CN109213043A - A kind of Amphibious spherical monitoring measuring table based on LoRa Internet of Things - Google Patents
A kind of Amphibious spherical monitoring measuring table based on LoRa Internet of Things Download PDFInfo
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- CN109213043A CN109213043A CN201811121889.3A CN201811121889A CN109213043A CN 109213043 A CN109213043 A CN 109213043A CN 201811121889 A CN201811121889 A CN 201811121889A CN 109213043 A CN109213043 A CN 109213043A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25033—Pc structure of the system structure, control, syncronization, data, alarm, connect I-O line to interface
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25187—Transmission of signals, medium, ultrasonic, radio
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of, and the Amphibious spherical based on LoRa Internet of Things monitors measuring table, monitoring measuring table includes monitoring robot and host computer, monitoring robot and host computer are using the realization data interaction of LoRa Radio Transmission Technology, monitoring robot sends supreme position machine for acquiring ambient data；Host computer receives the environmental data information on monitoring robot for controlling the monitoring robot；Monitoring robot includes main support, control circuit, axis, circuit warehouse lid, spherical shell, circuit storehouse, connection frame, Swing Arm, pouring weight, driving wheel, direct current generator, steering engine fixed plate, steering engine and steering engine axis, host computer includes central processing unit, LoRa gateway and LCD liquid crystal display, and LoRa gateway and LCD liquid crystal display are all connected with central processing unit；Monitoring robot generates frictional force between spherical shell by driving wheel and swing arm and pouring weight change monitoring robot center of gravity and drive robot motion；Robot overall structure of the present invention is unique, adapts to diversified environment.
Description
Technical field
The invention belongs to automation control area more particularly to a kind of Amphibious spherical monitoring based on LoRa Internet of Things
Measuring table.
Background technique
With the development of science and technology, the effect of information becomes more and more important, and in the collection process of information, monitoring platform
Important role is played, such as in the monitoring process to amphibious information, carries out information collection using monitoring robot
Safety is also relatively high during guaranteeing information collection；Traditional amphibious monitoring robot is generally with bionic amphibious machine
Device is artificially led, but there are freedom degrees to be limited, control is complicated, moves the deficiencies of slow for bionic amphibious robot.
LoRa is a kind of spread-spectrum modulation technique of Sheng Te company of U.S. exploitation, in combination with Digital Signal Processing and forward direction
Error correction coding；A kind of long haul communication technology of the LoRa as low-power consumption wide area network (LPWAN) can be used to well more
Mend the shortcoming of Internet of Things network layer.The feature of LoRa maximum is that power loss is low, long transmission distance, wide coverage and
The features such as saving network optimization cost；LoRa gateway accessing is flexible, and single gateway can access tens and arrive tens of thousands of a nodes, and node is random
It networks, number can continuation；The characteristics of robot capable of being made to have both good real-time and low-power consumption using its operating mode, thus it is wide
It is general to be applied in different field.
Summary of the invention
The main purpose of the present invention is to provide a kind of, and the Amphibious spherical monitoring measurement based on LoRa Internet of Things is flat
Platform, the platform have that coverage rate is high, networking is convenient and access node more than feature, to solve in the prior art bionical two
Robot freedom degree of dwelling is limited, control is complicated and moves slow etc. problem；Specific technical solution is as follows:
A kind of Amphibious spherical monitoring measuring table based on LoRa Internet of Things, the monitoring measuring table includes monitoring
Robot and host computer, the monitoring robot and the host computer realize data interaction, prison using LoRa Radio Transmission Technology
It surveys robot to be used to acquire the ambient data where monitoring robot, and sends supreme position machine；The host computer is for controlling
The monitoring robot is made, and receives the environmental data information of monitoring robot transmission；Wherein:
The monitoring robot includes main support, control circuit, axis, circuit warehouse lid, spherical shell, circuit storehouse, connection frame, shakes
Swing arm, pouring weight, driving wheel, direct current generator, steering engine fixed plate, steering engine and steering engine axis, the axis run through and are fixed on described
The top of main support, and the axis is fixed in the mounting hole for being opened in the spherical shell by the connection frame；The circuit
Binning is located on the axis, and the control circuit is mounted on inside the circuit storehouse, and the circuit warehouse lid and the circuit
Storehouse adaptation setting；The motor mounting groove for installing the direct current generator, the driving wheel are offered on the main support lower part
It is connected in the shaft of the direct current generator, the driving wheel and the spherical shell inner wall are tangent, described in the direct current generator driving
Driving wheel moves in the inner wall and generates frictional force, and the frictional force is for driving the entire monitoring robot linear motion；
The steering engine fixed plate is installed in below the circuit storehouse, and the steering engine is fixed in the steering engine fixed plate, and the steering engine
By Swing Arm described in the steering engine axis connection, the Swing Arm lower end connects the pouring weight, by described in the servo driving
Swing Arm rotation drives the mass movement to change the monitoring robot center of gravity, realizes the steering fortune of the monitoring robot
It is dynamic；
The host computer includes central processing unit, LoRa gateway and LCD liquid crystal display, the LoRa gateway and the LCD
Liquid crystal display is all connected with the central processing unit, and the LoRa gateway is used to receive the number of the monitoring robot real-time monitoring
According to, and the monitoring data are sent to the central processing unit, the LCD liquid crystal display is for showing, and user is by described
The messaging parameter between the monitoring robot and host computer is arranged in LCD liquid crystal display.
Further, the control circuit includes that MCU controller, motor-drive circuit, LoRa node module and sensing are single
Member, the motor-drive circuit, LoRa node module and the sensing unit are connected with the MCU controller, the MCU control
Device processed controls the LoRa node module, data is handled and be sent to the LoRa gateway, while sending out the motor
Control command out, the motor control the monitoring robot and execute and the control command pair in response to the control command
Measurement data is sent to the MCU controller for acquiring ambient data by the movement answered, the sensing unit；
The LoRa node module and the LoRa gateway use LoRa Radio Transmission Technology to realize data interaction, and one
The LoRa gateway can carry out data interaction with multiple LoRa nodes simultaneously.
Further, it is additionally provided with mechanical arm at the sensing unit and the axis interface position, the mechanical arm is used
In the position for adjusting the sensing unit.
Further, the axis both ends are additionally provided with switch, program download circuit mouth, battery charging port, steering engine holder
With sensing unit interface, the switch, program download circuit mouth, battery charging port, steering engine holder and sensing unit interface are logical
It crosses conducting wire and connects the control circuit.
Further, the spherical shell is closely assembled by two semi-round balls；The axis is hollow structure, for realizing
The switch, program download circuit mouth, battery charging port, steering engine holder and the sensing of the control circuit and the axis both ends
Unit interface connection；The circuit storehouse side of covering offers antenna hole, for enhancing the monitoring robot and the host computer
Between communication signal intensity.
Further, the steering engine is twin shaft steering engine, and there are two the Swing Arms for the monitoring robot setting, described to shake
Swing arm is separately mounted to the both sides of the main support.
Further, the Swing Arm middle position and the end position connecting with the pouring weight offer through-hole, and
It is provided with fixed screw rod in the through hole, the screw rod connects two by the through-hole and is installed in the main support both sides
The Swing Arm, fixed by the screw rod between the Swing Arm；And U-shaped groove is offered on the main support, the U
Connected in star is located at right above the motor mounting groove, is used to provide the described the space of Swing Arm.
Further, power module, voltage reduction module and locating module, the decompression are additionally provided in the monitoring robot
The voltage that module is used to adjust the power module is used to suitable size for the monitoring robot, and the locating module is used for
The location information of monitoring robot described in real-time monitoring.
The Amphibious spherical based on LoRa Internet of Things of the invention monitors measuring table, by building monitoring robot and
Host computer, and using the communication of both LoRa Radio Transmission Technology realizations；In specifically monitoring measurement process, by monitoring machine
People carries out data acquisition, is carried out the reception of data by host computer and is remotely controlled to monitoring robot；Wherein, monitoring robot is whole
External shape is closed sphere, and the driving wheel being in close contact with spherical inner is driven by setting direct current generator, so that driving
Frictional force is generated between wheel and spherical shell, can be moved in a straight line by the entire monitoring robot of frictional force, and passes through setting Swing Arm
And pouring weight, and the steering engine connecting with Swing Arm drive weight swings and change entire monitoring machine by servo driving Swing Arm
The center of gravity of device people realizes the deflecting campaign of entire robot；Compared with prior art, monitoring robot of the invention is integrally set
Meter is unique, has amphibious monitoring function；Meanwhile a host computer can correspond to multiple monitoring robots, so that whole system
Coverage rate it is high, have a good application prospect.
Detailed description of the invention
Fig. 1 is the solid of the Amphibious spherical monitoring measuring table described in the embodiment of the present invention based on LoRa Internet of Things
Structure chart signal；
Fig. 2 is the inside of the Amphibious spherical monitoring measuring table described in the embodiment of the present invention based on LoRa Internet of Things
Structural schematic diagram；
Fig. 3 is the right view signal of internal structure in Fig. 2 described in the embodiment of the present invention.
Identifier declaration: 1- main support, 2- axis, 3- circuit warehouse lid, 4- spherical shell, 5- circuit storehouse, 6- connection frame, 7- are waved
Arm, 8- pouring weight, 9- driving wheel, 10- direct current generator, 11- steering engine fixed plate, 12- steering engine, 13- steering engine axis, 14- screw rod.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.
Refering to fig. 1~Fig. 3 provides a kind of Amphibious spherical based on LoRa Internet of Things in embodiments of the present invention
Monitor measuring table, monitoring measuring table includes monitoring robot and host computer, monitoring robot and host computer using LoRa without
Line transmission technology realizes data interaction, and monitoring robot sends supreme position machine for ambient data where acquiring it；On
Position machine receives the information sent out in robot for controlling the monitoring robot；Wherein, monitoring robot includes main branch
Frame 1, control circuit, axis 2, circuit warehouse lid 3, spherical shell 4, circuit storehouse 5, connection frame 6, Swing Arm 7, pouring weight 8, driving wheel 9, direct current
Motor 10, steering engine fixed plate 11, steering engine 12 and steering engine axis 13, axis 2 run through and are fixed on the top of main support 1, and axis 2
It is fixed in the mounting hole for being opened in 4 surface of spherical shell by connection frame 6；Circuit storehouse 5 is installed on axis 2 by device for fastening and is opened
If mounting hole in, it is preferred that device for fastening be screw and nut cooperation fastened；Control circuit is arranged in circuit storehouse 5
Portion, and circuit warehouse lid 3 is adapted to setting with circuit storehouse 5, specifically, compatible in circuit warehouse lid 3 and circuit storehouse 5 by designing
Buckle and card slot are fixed；The motor mounting groove (not shown) for installing direct current generator 10 is offered on 1 lower part of main support,
Driving wheel 9 is connected in the shaft of direct current generator 10, and driving wheel 9 and 4 inner wall of spherical shell are tangent, and direct current generator 10 drives driving wheel 9
Rotation, so that frictional force is generated between driving wheel and spherical shell inner wall, in this manner it is possible to drive entire monitoring by the frictional force
Robot does linear motion forward or backward；Steering engine fixed plate 11 is installed in the lower section of circuit storehouse 5, and steering engine 12 is fixed on rudder
In machine fixed plate 11, and steering engine 12 connects Swing Arm 7 by steering engine axis 13, and 7 lower end of Swing Arm connects pouring weight 8, passes through steering engine 12
The driving rotation of Swing Arm 7 drives the movement of pouring weight 8 to change monitoring robot center of gravity, and monitoring robot thus may be implemented
Divertical motion, can flexibly slot monitoring robot movement in conjunction with the linear motion control to monitoring robot；Host computer includes
Central processing unit, LoRa gateway and LCD liquid crystal display, LoRa gateway and LCD liquid crystal display are all connected with central processing unit, LoRa net
The Real-time Monitoring Data for receiving monitoring robot is closed, and monitoring data are sent to central processing unit, LCD liquid crystal display is used
In display, and the messaging parameter between monitoring robot and host computer is arranged by LCD liquid crystal display by user, and the parameter includes monitoring
Frequency, signal power, spreading factor, signal bandwidth etc. are sent and received when robot is communicated with host computer, it can be according to reality
Border situation is set, and to adapt to different environment, and can be shown on LCD liquid crystal display and be set successfully printed words, while read signal
RSSI and SNR intensity when transmission.
In a particular embodiment, steering engine 12 is twin shaft steering engine in the present invention, and monitoring robot is arranged there are two Swing Arm 7,
And Swing Arm 7 is respectively installed in the both sides of main support 1；Screw rod 14 is set between two Swing Arms 7 simultaneously, and in Swing Arm 7
Middle position and one end for being connect with pouring weight 8 on open up through-hole, by the mode of through-hole combination screw rod 14 and fixed screw nut
Two Swing Arms 7 are fixedly connected, meanwhile, in order to guarantee will not to be stopped by main support 1 in 7 motion process of Swing Arm, this
Invention opens up the U-shaped groove of a specified size on main support 1, and the side-to-side movement for Swing Arm 7 provides space；It is preferred that
, and U-shaped groove is located at right above the motor mounting groove；Swing Arm 7 can be realized in this way to drive under the driving of steering engine 12
The effect to monitoring robot mass centre changing is realized in the movement of pouring weight 8.
Specifically, control circuit includes MCU controller, motor-drive circuit, LoRa node module and sensing in the present invention
Unit, motor-drive circuit, LoRa node module and sensing unit are connected with MCU controller, and MCU controller is used for LoRa
The data transmit-receive of node module is controlled and is handled, while issuing control command, motor-drive circuit to motor-drive circuit
Movement corresponding with control command is executed in response to control command control monitoring robot, sensing unit is used for monitoring and measurement,
And by monitoring and measurement data transmission to MCU controller；LoRa node module and LoRa gateway use LoRa Radio Transmission Technology
Realizing data interaction, it is preferred that in the present invention, the communication mode between monitoring robot and host computer uses starlike planar network architecture,
I.e. a LoRa gateway can carry out data interaction with multiple LoRa nodes simultaneously；For example, a LoRa gateway can receive 8 simultaneously
The data on road, 16 tunnels or more multichannel LoRa node, it follows that the present invention can control simultaneously multiple monitorings by a host computer
Robot, the present invention may make entire monitoring measuring table to have fine Continuation using starlike planar network architecture, can be according to practical feelings
Condition selects the latticed form between monitoring robot and host computer, can individually carry out networking, can also carry out intersection networking.
Specifically, 2 both ends of axis of the invention are additionally provided with switch, program download circuit mouth, battery charging port, steering engine cloud
Platform and sensing unit interface, switch, program download circuit mouth, battery charging port, steering engine holder and sensing unit interface pass through
Conducting wire connects control circuit；Wherein, program download circuit mouth has good waterproofness by connecting with line with battery charging port
Aviation plug, and by the aviation plug with epoxy resin fixing seal on spherical shell 4, Fig. 1 is specifically seen, in spherical shell 4
Both ends are respectively arranged with a closed hemisphere, and hemisphere is connected to the both ends of axis 2 not position, switch, program download circuit
Mouth, battery charging port, steering engine holder and sensing unit interface, switch, program download circuit mouth, battery charging port, steering engine holder
It is arranged in two closed hemispheres with sensing unit interface, as above equipment specifically how in two closed hemispheres
Distribution setting, can be designed as the case may be, and the present invention is not limited to this and fixed；Meanwhile it in order to enable passing
The accuracy for feeling the monitoring data of unit is higher, is additionally provided with mechanical arm at sensing unit and 2 interface position of axis, passes through machine
Tool arm adjusts the position of sensing unit according to specific environment position where monitoring robot, guarantees that sensing unit has optimal letter
Cease collecting effect.
In the present invention, spherical shell 4 is closely assembled by two semi-round balls, by the shelling machine balling-up of monitoring robot
Shell moves in various varying environments convenient for entire monitoring robot, improves the scope of application of monitoring robot of the present invention；Simultaneously
Axis 2 is designed as hollow structure, in this way, the switch at control circuit and 2 both ends of axis, program download circuit mouth, battery charge
Mouthful, the connecting wire of steering engine holder and sensing unit interface can be incorporated into inside axis so that whole device it is more succinct and
It is beautiful；And in order to enhance the communication signal intensity between monitoring robot and host computer, the present invention opens up above circuit warehouse lid 3
There is antenna hole.
Preferably, in a particular embodiment, power module, voltage reduction module and positioning mould are additionally provided in monitoring robot
Block, it is of the invention because the operating voltage voltage of many modules is lower than the voltage that power module provides in monitoring robot
It is adjusted by the voltage that voltage reduction module provides power module, makes monitoring robot modules in a safe voltage
Work；And locating module is then used for the location information of real-time monitoring robot, and feeds back to host computer and pass through LCD liquid crystal screen display
Show.
In a particular embodiment, monitoring robot first passes through MCU processor when receiving the control signal from host computer
The signal received is handled, data packet is converted to by packet according to the communication protocol of setting, and based at packet MCU
Reason device issues control command to control entire monitoring robot and execute corresponding movement, while LoRa node module is by sensing unit
Collected data transmission is uploaded to gateway；And when LoRa gateway receives the information data sent out on LoRa node module,
Information data is transferred to central processing unit by LoRa gateway, and data packet is first converted into packet by central processing unit, and will
Packets are to cloud server and store in the database, and such user or other staff can be to acquiring in database
The data arrived are further analyzed and are handled.
The Amphibious spherical based on LoRa Internet of Things of the invention monitors measuring table, by building monitoring robot and
Host computer, and using the communication of both LoRa Radio Transmission Technology realizations；In specifically monitoring measurement process, by monitoring machine
People carries out the acquisition and transmission of data, is carried out the reception of data by host computer and is remotely controlled to monitoring robot；Wherein, it monitors
Robot monnolithic case is closed sphere, and the driving wheel being in close contact with spherical inner is driven by setting direct current generator,
So that generating frictional force between driving wheel and spherical shell, can be moved in a straight line by the entire monitoring robot of frictional force, and by setting
Swing Arm and pouring weight, and the steering engine connecting with Swing Arm are set, by servo driving Swing Arm, weight swings is driven and changes whole
The center of gravity of a monitoring robot realizes the deflecting campaign of entire robot；Compared with prior art, monitoring machine of the invention
People's whole design is unique, has amphibious monitoring function, and overall power is low；Realizing a host computer can be to reply
Monitoring robot has a good application prospect so that the coverage rate of entire platform is high.
The foregoing is merely a prefered embodiment of the invention, is not intended to limit the scope of the patents of the invention, although referring to aforementioned reality
Applying example, invention is explained in detail, still can be to aforementioned each tool for coming for those skilled in the art
Technical solution documented by body embodiment is modified, or carries out equivalence replacement to part of technical characteristic.All benefits
The equivalent structure made of description of the invention and accompanying drawing content is directly or indirectly used in other related technical areas,
Similarly within the invention patent protection scope.
Claims (8)
1. a kind of Amphibious spherical based on LoRa Internet of Things monitors measuring table, which is characterized in that the monitoring measurement is flat
Platform includes monitoring robot and host computer, and the monitoring robot and the host computer are using LoRa Radio Transmission Technology realization number
According to interaction, monitoring robot is used to acquire the ambient data where monitoring robot, and sends supreme position machine；It is described upper
Machine receives the environmental data information of monitoring robot transmission for controlling the monitoring robot；Wherein:
The monitoring robot includes main support, control circuit, axis, circuit warehouse lid, spherical shell, circuit storehouse, connection frame, waves
Arm, pouring weight, driving wheel, direct current generator, steering engine fixed plate, steering engine and steering engine axis, the axis run through and are fixed on the master
The top of bracket, and the axis is fixed in the mounting hole for being opened in the spherical shell by the connection frame；The circuit storehouse
It is installed on the axis, the control circuit is mounted on inside the circuit storehouse, and the circuit warehouse lid and the circuit storehouse
Adaptation setting；The motor mounting groove for installing the direct current generator is offered on the main support lower part, the driving wheel connects
It connects in the shaft of the direct current generator, the driving wheel and the spherical shell inner wall are tangent, and the direct current generator drives the drive
Driving wheel moves in the inner wall and generates frictional force, and the frictional force is for driving the entire monitoring robot linear motion；Institute
It states steering engine fixed plate to be installed in below the circuit storehouse, the steering engine is fixed in the steering engine fixed plate, and the steering engine is logical
Swing Arm described in the steering engine axis connection is crossed, the Swing Arm lower end connects the pouring weight, by shaking described in the servo driving
Swing arm rotation drives the mass movement to change the monitoring robot center of gravity, realizes the divertical motion of the monitoring robot；
The host computer includes central processing unit, LoRa gateway and LCD liquid crystal display, the LoRa gateway and the LCD liquid crystal
Screen is all connected with the central processing unit, and the LoRa gateway is used to receive the data of the monitoring robot real-time monitoring, and
The monitoring data are sent to the central processing unit, the LCD liquid crystal display is for showing, and user is by the LCD liquid
The messaging parameter between the monitoring robot and host computer is arranged in crystalline substance screen.
2. a kind of Amphibious spherical based on LoRa Internet of Things according to claim 1 monitors measuring table, feature
It is, the control circuit includes MCU controller, motor-drive circuit, LoRa node module and sensing unit, and the motor drives
Dynamic circuit, LoRa node module and the sensing unit are connected with the MCU controller, described in the MCU controller control
LoRa node module is handled data and is sent to the LoRa gateway, while issuing control command, institute to the motor
Motor is stated in response to the control command, the monitoring robot is controlled and executes movement corresponding with the control command, it is described
Measurement data is sent to the MCU controller for acquiring ambient data by sensing unit；
The LoRa node module and the LoRa gateway use LoRa Radio Transmission Technology to realize data interaction, and described in one
LoRa gateway can carry out data interaction with multiple LoRa nodes simultaneously.
3. a kind of Amphibious spherical based on LoRa Internet of Things according to claim 2 monitors measuring table, feature
It is, mechanical arm is additionally provided at the sensing unit and the axis interface position, the mechanical arm is for adjusting the biography
Feel the position of unit.
4. a kind of Amphibious spherical based on LoRa Internet of Things according to claim 1 monitors measuring table, feature
It is, the axis both ends are additionally provided with switch, program download circuit mouth, battery charging port, steering engine holder and sensing unit and connect
Mouthful, the switch, program download circuit mouth, battery charging port, steering engine holder pass through conducting wire with sensing unit interface and connect institute
State control circuit.
5. a kind of Amphibious spherical based on LoRa Internet of Things according to claim 4 monitors measuring table, feature
It is, the spherical shell is closely assembled by two semi-round balls；The axis is hollow structure, for realizing the control circuit
Connect with the switch, program download circuit mouth, battery charging port, steering engine holder and the sensing unit interface at the axis both ends
It connects；The circuit storehouse side of covering offers antenna hole, for enhancing the communication between the monitoring robot and the host computer
Signal strength.
6. a kind of Amphibious spherical based on LoRa Internet of Things according to claim 1 monitors measuring table, feature
It is, the steering engine is twin shaft steering engine, and there are two the Swing Arm, the Swing Arm is installed respectively for the monitoring robot setting
On the both sides of the main support.
7. a kind of Amphibious spherical based on LoRa Internet of Things according to claim 6 monitors measuring table, feature
It is, the Swing Arm middle position and the end position connecting with the pouring weight offer through-hole, and in the through hole
It is provided with fixed screw rod, the screw rod is installed in the described of the main support both sides by through-hole connection two and waves
Arm is fixed by the screw rod between the Swing Arm；And U-shaped groove is offered on the main support, the U-shaped groove is located at
Right above the motor mounting groove, it is used to provide the described the space of Swing Arm.
8. a kind of Amphibious spherical based on LoRa Internet of Things according to claims 1 to 7 monitors measuring table, special
Sign is, power module, voltage reduction module and locating module is additionally provided in the monitoring robot, the voltage reduction module is for adjusting
The voltage for saving the power module is used to suitable size for the monitoring robot, and the locating module is used for real-time monitoring institute
State the location information of monitoring robot.
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| CN201811121889.3A CN109213043A (en) | 2018-09-26 | 2018-09-26 | A kind of Amphibious spherical monitoring measuring table based on LoRa Internet of Things |
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| CN201811121889.3A CN109213043A (en) | 2018-09-26 | 2018-09-26 | A kind of Amphibious spherical monitoring measuring table based on LoRa Internet of Things |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110861725A (en) * | 2019-12-18 | 2020-03-06 | 东莞理工学院 | Wireless control rolling spherical robot with transportation function |
| CN112847395A (en) * | 2021-01-05 | 2021-05-28 | 西北工业大学 | High-maneuverability amphibious spherical robot |
| CN113905077A (en) * | 2021-10-28 | 2022-01-07 | 南京工程学院 | Modularization unmanned aerial vehicle anti-shake cloud platform system based on loRa |
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