CN103419202A - Home-use patrolling intelligent robot - Google Patents
Home-use patrolling intelligent robot Download PDFInfo
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- CN103419202A CN103419202A CN2013103340316A CN201310334031A CN103419202A CN 103419202 A CN103419202 A CN 103419202A CN 2013103340316 A CN2013103340316 A CN 2013103340316A CN 201310334031 A CN201310334031 A CN 201310334031A CN 103419202 A CN103419202 A CN 103419202A
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Abstract
The invention relates to the technical field of robots, in particular to a home-use patrolling intelligent robot. The home-use patrolling intelligent robot comprises a moving chassis mechanism and an upper computer control mechanism, the upper computer control mechanism comprises an upper computer and a central processing unit, wherein the upper computer is used for implementing automatic control over the whole robot and carrying out analysis and process on various input data and signals, and the central processing unit is used for sending user commands to the moving chassis mechanism. The moving chassis mechanism comprises omnidirectional wheels, a power unit and an electric control unit, the electric control unit is used for controlling the power unit to convert electric energy into kinetic energy, the power unit is used for converting the electric energy into the kinetic energy and controlling the omnidirectional wheels to run, and the omnidirectional wheels are used for driving the moving chassis mechanism to move.
Description
Technical field
The present invention relates to the Robotics field, refer to especially a kind of family expenses tour intelligent robot.
Background technology
The robot of application is in the majority with industrial robot at present, is mainly used to substitute inclement condition, non-general intelligence and the physical work that directly can complete.Its function singleness, solve certain particular problem specially, mostly without mobile matrix.The robot that mobile matrix is arranged, that its move mode is generally is legged, crawler type, wheeled construction.The Movable structure is in stability and have the place of barrier to be difficult to give full play to its effectiveness.The crawler-type mobile structure is turned dumb, and volume is bigger than normal.Common wheel type mobile structure fluctuation of service, kinematic accuracy is not high, and direction inconvenience is controlled.
The deficiency existed according to existing Robotics, the present invention aims at making an inspection tour in providing a kind of Robotics scheme to be mainly used in household safe, and remote monitoring and communication solve people because of all kinds of safety problems of family careless and inadvertent or that trip causes.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of family and makes an inspection tour intelligent robot, this robot has mobile isotropic directivity, controls intelligent characteristics, can be maked an inspection tour house, by remote monitoring and communication, realize the warning functions such as antitheft, auxiliary detection gas leak, burning things which may cause a fire disaster, also can be used for home entertaining.
For solving the problems of the technologies described above, embodiments of the invention provide a kind of family expenses to make an inspection tour intelligent robot, comprise movable chassis mechanism and PC control mechanism, described PC control mechanism comprises for whole robot is implemented automatically to control, to various input data with signal carries out the host computer of analyzing and processing and for user command being sent to the CPU of movable chassis mechanism; Described movable chassis mechanism comprises omni-directional wheel, actuating unit and electric control unit, and described electric control unit converts electrical energy into kinetic energy for controlling actuating unit; Actuating unit, for converting electrical energy into kinetic energy and controlling the omni-directional wheel operation; Omni-directional wheel, move for driving movable chassis mechanism.
As preferably, described CPU, the information fed back to for receiving movable chassis mechanism, form closed loop feedback and control.
As preferably, described electric control unit comprises:
Photoelectric sensor, for detection of left front and right front barrier and send the first detection information;
Crash sensor, the blind area barrier that can't detect for detection of left front and right front photoelectric sensor also sends the second detection information;
Master controller, cross the operation of actuating unit control omni-directional wheel for receiving the first detection information and the second detection information exchange, hides left front and right front barrier.
As preferably, described electric control unit also comprises:
Temperature sensor, for detection of indoor temperature and send the 3rd detection signal;
Smoke Sensor, for detection of indoor smog concentration and send the 4th detection signal,
Described master controller, also detect the delivering warning information for receiving the 3rd detection information and the 4th, can avoid in time the generation of fire.
