CN110293586A - A kind of domestic intelligent patrol robot - Google Patents
A kind of domestic intelligent patrol robot Download PDFInfo
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- CN110293586A CN110293586A CN201910597405.0A CN201910597405A CN110293586A CN 110293586 A CN110293586 A CN 110293586A CN 201910597405 A CN201910597405 A CN 201910597405A CN 110293586 A CN110293586 A CN 110293586A
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- 238000001514 detection method Methods 0.000 claims abstract description 20
- 230000002265 prevention Effects 0.000 claims abstract description 6
- 230000003287 optical effect Effects 0.000 claims description 30
- 239000006096 absorbing agent Substances 0.000 claims description 15
- 230000035939 shock Effects 0.000 claims description 15
- 230000005693 optoelectronics Effects 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 11
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- 229910052802 copper Inorganic materials 0.000 claims description 8
- 239000010949 copper Substances 0.000 claims description 8
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 7
- 239000000725 suspension Substances 0.000 claims description 6
- 238000013461 design Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 239000007789 gas Substances 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 4
- 230000006872 improvement Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 239000003034 coal gas Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000567 combustion gas Substances 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000001815 facial effect Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- 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
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- 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
- 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
- B25J19/02—Sensing devices
-
- 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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to embedded scm, mechanical designing technique and security technology areas, relate particularly to a kind of domestic intelligent patrol robot, belong to household safe technical field.The domestic intelligent patrol robot includes car body, control module and detection module；Car body includes chassis, and four be mounted on chassis mobile wheel；Control module includes a single-chip microcontroller, which is placed on chassis, for the receiving of signal and the sending of control instruction；Detection module is arranged on chassis, including camera, MQ-9 sensor, DHT11 Temperature Humidity Sensor and flame sensor.The above structure is combined together, through intelligent control in such a way that mechanical structure combines, and then realizes a series of functions such as antitheft, fire prevention, gas leakage preventing, indoor temperature and humidity detection and adjusting.
Description
Technical field
The invention belongs to embedded scm, mechanical designing technique and security technology areas, relate particularly to a kind of family
Use intelligent Patrol Robot.
Background technique
With the rapid development of society, for the paces immediately following the epoch, people are generally in allegro life, family
Front yard becomes safely the problem of people's growing interest, and relatively backward home security condition has been unable to satisfy people increasingly
The demand for security of growth, for this demand, currently without reasonable effective solution scheme.
Summary of the invention
In order to meet the needs of people are for household safe, the present invention provides a kind of domestic intelligent patrol robot.The family
It can be realized a series of function such as antitheft, fire prevention, gas leakage preventing, the detection of indoor temperature and humidity and adjusting with intelligent Patrol Robot
Energy.Specifically, the technical program provides a kind of domestic intelligent patrol robot, including car body, control module and detection module；
The car body includes chassis, and the multiple mobile wheels being mounted on chassis；
The control module includes a single-chip microcontroller, which is placed on chassis, and receiving and the control for signal refer to
The sending of order；
The detection module is arranged on chassis, including camera, MQ-9 sensor, DHT11 Temperature Humidity Sensor
And flame sensor.Wherein MQ-9 sensor, DHT11 Temperature Humidity Sensor and flame sensor carry out signal with single-chip microcontroller respectively
Connection, camera are connect with mobile phone terminal.
Further, the wheel passes through a suspension respectively and is fixed on chassis, which inclines including one
The motor mount tiltedly designed, the mounting base include two mounting plates being oppositely arranged and protective case plate, the top and bottom of the two
It is connected respectively by copper post, the upper end of motor mount, which passes through, perforates and be higher than chassis；What chassis was oppositely arranged equipped with one group
Optical axis fixing seat, the top that an optical axis passes through motor mount are cut both ends and are fixed in optical axis fixing seat, fixed motor with this
Seat is suspended on chassis；
It further include a shock absorber, for the shock absorber horizontally-inclined on motor mount, shock absorber lower end is rotatable to be fixed on electricity
In the copper post of machine mounting base lower part, upper end is rotatable to be fixed in a shock absorber mounting base, and the shock absorber mounting base is equally solid
It is scheduled on chassis.The structure is used for the damping of car body, and car body is allowed to play the role of buffering in quick stopping or obstacle-overpass.
Further, the camera is fixed on chassis by cradle head structure, which has bottom holder
Bearing, holder bearing periphery are fixed with fixed plate, are fixed with rotary support in fixed plate, and there are two support-sides for rotary support tool
Plate, a sleeve one end is rotatable to be fixed on side plate, and the other end is connected to motor, and motor is fixed on another side plate；It takes the photograph
As head is fixed in sleeve.
Further, flame sensor is arranged in sleeve.
Further, a collision prevention device is additionally provided on the chassis, including, in the left and right and back edge on chassis
The laser radar for being respectively equipped with an optoelectronic switch and being equipped on chassis.
It further, further include a fall-proofing device, which is included in chassis, and all around edge sets up one separately forward
Fixed plate outstanding, ultrasonic sensor are mounted on fixed plate lower part.
It further, further include an extinguishing device, which includes a fire extinguisher, and the fire extinguisher passes through installation branch
Seat is mounted on chassis, and an optical axis is fixed on the left of fire extinguisher, and the right side of fire extinguisher is equipped with a motor, and motor top is equipped with shaft coupling
The head end of device, one lead screw of shaft coupling top connection, lead screw and optical axis is separately fixed on overhead gage, and one under feed screw nut
Baffle is located at overhead gage lower part, and can slide up and down along optical axis and lead screw；One contact separately is installed in overhead gage lower part
Switch, at the same it is corresponding on the optical axis of lower baffle lower part also by filling a contact switch.
Domestic intelligent patrol robot can by included camera automatic identification user, stranger, once detect
There is stranger to enter in family, early warning can be issued automatically and is sent to user in the form of short message.Meanwhile it can also be taken by itself
The multiple sensors of band detect flame, coal gas, indoor temperature and humidity accordingly, and make corresponding safety in time and arrange
It applies.
Detailed description of the invention
Fig. 1 is the integrally-built schematic perspective view of apparatus of the present invention；
Fig. 2 is apparatus of the present invention overall structure right view；
Fig. 3 is apparatus of the present invention overall structure main view；
Fig. 4 is the structural schematic diagram of cradle head camera provided by the invention；
Fig. 5 is the structural schematic diagram of extinguishing device provided by the invention；
Fig. 6 is the structural schematic diagram of suspension provided by the invention；
Fig. 7 is the structural schematic diagram of door/window controller device provided by the invention；
In figure, the chassis 1-, 2- wheel, 3- camera, 4-MQ-9 sensor, 5- Temperature Humidity Sensor, 6- flame sensor,
7- motor mount, 71- mounting plate, 72- protective case plate, 8- copper post, 9- wheel electrical machine, 10- optical axis fixing seat, 11- horizontal optical axis
Fixing seat A, 12- shock absorber, 13- shock absorber mounting base, 14- optoelectronic switch, 15- optoelectronic switch fixing seat, 16- radar, 17- are solid
Fixed board, 18- ultrasonic sensor, 19- support, 20- door and window motor, 21- feed screw nut fixing seat, 22- holder bearing, 23- cloud
Platform bearing (setting) plate, 24- rotary support, 25- sleeve, 26-GM3510 motor, 27- fire extinguisher, 28- erection support, 29- optical axis,
30- fire extinguisher motor, 31- lead screw, 32- feed screw nut, 33- flange bearing, 34- overhead gage, 35- lower baffle plate, 36- contact switch
A, 37- contact switch B, 38- shaft coupling, 39- lead screw A, 40- horizontal optical axis fixing seat B, 41- wheel shaft coupling, 42- steering engine.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
With reference to Fig. 1-3, the present invention provides a kind of domestic intelligent patrol robots, including car body, control module and detection
Module；
Car body includes chassis 1, and is mounted on the One On The Chassis four mobile wheels 2；
Control module includes a single-chip microcontroller, which is placed on chassis, for the receiving of signal and the hair of control instruction
Out；
The detection module is arranged on chassis 1, including camera 3, MQ-9 sensor 4, DHT11 temperature and humidity sensing
Device 5 and flame sensor 6.Wherein MQ-9 sensor, DHT11 Temperature Humidity Sensor and flame sensor are carried out with single-chip microcontroller respectively
Signal connection, camera and mobile phone terminal communicate to connect.
The wheel 2 of the robot uses Mecanum wheel here, is fixed on 1 on chassis by a suspension respectively, joins
Fig. 6 is examined, which includes the motor mount 7 of an inclined design, and correspondence will be provided with perforation, motor on chassis here
The upper end of mounting base 7, which passes through, perforates and is higher than chassis 1, which includes two mounting plates 71 being oppositely arranged and shield
Coverboard 72, the top and bottom of the two pass through copper post 8 respectively and connect, i.e., 8 one end of copper post is mounted on the corresponding positioning of mounting plate 71
Kong Shang, the other end are mounted on location hole corresponding to protective case plate 72, and wheel electrical machine 9 is mounted on fixed corresponding to the mounting plate 71 of motor
On the hole of position, wheel 2 is connect by shaft coupling 41 with wheel electrical machine 9.Chassis 1 is equipped with one group of optical axis fixing seat being oppositely arranged
10, light is cased in the fixed horizontal optical axis fixing seat A11 in one end of the mounting plate 71 of wheel electrical machine 9, horizontal optical axis fixing seat A11
Axis 42, optical axis both ends are fixed in optical axis fixing seat 10 after being each passed through mounting plate 71 and protective case plate 72, with this by wheel electrical machine
Fixing seat is suspended on chassis 1.Mecanum wheel and wheel electrical machine are separately mounted to the both ends of wheel fixing seat, wheel and motor
Transmission is realized in output end connection, the operating band motor car wheel walking of wheel electrical machine 9.
The suspension further includes a shock absorber 12, and 12 horizontally-inclined of shock absorber is on inclined motor mount 7, in order to allow
Suspension, which is placed in longitudinal direction, one degree of freedom, the rotatable copper post 8 for being fixed on 7 lower part of motor mount in 12 lower end of shock absorber
On, upper end is rotatable to be fixed in a shock absorber mounting base 13, which is equally bolted on bottom
On disk 1.The suspended structure is used for the damping of car body, and car body is allowed to play the role of buffering in quick stopping or obstacle-overpass.
As the improvement of scheme, be additionally provided with a collision prevention device on chassis 1, collision prevention device be by optoelectronic switch 14,
Optoelectronic switch mounting-fixing base 15, YDLIDAR F4 laser radar 16 are constituted, and DLIDAR F4 laser radar 16 is fixed under chassis
Front at, due to the limited viewing angle that laser radar 16 scans, so additional optoelectronic switch 14, optoelectronic switch 14 is installed
In optoelectronic switch fixing seat 15, optoelectronic switch fixing seat 14 is mounted on chassis left and right edges side and back edge side；Household intelligence
Energy patrol robot can be scanned imaging by laser radar 16 to interior, our robot is helped to go on patrol
Detection, and meeting automatic dodging barrier, and corresponding detection, and then avoidance are made to peripheral surroundings by optoelectronic switch, light
The effect of electric switch be it is additional on the visual angle that laser radar is not swept to, it only plays the role of auxiliary.The anticollision
Device further includes a miniPC, and YDLIDAR F4 laser radar is with the speed acquisition ambient condition information of 300hz, then by data
It is sent to miniPC in a manner of USB connection, map structuring is carried out by SLAM algorithm, then cooperate with optoelectronic switch, robot is just
The orientation of the barrier of position and surrounding where capable of knowing clearly it now, then action order is passed through serial ports by miniPC
It is sent to single-chip microcontroller, single-chip microcontroller is decoded calculating, generates PWM wave, controls by driving circuit car body motor, in turn
The trend of wheel is controlled, to realize avoidance, by the differential motion of left and right wheels, which can realize original place left-right rotary
Turn, advance, retreat etc. functions.
Robot further includes a fall-proofing device, which is included in chassis, and all around edge sets up one separately and dashes forward forward
The fixed plate 17 and ultrasonic sensor 18 beyond car body boundary dimensions out, ultrasonic sensor 18 are mounted on fixed plate 17
Lower part.Corresponding detection is made to ground environment by ultrasonic sensor 18, in advance the setting detection limit value in single-chip microcontroller,
When robot marches to step edge, the distance between robot and ground are obtained by ultrasound, when being more than limit value,
Send signal to singlechip controller, single-chip microcontroller by generating PWM wave, driving circuit to each wheel electrical machine of car body respectively into
Row control controls the differential motion and positive and negative rotation of left and right wheels, and then controls the steering of robot wheel, to realize anti-stop dropping
The purpose fallen.
MQ-9 sensor 4 is used for the detection of gas leakage, MQ-9 sensor 4 is fixed on chassis 1 by a support 19
Right side on.The limiting value of gas concentration is set on single-chip microcontroller in advance, which detects that the concentration of combustion gas is more than
After limiting value, the information of detection is fed back to single-chip microcontroller automatically, and then controls robot for the information of gas leak with short message shape
Formula is sent to user's cell phone client, and at the same time, robot can send instruction automatically, by being connected under same WIFI
WIFI module carries out data communication, automatically opens window, distributes coal gas.
DHT11 Temperature and Humidity sensor 5 is used for Detection of Air Quality, in order to allow DHT11 Temperature and Humidity to sense
Device 5 preferably detects indoor temperature and humidity, places it on the right side of chassis.Based on this, present solution provides an air qualities
Regulating device cooperates with Temperature and Humidity sensor 5 with reference to Fig. 7 and adjusts indoor air quality, is filled using door/window controller
It sets, which be made of window, lead screw A39, feed screw nut, shaft coupling 38, door and window motor 20, door and window motor fixing seat.Door
Window motor fixing seat is mounted on the side of window slide, and shaft coupling is used to connect export head, the lead screw of door and window motor, screw rod spiral shell
Female, feed screw nut fixing seat 21 is fixed at moveable window edge.When household intelligent Patrol Robot passes through temperature and humidity
When the temperature and humidity that sensor detects is not in the environmental optima temperature humidity range of setting, which can be same by being connected in
WIFI module under one WIFI carries out data communication, allows MCU driving door and window motor 20 to control lead screw rotation, and then open
Window；When etc. indoor temperature and humidity in the environmental optima temperature humidity range of setting, single-chip microcontroller drives door and window motor 20 to control
The rotation of throwing thick stick, and then window is closed, to guarantee the most thermophilic humidity of indoor environment.
The installation of single-chip microcontroller model STM32F407 single-chip microcontroller in the technical program is pacified using the middle of chassis lower part
It is filled with and carries line shell, carrying line shell is made of a bottom plate, four side plates, and plate is connect with plate to be fixed by corner brace, carries line
The effect of shell is to load STM32F407 single-chip microcontroller, the electric tune of motor, gyroscope etc., in order to preferably be laid out route, on chassis
On carry out carving some rectangles, it is therefore an objective to allow route to extend through chassis upper from chassis lower part；Battery is additionally provided on chassis simultaneously
Bracket is that patrol robot charges for storing battery.
As the improvement of scheme, with reference to Fig. 4, camera is fixed on chassis by cradle head structure, camera OpenMV
Camera, the cradle head structure have bottom holder bearing 22 and, 22 periphery of holder bearing is fixed with fixed plate 23, in fixed plate 23
It is fixed with rotary support 24, there are two support side plates for rotary support tool, and 25 one end of a sleeve is rotatable to be fixed on side plate
On, the other end is connect with GM3510 motor 26, and GM3510 motor 26 is fixed on another side plate；Camera 3 is fixed on sleeve 25
It is interior.
Drive cradle head structure rotation is steering engine 42, and steering engine is fixed on the lower part on chassis 1, which is connected with steering wheel, rudder
One end of disk is fixed on holder bearing internal fixation plate, and the other end is fixed in the export head of steering engine.The bracket of camera is formed:
Rotary support left and right ends are connected by corner brace distinguishes fixed two support side plate, and the one of the fixed GM3510 motor of side plate
End, the sleeve of the fixed OpenMV camera of the other end of GM3510 motor, another fixed flange bearing of side plate pass through screw
Fix one end of OpenMV camera sleeve, fixed OpenMV camera 3, flame sensor in the sleeve of OpenMV camera
6, in order to preferably recognize flame, so flame sensor 6 is placed in the sleeve of camera.Steering engine controls cradle head camera
Sleeve one end of the left rotation and right rotation of device, GM3510 motor and camera connects, for controlling being rotated up and down for camera, thus
The all-directional rotation of camera may be implemented.Intelligent Patrol Robot can be by the image recognition of the OpenMV camera, automatically
Identify user, stranger, once detect that stranger enters in family, the stranger that early warning can be issued automatically and will be taken
Facial information is sent to user's cell phone client, to realize anti-theft function.(partial function detection and presently used camera shooting
The principles such as head monitor are identical)
It further include an extinguishing device, which includes a fire extinguisher 27, described with reference to Fig. 5 as the improvement of scheme
Fire extinguisher 27 is mounted on chassis 1 by erection support 28, and an optical axis 29 is fixed in the left side of fire extinguisher 27, and optical axis lower part passes through sleeping
Formula optical axis fixing seat B40 is fixed on chassis.The right side of fire extinguisher 27 is equipped with a motor 30, and 30 top of motor is equipped with shaft coupling,
The head end of one lead screw 31 of shaft coupling top connection, lead screw 31 and fire extinguisher optical axis 29 passes through a flange bearing 33 respectively and is fixed on
On baffle 34, a lower baffle plate 35 with feed screw nut is located at 34 lower part of overhead gage, and can carry out along optical axis 29 and lead screw
It slides up and down；Separately in upper gear, a contact switch A36 is installed in 34 lower parts, while corresponding also pressing on 35 lower part optical axis of lower baffle
Fill a contact switch B37.The lower baffle plate that feed screw nut 32 is cased on lead screw can slide up and down on lead screw 31, be come with this
Control the working condition of fire extinguisher
Critical altitude and lower critical height are provided on lead screw, upper critical altitude is to work as fire extinguisher to be in the shape that do not work
Height when state, lower critical height are the minimum altitude that can be pressed when fire extinguisher is in normal operating conditions.Work as interior
Smokescope reaches the alarm value of smoke sensor device, and flame sensor detects that there are when open fire, will test signal transmission for interior
To single-chip microcontroller.Domestic intelligent patrol robot begins look for ignition point with its included OpenMV camera rotation, at the same time
Robot can side walking, side capture ignition point, once capture ignition point, and then put out a fire.Domestic intelligent patrol robot is found
When ignition point, the motor in STM32F407 MCU driving fire extinguishing structure rotates to control lead screw, and lower baffle plate is made to start to glide,
Pressing fire extinguisher starts to put out a fire.Once lower baffle plate touches the contact switch being arranged at lower critical height, under lower baffle plate stops
It is sliding.When the camera detection of domestic intelligent patrol robot is put out a fire to ignition point, internal control circuit opens lower baffle plate
Beginning moves up, and when lower baffle plate touches the contact switch being arranged at upper critical altitude, lower baffle plate stops moving up, and fire extinguisher stops at this time
It only works, i.e., domestic intelligent patrol robot completes fire-fighting work.Robot once recognizes fire, the scheme that it is solved
There are two types of: one, robot immediately sound an alarm, and emergence message is sent to user in the form of short message；Two, the robot from
Band fire extinguisher, energy self-extinguishing, but its extinguisher structure has certain defect, and it can only go out in the altitude range of restriction
Fire has been more than to put out a fire unsuccessful in its certain range；
Embodiments of the present invention are briefly explained above, but present invention is not limited to the embodiments described above,
Those of ordinary skill in the art within the scope of knowledge, can also make various without departing from the purpose of the present invention
Variation.
Claims (6)
1. a kind of domestic intelligent patrol robot, it is characterised in that: including car body, control module and detection module, control module
It is arranged on chassis with detection module,
The car body includes chassis, and the multiple mobile wheels being mounted on chassis；
The control module includes a single-chip microcontroller, for the receiving of signal and the sending of control instruction；
The detection module, including camera, MQ-9 sensor, DHT11 Temperature Humidity Sensor and flame sensor, wherein
MQ-9 sensor, DHT11 Temperature Humidity Sensor and flame sensor carry out signal connection, camera and mobile phone with single-chip microcontroller respectively
End connection.
2. a kind of domestic intelligent patrol robot as described in claim 1, it is characterised in that: the wheel passes through one respectively
Suspension is fixed on chassis, which includes the motor mount of an inclined design, which sets
There is connection copper post；It further include one group of optical axis fixing seat being fixed on chassis, an optical axis passes through the top and two of motor mount
End is fixed in optical axis fixing seat, and motor fixing seat is suspended on chassis with this；
It further include a shock absorber, for the shock absorber horizontally-inclined on motor mount, shock absorber lower end is rotatable to be fixed on motor peace
In the copper post for filling seat lower part, upper end is rotatable to be fixed in a shock absorber mounting base, which is equally fixed on
On chassis.
3. a kind of domestic intelligent patrol robot as described in claim 1, it is characterised in that: the camera passes through holder
Structure is fixed on chassis, which has bottom holder bearing, and holder bearing periphery is fixed with fixed plate, in fixed plate
It is fixed with rotary support, there are two support side plates for rotary support tool, and a sleeve one end is rotatable to be fixed on side plate, separately
One end is connected to motor, and motor is fixed on another side plate；Camera is fixed in sleeve.
4. a kind of domestic intelligent patrol robot as described in claim 1, it is characterised in that: be additionally provided with one on the chassis
Collision prevention device, including, the left and right on chassis and back edge be respectively equipped with an optoelectronic switch and is equipped on chassis
Laser radar.
5. a kind of domestic intelligent patrol robot as described in claim 1, it is characterised in that: it further include a fall-proofing device,
The device is included in chassis, and all around edge sets up one separately fixed plate outstanding, ultrasonic sensor is mounted on fixed plate forward
Lower part.
6. a kind of domestic intelligent patrol robot as described in claim 1, it is characterised in that: it further include an extinguishing device, it should
Extinguishing device includes a fire extinguisher, and the fire extinguisher is mounted on chassis by mounting base, and an optical axis is fixed on the left of fire extinguisher,
The right side of fire extinguisher is equipped with a motor, and motor top is equipped with shaft coupling, and shaft coupling top connects a lead screw, the head of lead screw and optical axis
End is separately fixed on overhead gage, and a lower block sleeve-board with feed screw nut is located at overhead gage lower part on optical axis and lead screw, and
It can be slided up and down along optical axis and lead screw；One contact switch separately is installed in overhead gage lower part, while corresponding in lower gear
Also by filling a contact switch on the optical axis of plate lower part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910597405.0A CN110293586B (en) | 2019-07-04 | Household intelligent patrol robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910597405.0A CN110293586B (en) | 2019-07-04 | Household intelligent patrol robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110293586A true CN110293586A (en) | 2019-10-01 |
| CN110293586B CN110293586B (en) | 2024-07-05 |
Family
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110772740A (en) * | 2019-12-02 | 2020-02-11 | 海汇集团有限公司 | Intelligent patrol robot |
| CN112520433A (en) * | 2020-12-10 | 2021-03-19 | 上海克来机电自动化工程股份有限公司 | Intelligent navigation method and device, stacker crane and storage medium |
| CN112659811A (en) * | 2020-12-30 | 2021-04-16 | 重庆大学 | Wheel type inspection robot |
Citations (4)
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