stepping motors (3-2A), six shaft couplings (3-2B), driver (3-2C), three omni-directional wheels (3-2D),
Three groups of belt drivers (3-2E), battery module (3-2F), three two-phase stepping motors (3-2A) are triangularly arranged
On auxiliary support (3-1), and, three two-phase stepping motors (3-2A) fixed by the fixed support (3-1C) of corresponding three motors
Output shaft belt driver (3-2E) corresponding with three groups input shaft pass through shaft coupling (3-2B) be sequentially connected, the band
The output shaft of transmission device (3-2E) is sequentially connected by shaft coupling (3-2B) with corresponding omni-directional wheel (3-2D), the driver
(3-2C) is arranged on the battery module (3-2F), and battery module (3-2F) is placed on the auxiliary support lower plate (3-1B).
4. according to claim 1 with the wheeled guest-meeting robot of science and technology center of temperature-monitoring function, it is characterised in that: described
Control system (4) is based on main control chip STM32F103C8T, arrange in pairs or groups STC89C52 chip, DS18B20 chip, XFS5152CE
Chip, AT24C02 chip and TPA2005DIDRBR chip, with the LCD screen (1-2), public address system (1-3), digital thermometer
Module (1-4), Tiao Mei mechanism (1-5), ultrasonic wave module (2-2), arm (2-1) and Omni-mobile chassis (3) control connection, institute
Stating public address system (1-3) includes temperature broadcast device (1-31) and welcome's broadcast device (1-32), the temperature broadcast device (1-
31) include temperature monitor and control device (1-31A) and the first loudspeaker (1-31B), the temperature monitor and control device (1-31A) with
Based on XFS5152CE chip, TPA2005DIDRBR chip, and it connect with main control chip STM32F103C8T for broadcasting venue
Internal temperature；Welcome's broadcast device (1-32) connect with main control chip STM32F103C8T for broadcasting welcome's voice；Institute
LCD screen (1-2) is stated to connect with digital thermometer module (1-4) for showing current venue temperature and historical temperature；Digital temperature
Module (1-4) is counted based on STC89C52 chip, DS18B20 chip and AT24C02 chip, for monitoring and storing current temperature
Degree；The Tiao Mei mechanism (1-5) connect with the main control chip STM32F103C8T, for realizing aughty changeable facial table
Feelings；The ultrasonic wave module (2-2) connect the position letter for the visitor around detecting with main control chip STM32F103C8T
Breath；All-metal large torque steering engine (2-1A) and main control chip the STM32F103C8T control that the arm (2-1) includes connect, and use
In the movement for completing welcome's lift hand；The Omni-mobile chassis (3) includes auxiliary support (3-1) and mobile device (3-2), the shifting
Dynamic device (3-2) is controlled by main control chip STM32F103C8T and is moved；
PA2/USART2_TX, PA3/USART2_RX pin of the main control chip STM32F103C8T of the control system (4) point
It is not connect with RXD, TXD pin of the STC89C52 chip, carry out single-chip microcontroller two machine communication and is total to ground, the STC89C52 core
The P2.2 pin of piece is connect with the I/O pin of the DS18B20 chip, P2.0/SCL, P2.1/ of the STC89C52 chip
SDA pin follows IIC communication protocol, the main control chip respectively at SCL, SDA pin connection of the AT24C02 chip
PB15/SPI2_MOSI pin, PB14/SPI2_MISO pin, the PB13/SPI2_SCK pin, PB12/ of STM32F103C8T
SPI2_NSS pin draws respectively at the SPI_SI pin of XFS5152CE chip, SP1_SO pin, SPI_SCK pin, SPI_SSEL
Foot connection, AO_N pin, AO_P pin and NI+, NI- pin of TPA2005DIDRBR chip of the XFS5152CE chip connect
It connects, VO+ pin, the VO- pin of the TPA2005DIDRBR chip are connected in parallel on and the first loudspeaker with capacitor C1 and resistance R1 respectively
The positive and negative grade input terminal of (1-31B) connects；
Welcome's broadcast device (1-32) includes playback module (1-32A) and the second loudspeaker (1-32B), the main control chip
The PB6/I2C1_SCL/TIM4_CH1 pin and PB7/I2C1_SDA/TIM4_CH2 pin of STM32F103C8T is respectively at described
SDA, SCL pin of playback module (1-32A) connect, and OUT+, OUT- pin of the playback module (1-32A) are respectively at described
The positive and negative grade input terminal of second loudspeaker (1-32B) connects；
P1.0, P1.1, P1.2, P1.3, P1.4, P1.5, P1.6, P1.7, P0.0, P0.1, P0.2 of the STC89C52 chip
Pin is connect with D7, D6, D5, D4, D3, D2, D1, D0, RS, RW, E pin of LCD screen (1-2) respectively；
The S1 pin of the steering engine (1-52) of left side eyebrow position and main control chip STM32F103C8T in the Tiao Mei mechanism (1-5)
The connection of PB3 pin, the S2 pin and main control chip of the steering engine (1-52) of the right eyebrow position in the Tiao Mei mechanism (1-5)
The PB10 pin of STM32F103C8T connects；
PB8, PB9 pin of Trig, Echo pin of the ultrasonic wave module (2-2) respectively at main control chip STM32F103C8T
Connection;
The SIG1 pin and main control chip of the all-metal large torque steering engine (2-1A) of the leftward position of the arm (2-1)
The PB11 pin of STM32F103C8T connects, the all-metal large torque steering engine (2-1A) of the right positions of the arm (2-1)
SIG2 pin is connect with the PA15 pin of main control chip STM32F103C8T；
The driver (3-2C) of the mobile device (3-2) is mainly based on LV8731_2 chip, the main control chip