As preferably, described electric control unit also comprises:
The human body heat-releasing electric transducer, for surveying the regional of 4～5 meters of diameters and sending the 5th detection signal;
Camera, for taking indoor situation;
Liquid crystal display, for storing the captured picture of camera, and show the picture that camera (16) is taken,
Described master controller, also, for receiving the 5th detection information and sending a warning, avoid someone to invade, and record invader's information.
As preferably, described electric control unit also comprises:
Wireless module, pick for the signal between CPU and movable chassis mechanism, also for carrying out long-distance radio communication, the transmission of remote monitoring signal and acceptance.
As preferably, described actuating unit is comprised of three motors, and three motors are mutually 120 degree and install, and the rotating shaft of described three motors is fixedly connected with respectively omni-directional wheel.
As preferably, described three omni-directional wheels are comprised of two same plate wheels respectively, leave vertically gap between two-layer plate wheel.
As preferably, on described plate wheel outer peripheral line, nine dolioform rubber wheels all are installed, the axle of rubber wheel is near the plate wheel outer peripheral line, and the rubber wheel on two plate wheels is in installations of upwards staggering each other in week, the circumferential gapless in the distribution of rubber wheel edge.
The beneficial effect of technique scheme of the present invention is as follows: 1, movable chassis mechanism of the present invention has accurate movement and multiple intelligent function, can be used as the intelligent mobile carrier of certain field specialty robot, saved the mobile platform design and designed the unreasonable problems of bringing.
2, the movable part of robot adopts the three-wheel Omni-mobile structure of precision machinery technology, makes it flexible operation, without arc turning phenomenon.Solve legged structure and be difficult to give full play to its effectiveness in the place that barrier is arranged; The track structure volume is large, turns dumb; There is fluctuation of service in common wheeled construction, the problem that direction inconvenience is controlled.
3, the present invention has adopted multiple sensors technology and complex art, and the collection sensor information is processed, and car body control, communication, location, identifies in one.Various signals are detected, compared and analyzed.Can implement remote monitoring and communicate by letter, there is the several functions such as safety and patrol warning.Solved general robot function singleness, the wiring type fire equipment is difficult to be installed, and the little and position of general monitoring device monitoring range is malleable not, and has line traffic control to need people's problem on duty.
4, the present invention proposes a kind of family robot application scheme, can solve well that people generally worry because of the insurmountable household safe problem of trip.That robot is for the auxiliary management of family, the new trial of home entertaining.
The accompanying drawing explanation
Fig. 1 is the principle schematic that a kind of family expenses of the present invention are maked an inspection tour intelligent robot embodiment.
The structural representation that Fig. 2 is movable part in Fig. 1.
［ main element symbol description ］ 1-movable chassis mechanism, 2-PC control mechanism, 3-omni-directional wheel, 4-actuating unit, 5-electric control unit, 6-CPU, 7-host computer, 8-master controller, 9-temperature sensor, 10-liquid crystal display, 11-crash sensor, 12-human body heat-releasing electric transducer, 13-photoelectric sensor, 14-Smoke Sensor, 15-wireless module, 16-camera, 17-rubber wheel.
The specific embodiment
For making the technical problem to be solved in the present invention, technical scheme and advantage clearer, be described in detail below in conjunction with the accompanying drawings and the specific embodiments.
The present invention is directed to existing deficiency provides a kind of family expenses to make an inspection tour intelligent robot, as shown in Figure 1, comprise movable chassis mechanism 1 and PC control mechanism 2, described PC control mechanism 2 comprises for whole robot is implemented automatically to control, to various input data with signal carries out the host computer 7 of analyzing and processing and for user command being sent to the CPU 6 of movable chassis mechanism 1; Described movable chassis mechanism 1 comprises omni-directional wheel 3, actuating unit 4 and electric control unit 5, and described electric control unit 5 converts electrical energy into kinetic energy for controlling actuating unit 4; Actuating unit 4, for converting electrical energy into kinetic energy and controlling omni-directional wheel 3 operations; Omni-directional wheel 3, move for driving movable chassis mechanism 1.
Described CPU 6, the information fed back to for receiving movable chassis mechanism 1, form closed loop feedback and control.
Described electric control unit 5 comprises:
Described electric control unit 5 also comprises:
Temperature sensor 9, for detection of indoor temperature and send the 3rd detection signal;
Described master controller 8, also detect the delivering warning information for receiving the 3rd detection information and the 4th, can avoid in time the generation of fire.
Described electric control unit 5 also comprises:
Human body heat-releasing electric transducer 12, for surveying the regional of 4～5 meters of diameters and sending the 5th detection signal;
Described master controller 8, also, for receiving the 5th detection information and sending a warning, avoid someone to invade, and record invader's information.
Described electric control unit 5 also comprises:
As shown in Figure 2, described actuating unit 4 is comprised of three motors, three motors are mutually 120 degree and install, the rotating shaft of described three motors is fixedly connected with respectively omni-directional wheel 3, described three omni-directional wheels 3 are comprised of two same plate wheels respectively, leave vertically gap between two-layer plate wheel, on described plate wheel outer peripheral line, nine dolioform rubber wheels 17 all are installed, the axle of rubber wheel 17 is near the plate wheel outer peripheral line, rubber wheel 17 on two plate wheels is in the installation of upwards staggering each other in week, and the distribution of rubber wheel 17 is along circumferential gapless.
The present invention is according to above-described technical scheme, function with the remote monitoring of realizing and communication: the order that host computer is responsible for the user is sent sends to mobile chassis, mobile chassis by the input message received and the control signal fed back relatively, forming closed loop feedback controls, make the walking location more accurate, signal is sent and passback in time.
This robot has the safety and patrol function: Smoke Sensor is set on it, and temperature sensor, the human body heat-releasing electric transducer, photoelectric sensor, crash sensor, make a video recording first-class, is used for detecting and inputs transducing signal and control for upper strata.Whether the user can arrange the robot automatic detecting at the PC control software section, have in sensing chamber and exceed the fortuitous event generation pre-seted.Host computer sends the automatic detecting order to data by wireless mode, robot detects order data and receives order, master controller response command on it, control motor rotation, make robot at indoor autokinetic movement, the automatic dodging barrier, also can hide ladder, prevent robot because drop causes falling, realize that unmanned intervention independently patrols and examines.In the process of patrolling and examining, utilize digital temperature sensor by the patrol and detection indoor temperature, by relatively being reported to the police to surpassing situation about pre-seting.Also can assist a ruler in governing a country Smoke Sensor, improve the accuracy of detection of inside fire.
Once the human body heat-releasing electric transducer is in the situation that there be (4～5 meters of effective ranges of the present invention) in people's intrusion detection zone, human infrared radiation focuses on by partial mirror, the infra-red radiation that to be surveyed and receive by detecting element is transformed into faint voltage signal, through amplifying backward outer output.
This robot has fault self-checking and certain for maintenance function: if system breaks down, the automatic record trouble of robot controller, on liquid crystal and host computer show, facilitate the user to keep in repair and fix a breakdown.In the course of the work, as occurred, cell voltage is too low in robot, and system will automatically be got back to the charging depressed place and be charged under the guide in charging depressed place, and after charging, robot will continue not completing last time of task.
This robot has the function of autokinetic movement to appointed place: the user need to allow the robot autonomous appointed place that moves to, and the user only need arrange the x of destination, and the y coordinate gets final product.Robot completes movement according to the automatic calculating path of Trajectory Arithmetic, and can revise in real time according to the motion path feedback data, realizes closed-loop control, and its precision can reach 1mm.
The present invention has adopted the mechanics of communication based on wireless module: PC control part and mobile chassis adopt wireless telecommunications, so not only cost-saving but also solved the cable that wire communication need to be very long and cause the cost high, to pull very long cable when mobile platform moves, the movement of robot be caused to the problem of very large obstacle.
The present invention has also adopted take control technology as main complex art: the present invention has comprehensively adopted control technology, singlechip technology, multiple sensors technology, optical technology, precision machinery technology, simulation, digital circuit technique, radiotechnics (for Long-distance Control or data passback) etc.Unlike signal that various sensors are experienced input host controller, controller sends or accepts feedback information wirelessly, and control accurately moves, and result is analyzed, to the processing of reporting to the police of unsafe situation.
The present invention has adopted the precision machinery technology of Omni-mobile: three are mutually the single omni-directional wheels that 120 degree install and form tricycle structures, in each side, move upward flexibly, and omnirange moves, to place etc. without specific (special) requirements.The double-decker that single omni-directional wheel is comprised of two same plate wheels; On each plate wheel outer peripheral line, nine approximate dolioform rubber wheels respectively are housed, the axle of rubber wheel, near the plate wheel outer peripheral line, leaves gap vertically between two-layer plate wheel, for rubber wheel, freely rotate; Rubber wheel on two plate wheels is in the installation of upwards staggering each other in week, and all rubber wheels distribute along circumferential gapless, have overlapping on a small quantity.
The above family expenses inspecting robot that inventive embodiments is provided is described in detail, this paper has applied specific case structure of the present invention, principle and embodiment has been set forth, and the explanation of above embodiment is just for helping to understand method of the present invention and core concept thereof; , for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention simultaneously.
Claims (9)
1. family expenses are maked an inspection tour intelligent robot, comprise movable chassis mechanism (1) and PC control mechanism (2), it is characterized in that, described PC control mechanism (2) comprises for whole robot is implemented automatically to control, to various input data with signal carries out the host computer (7) of analyzing and processing and for user command being sent to the CPU (6) of movable chassis mechanism (1); Described movable chassis mechanism (1) comprises omni-directional wheel (3), actuating unit (4) and electric control unit (5), and described electric control unit (5) converts electrical energy into kinetic energy for controlling actuating unit (4); Actuating unit (4) is for converting electrical energy into kinetic energy and controlling omni-directional wheel (3) operation; Omni-directional wheel (3) is mobile for driving movable chassis mechanism (1).
2. family expenses according to claim 1 are maked an inspection tour intelligent robot, it is characterized in that, and described CPU (6), the information fed back to for receiving movable chassis mechanism (1), form closed loop feedback and control.
3. family expenses according to claim 1 are maked an inspection tour intelligent robot, it is characterized in that, described electric control unit (5) comprising:
Photoelectric sensor (13), for detection of left front and right front barrier and send the first detection information;
Crash sensor (11), the blind area barrier that can't detect for detection of left front and right front photoelectric sensor (13) also sends the second detection information;
Master controller (8), detect information exchange and cross actuating unit (4) and control omni-directional wheel (3) operation for receiving the first detection information and second, hides left front and right front barrier.
4. family expenses according to claim 3 are maked an inspection tour intelligent robot, it is characterized in that, described electric control unit (5) also comprises:
Temperature sensor (9), for detection of indoor temperature and send the 3rd detection signal;
Smoke Sensor (14), for detection of indoor smog concentration and send the 4th detection signal,
Described master controller (8), also detect the delivering warning information for receiving the 3rd detection information and the 4th, can avoid in time the generation of fire.
5. make an inspection tour intelligent robot according to the described family expenses of claim 1 to 4 any one, it is characterized in that, described electric control unit (5) also comprises:
Human body heat-releasing electric transducer (12), for surveying the regional of 4～5 meters of diameters and sending the 5th detection signal;
Camera (16), for taking indoor situation;
Liquid crystal display (10), for storing the captured picture of camera (16), and show the picture that camera (16) is taken,
Described master controller (8), also, for receiving the 5th detection information and sending a warning, avoid someone to invade, and record invader's information.
6. family expenses according to claim 5 are maked an inspection tour intelligent robot, it is characterized in that, described electric control unit (5) also comprises:
Wireless module (15), pick for the signal between CPU (6) and movable chassis mechanism (1), also for carrying out long-distance radio communication, the transmission of remote monitoring signal and acceptance.
7. family expenses according to claim 6 are maked an inspection tour intelligent robot, it is characterized in that, described actuating unit (4) is comprised of three motors, and three motors are mutually 120 degree and install, and the rotating shaft of described three motors is fixedly connected with respectively omni-directional wheel (3).
8. family expenses according to claim 7 are maked an inspection tour intelligent robot, it is characterized in that, described three omni-directional wheels (3) are comprised of two same plate wheels respectively, leave vertically gap between two-layer plate wheel.
9. family expenses according to claim 8 are maked an inspection tour intelligent robot, it is characterized in that, on described plate wheel outer peripheral line, nine dolioform rubber wheels (17) all are installed, the axle of rubber wheel (17) is near the plate wheel outer peripheral line, rubber wheel (17) on two plate wheels is in the installation of upwards staggering each other in week, and the distribution of rubber wheel (17) is along circumferential gapless.
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| CN201310334031.6A CN103419202B (en) | 2013-08-02 | 2013-08-02 | A kind of family expenses make an inspection tour intelligent robot |
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| CN201310334031.6A CN103419202B (en) | 2013-08-02 | 2013-08-02 | A kind of family expenses make an inspection tour intelligent robot |
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| CN103419202A true CN103419202A (en) | 2013-12-04 |
| CN103419202B CN103419202B (en) | 2015-12-09 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103692429A (en) * | 2013-12-31 | 2014-04-02 | 武汉工程大学 | Household robot capable of helping aged people |
| CN104217519A (en) * | 2014-08-15 | 2014-12-17 | 国家电网公司 | Fire alarm robot for transformer substations and inflammable places |
| CN104526697A (en) * | 2014-11-08 | 2015-04-22 | 沈阳工业大学 | Excretion aid robot |
| CN105234937A (en) * | 2015-10-13 | 2016-01-13 | 上海宾奥智能机器人科技有限公司 | General mobile chassis control system |
| CN105988447A (en) * | 2015-03-03 | 2016-10-05 | 上海电气自动化设计研究所有限公司 | Industrial-robot-based system and method for maintaining server cabinet |
| CN106272435A (en) * | 2016-10-08 | 2017-01-04 | 莫颖琳 | A kind of remotely intelligently monitoring robot |
| CN106305467A (en) * | 2016-08-21 | 2017-01-11 | 徐洪恩 | Home monitoring and automatic pet feeding robot |
| CN107067635A (en) * | 2017-02-13 | 2017-08-18 | 张磊 | A kind of multimode control machine people |
| CN107797550A (en) * | 2016-09-01 | 2018-03-13 | 松下电器（美国）知识产权公司 | Autonomous formula robot, method and non-transient recording medium |
| CN109031975A (en) * | 2018-09-14 | 2018-12-18 | 合肥梦龙电子科技有限公司 | A kind of smart home guard system |
| CN110096060A (en) * | 2019-05-14 | 2019-08-06 | 青岛黄海学院 | A kind of inspecting robot and its control method with monitoring function |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103692429A (en) * | 2013-12-31 | 2014-04-02 | 武汉工程大学 | Household robot capable of helping aged people |
| CN104217519A (en) * | 2014-08-15 | 2014-12-17 | 国家电网公司 | Fire alarm robot for transformer substations and inflammable places |
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| CN105988447B (en) * | 2015-03-03 | 2019-05-07 | 上海电气自动化设计研究所有限公司 | A kind of system and method carrying out server cabinet maintenance based on industrial robot |
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| CN106305467A (en) * | 2016-08-21 | 2017-01-11 | 徐洪恩 | Home monitoring and automatic pet feeding robot |
| CN107797550A (en) * | 2016-09-01 | 2018-03-13 | 松下电器（美国）知识产权公司 | Autonomous formula robot, method and non-transient recording medium |
| CN106272435A (en) * | 2016-10-08 | 2017-01-04 | 莫颖琳 | A kind of remotely intelligently monitoring robot |
| CN107067635A (en) * | 2017-02-13 | 2017-08-18 | 张磊 | A kind of multimode control machine people |
| CN109031975A (en) * | 2018-09-14 | 2018-12-18 | 合肥梦龙电子科技有限公司 | A kind of smart home guard system |
| CN110096060A (en) * | 2019-05-14 | 2019-08-06 | 青岛黄海学院 | A kind of inspecting robot and its control method with monitoring function |
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