PC13, PC14, PC15, PA4, PA5, PA6, PB0, PB1, PB2 pin of STM32F103C8T is respectively at three LV8731_2 cores
STEP/DC22, FR/DC21, ST tri- pins connection of piece, OUT1A, OUT1B of three LV8731_2 chips, OUT2A,
OUT2B pin respectively with three two-phase stepping motor 3-2A, 1,2,3,4 pins of MOTOR_1, MOTOR_2, MOTOR_3
Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811145076.8A CN109015702B (en) | 2018-09-29 | 2018-09-29 | Wheeled usher robot of science and technology center with temperature monitoring function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811145076.8A CN109015702B (en) | 2018-09-29 | 2018-09-29 | Wheeled usher robot of science and technology center with temperature monitoring function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109015702A true CN109015702A (en) | 2018-12-18 |
| CN109015702B CN109015702B (en) | 2022-03-18 |
Family
ID=64614928
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811145076.8A Expired - Fee Related CN109015702B (en) | 2018-09-29 | 2018-09-29 | Wheeled usher robot of science and technology center with temperature monitoring function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109015702B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927053A (en) * | 2019-05-06 | 2019-06-25 | 广东工业大学 | A kind of smart etiquette robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002346239A (en) * | 2001-05-24 | 2002-12-03 | Sega Toys:Kk | Toy robot |
| JP2003271243A (en) * | 2002-03-18 | 2003-09-26 | Advanced Telecommunication Research Institute International | Communication robot |
| CN101570019A (en) * | 2009-05-26 | 2009-11-04 | 上海大学 | Robot with humanoid facial expression |
| CN204183558U (en) * | 2014-09-26 | 2015-03-04 | 广州博斯特智能科技有限公司 | A kind of Internet of Things home entertaining security protection intelligent robot |
| CN105058393A (en) * | 2015-08-17 | 2015-11-18 | 李泉生 | Guest greeting robot |
| CN205734880U (en) * | 2016-06-02 | 2016-11-30 | 哈尔滨理工大学 | A kind of robot mobile device for science and technology center welcome |
| CN107553463A (en) * | 2017-10-19 | 2018-01-09 | 彭乃仁 | A kind of robot mobile device for science and technology center welcome |
-
2018
- 2018-09-29 CN CN201811145076.8A patent/CN109015702B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002346239A (en) * | 2001-05-24 | 2002-12-03 | Sega Toys:Kk | Toy robot |
| JP2003271243A (en) * | 2002-03-18 | 2003-09-26 | Advanced Telecommunication Research Institute International | Communication robot |
| CN101570019A (en) * | 2009-05-26 | 2009-11-04 | 上海大学 | Robot with humanoid facial expression |
| CN204183558U (en) * | 2014-09-26 | 2015-03-04 | 广州博斯特智能科技有限公司 | A kind of Internet of Things home entertaining security protection intelligent robot |
| CN105058393A (en) * | 2015-08-17 | 2015-11-18 | 李泉生 | Guest greeting robot |
| CN205734880U (en) * | 2016-06-02 | 2016-11-30 | 哈尔滨理工大学 | A kind of robot mobile device for science and technology center welcome |
| CN107553463A (en) * | 2017-10-19 | 2018-01-09 | 彭乃仁 | A kind of robot mobile device for science and technology center welcome |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927053A (en) * | 2019-05-06 | 2019-06-25 | 广东工业大学 | A kind of smart etiquette robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109015702B (en) | 2022-03-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109015702A (en) | The wheeled guest-meeting robot of science and technology center with temperature-monitoring function | |
| CN101976075A (en) | Intelligent self-tracking trolley control system based on voice control | |
| CN108942973B (en) | Science and technology center usher robot head neck portion device with function is reported to humiture | |
| CN205247209U (en) | Intelligent meal delivery robot | |
| CN206557602U (en) | It is a kind of that the device of driving sound is controlled based on engine speed Parameters variation | |
| CN207068047U (en) | A kind of VR scenes automate marketing system | |
| CN206383145U (en) | It is a kind of to be used for the early education robot of 0~6 years old children | |
| CN205176656U (en) | Atmospheric environmental monitoring intelligent vehicle | |
| CN104460676B (en) | A kind of intelligent carriage based on RFID technique | |
| CN206951472U (en) | A kind of interactive fountain of safety | |
| CN204890519U (en) | Man -machine interactive seeing -eye dog of intelligence | |
| CN2510134Y (en) | Bionic intelligent robot toy | |
| CN208992718U (en) | A kind of movable silica gel robot head | |
| CN219312910U (en) | Biped racing robot | |
| CN2551416Y (en) | Robot for simulating man to meet guest | |
| CN208819601U (en) | A kind of automobile player | |
| CN202161805U (en) | Intelligent track-seeking model car for race with double tracks | |
| CN201681490U (en) | Traffic light system capable of being used for reminding blind people to cross road | |
| CN204695105U (en) | A kind of windsurfing experimental system | |
| CN104667540B (en) | Action driving device for toy | |
| CN103019242A (en) | Automatic goods carrying trolley | |
| CN110640764A (en) | Intelligent robot control system and working method thereof | |
| CN220509325U (en) | Movable detection device for indoor service target | |
| CN110478920A (en) | It is a kind of can acoustic control walking down toy | |
| CN205706527U (en) | A kind of easy adsorption-type car mark of intelligence bright light |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220318 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |