CN110293586B

CN110293586B - Household intelligent patrol robot

Info

Publication number: CN110293586B
Application number: CN201910597405.0A
Authority: CN
Inventors: 李正强; 王君; 姚春鹏; 王德鑫; 王紫欣; 王建帮
Original assignee: Shenyang Aerospace University
Current assignee: Shenyang Aerospace University
Priority date: 2019-07-04
Filing date: 2019-07-04
Publication date: 2024-07-05
Anticipated expiration: 2039-07-04
Also published as: CN110293586A

Abstract

The invention belongs to the technical fields of embedded single chip microcomputer, mechanical design technology and safety, and particularly relates to a household intelligent patrol robot, which belongs to the technical field of household safety. The household intelligent patrol robot comprises a vehicle body, a control module and a detection module; the vehicle body comprises a chassis and four movable wheels arranged on the chassis; the control module comprises a singlechip which is arranged on the chassis and is used for receiving signals and sending control instructions; the detection modules are arranged on the chassis and comprise a camera, an MQ-9 sensor, a DHT11 temperature and humidity sensor and a flame sensor. The structure is combined together, and a series of functions of theft prevention, fire prevention, gas leakage prevention, indoor temperature and humidity detection, adjustment and the like are further realized through a mode of combining intelligent control with a mechanical structure.

Description

Household intelligent patrol robot

Technical Field

The invention belongs to the technical fields of embedded single chip microcomputer, mechanical design technology and safety, and particularly relates to a household intelligent patrol robot.

Background

With the rapid development of society, in order to follow the pace of the age, people are generally in fast-paced life, home security becomes an increasingly focused problem, and relatively lagged home security facility conditions cannot meet the increasingly growing security requirements of people, so that no reasonable and effective solution exists at present.

Disclosure of Invention

In order to meet the demands of people for family safety, the invention provides a household intelligent patrol robot. The household intelligent patrol robot can realize a series of functions of theft prevention, fire prevention, gas leakage prevention, indoor temperature and humidity detection, adjustment and the like. Specifically, the technical scheme provides a household intelligent patrol robot, which comprises a vehicle body, a control module and a detection module;

The vehicle body comprises a chassis and a plurality of movable wheels arranged on the chassis;

The control module comprises a singlechip which is arranged on the chassis and is used for receiving signals and sending control instructions;

The detection modules are arranged on the chassis and comprise a camera, an MQ-9 sensor, a DHT11 temperature and humidity sensor and a flame sensor. The MQ-9 sensor, the DHT11 temperature and humidity sensor and the flame sensor are respectively in signal connection with the singlechip, and the camera is connected with the mobile phone end.

Further, the wheels are respectively fixed on the chassis through a suspension system, the suspension system comprises a motor mounting seat which is obliquely designed, the mounting seat comprises two mounting plates and a shell plate which are oppositely arranged, the upper ends and the lower ends of the two mounting plates are respectively connected through copper columns, and the upper ends of the motor mounting seat penetrate through the through holes and are higher than the chassis; the chassis is provided with a group of oppositely arranged optical axis fixing seats, and an optical axis penetrates through the upper part of the motor mounting seat to be fixed on the optical axis fixing seats, so that the motor fixing seats are hung on the chassis;

The motor mounting seat is characterized by further comprising a shock absorber which is obliquely arranged on the motor mounting seat, the lower end of the shock absorber is rotatably fixed on a copper column at the lower part of the motor mounting seat, the upper end of the shock absorber is rotatably fixed on a shock absorber mounting seat, and the shock absorber mounting seat is also fixed on the chassis. The structure is used for damping the vehicle body, so that the vehicle body plays a role in buffering when rapidly stopping or crossing obstacles.

Further, the camera is fixed on the chassis through a tripod head structure, the tripod head structure is provided with a tripod head bearing at the bottom, a fixed plate is fixed on the periphery of the tripod head bearing, a rotary support is fixed on the fixed plate, the rotary support is provided with two supporting side plates, one end of a sleeve is rotatably fixed on one side plate, the other end of the sleeve is connected with a motor, and the motor is fixed on the other side plate; the camera is fixed in the sleeve.

Further, a flame sensor is disposed within the sleeve.

Furthermore, the chassis is also provided with an anti-collision device, which comprises a photoelectric switch and a laser radar arranged on the chassis, wherein the photoelectric switch and the laser radar are respectively arranged at the left edge, the right edge and the rear edge of the chassis.

Further, the device comprises a fixing plate protruding forwards at the front edge, the rear edge, the left edge and the right edge of the chassis, and the ultrasonic sensor is arranged at the lower part of the fixing plate.

Further, the fire extinguishing device comprises a fire extinguisher, the fire extinguisher is arranged on the chassis through a mounting support, an optical axis is fixed on the left side of the fire extinguisher, a motor is arranged on the right side of the fire extinguisher, a coupler is arranged on the upper part of the motor, the upper part of the coupler is connected with a lead screw, the lead screw and the head end of the optical axis are respectively fixed on an upper baffle, a lower baffle with a lead screw nut is arranged on the lower part of the upper baffle, and the lower baffle can slide up and down along the optical axis and the lead screw; in addition, a contact switch is arranged at the lower part of the upper baffle plate, and a contact switch is correspondingly arranged on the optical axis at the lower part of the lower baffle plate.

The household intelligent patrol robot can automatically identify a user and strangers through the camera, and can automatically send out early warning and send the early warning to the user in a short message mode once detecting that the strangers enter the home. Meanwhile, the device can also carry out corresponding detection on flame, gas and indoor temperature and humidity through various sensors carried by the device, and make corresponding safety measures in time.

Drawings

FIG. 1 is a schematic perspective view of the overall structure of the device of the present invention;

FIG. 2 is a right side view of the overall structure of the device of the present invention;

FIG. 3 is a front view of the overall structure of the device of the present invention;

fig. 4 is a schematic structural diagram of a pan-tilt camera provided by the invention;

FIG. 5 is a schematic view of the fire extinguishing apparatus according to the present invention;

FIG. 6 is a schematic view of a suspension system according to the present invention;

Fig. 7 is a schematic structural diagram of a door and window controller device provided by the invention;

in the figure, a 1-chassis, a 2-wheel, a 3-camera, a 4-MQ-9 sensor, a 5-temperature and humidity sensor, a 6-flame sensor, a 7-motor mounting seat, a 71-mounting plate, a 72-shield plate, an 8-copper column, a 9-wheel motor, a 10-optical axis fixing seat, a 11-horizontal optical axis fixing seat A, a 12-shock absorber, a 13-shock absorber mounting seat, a 14-photoelectric switch, a 15-photoelectric switch fixing seat, a 16-radar, a 17-fixing plate, a 18-ultrasonic sensor, a 19-support, a 20-door and window motor, a 21-lead screw nut fixing seat, a 22-cradle head bearing, a 23-cradle head bearing fixing plate, a 24-rotating support, a 25-sleeve, a 26-GM3510 motor, a 27-fire extinguisher, a 28-mounting support, a 29-optical axis, a 30-fire extinguisher motor, a 31-lead screw, a 32-lead screw nut, a 33-flange bearing, a 34-upper baffle, a 35-lower baffle, a 36-contact switch A, a 37-contact switch B, a 38-coupling, a 39-lead screw A, a 40-horizontal steering engine B, a 42-optical axis fixing seat, and 42-lead screw coupling.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

1-3, The invention provides a household intelligent patrol robot, which comprises a vehicle body, a control module and a detection module;

the vehicle body comprises a chassis 1 and four movable wheels 2 arranged on the chassis 1;

The detection modules are arranged on the chassis 1 and comprise a camera 3, an MQ-9 sensor 4, a DHT11 temperature and humidity sensor 5 and a flame sensor 6. The MQ-9 sensor, the DHT11 temperature and humidity sensor and the flame sensor are respectively in signal connection with the singlechip, and the camera is in communication connection with the mobile phone end.

The wheels 2 of the robot are respectively fixed on the chassis 1 through a suspension system, referring to fig. 6, the suspension system comprises a motor mounting seat 7 with an inclined design, a through hole is correspondingly formed in the chassis, the upper end of the motor mounting seat 7 penetrates through the through hole and is higher than the chassis 1, the motor mounting seat 7 comprises two mounting plates 71 and a shell protection plate 72 which are oppositely arranged, the upper ends and the lower ends of the two mounting plates are respectively connected through copper columns 8, namely one ends of the copper columns 8 are mounted on positioning holes corresponding to the mounting plates 71, the other ends of the copper columns are mounted on positioning holes corresponding to the shell protection plate 72, the wheel motor 9 is mounted on the positioning holes corresponding to the mounting plates 71 of the motor, and the wheels 2 are connected with the wheel motor 9 through a coupling 41. The chassis 1 is provided with a group of oppositely arranged optical axis fixing seats 10, one end of a mounting plate 71 of the wheel motor 9 is fixed with a horizontal optical axis fixing seat A11, an optical axis 42 is sleeved in the horizontal optical axis fixing seat A11, and two ends of the optical axis respectively penetrate through the mounting plate 71 and a shell plate 72 and then are fixed on the optical axis fixing seat 10, so that the wheel motor fixing seat is hung on the chassis 1. The Mecanum wheel and the wheel motor are respectively arranged at two ends of the wheel fixing seat, the wheel is connected with the output end of the motor, and the wheel motor 9 runs to drive the wheel to walk so as to realize transmission.

The suspension system further comprises a shock absorber 12, the shock absorber 12 is inclined on the inclined motor mounting seat 7, in order to enable the suspension system to be placed longitudinally with one degree of freedom, the lower end of the shock absorber 12 is rotatably fixed on the copper column 8 at the lower part of the motor mounting seat 7, the upper end of the shock absorber 12 is rotatably fixed on a shock absorber mounting seat 13, and the shock absorber mounting seat 13 is also fixed on the chassis 1 through bolts. The suspension structure is used for damping the car body, so that the car body plays a role in buffering when stopping rapidly or crossing obstacles.

As an improvement of the scheme, an anti-collision device is further arranged on the chassis 1, the anti-collision device is composed of a photoelectric switch 14, a photoelectric switch mounting fixing seat 15 and YDLIDAR F4 laser radars 16, the DLIDAR F laser radars 16 are fixed at the right front part under the chassis, and as the scanning view angle of the laser radars 16 is limited, the photoelectric switch 14 is additionally arranged, the photoelectric switch 14 is mounted on the photoelectric switch fixing seat 15, and the photoelectric switch fixing seat 14 is mounted at the left edge side, the right edge side and the rear edge side of the chassis; the indoor scanning imaging can be carried out to the domestic intelligent patrol robot through the laser radar 16, so that the patrol detection of the robot is helped, the obstacle can be automatically avoided, the corresponding detection is carried out on the edge environment by means of the photoelectric switch, the obstacle is further avoided, the photoelectric switch is added on the view angle which is not swept by the laser radar, and the intelligent patrol robot only has an auxiliary effect. The anti-collision device further comprises a miniPC, the YDADAR F4 laser radar collects surrounding environment information at the speed of 300hz, then data are sent to miniPC in a USB connection mode to be subjected to map construction through a SLAM algorithm, the map construction is matched with a photoelectric switch, a robot can clearly know the current position and the surrounding obstacle position, then miniPC sends a movement instruction to a single chip microcomputer through a serial port, the single chip microcomputer carries out decoding calculation to generate PWM waves, a driving circuit is used for controlling a vehicle body motor, the trend of wheels is controlled, obstacle avoidance is achieved, and the robot can achieve the functions of left-right rotation, forward, backward and the like in situ through differential movement of left wheels and right wheels.

The robot further comprises a fall prevention device, the fall prevention device comprises a fixing plate 17 protruding forwards beyond the boundary dimension of the vehicle body at the front edge, the rear edge, the left edge and the right edge of the chassis respectively, and an ultrasonic sensor 18, and the ultrasonic sensor 18 is arranged at the lower part of the fixing plate 17. The ultrasonic sensor 18 is used for carrying out corresponding detection on the ground environment, a detection limit value is set in the singlechip in advance, when the robot moves to the edge of the step, the distance between the robot and the ground is measured by means of ultrasonic waves, when the distance exceeds the limit value, a signal is sent to the singlechip controller, the singlechip respectively controls each wheel motor of the vehicle body by generating PWM waves, the differential motion and forward and reverse rotation of the left wheel and the right wheel are controlled by the driving circuit, and the steering of the wheels of the robot is further controlled, so that the aim of preventing falling is fulfilled.

For the detection of gas leakage, an MQ-9 sensor 4 is used, the MQ-9 sensor 4 being fastened to the right side of the chassis 1 via a mount 19. The limit value of the gas concentration is preset on the singlechip, and after the MQ-9 sensor detects that the gas concentration exceeds the limit value, the detected information is automatically fed back to the singlechip, so that the robot is controlled to send the gas leakage information to a mobile phone client of a user in a short message mode, and meanwhile, the robot can automatically send an instruction, perform data communication through a WIFI module connected with the same WIFI, automatically open a window and emit gas.

For air quality detection, a DHT11 temperature and humidity detection sensor 5 is adopted, and in order to enable the DHT11 temperature and humidity detection sensor 5 to better detect indoor temperature and humidity, the DHT11 temperature and humidity detection sensor is arranged on the right side of the chassis. Based on this, this scheme provides an air quality adjusting device, referring to fig. 7, with temperature and humidity detection sensor 5 cooperation regulation indoor air quality, is to adopt door and window controller device, and this device is by window, lead screw A39, lead screw nut, shaft coupling 38, door and window motor 20, door and window motor fixing base constitution. The door and window motor fixing seat is installed at the side of window slide, and shaft coupling is used for connecting door and window motor's output head, lead screw, and lead screw nut, lead screw nut's fixing seat 21 are fixed in mobilizable window edge department. When the temperature and the humidity detected by the temperature and humidity sensor of the household intelligent patrol robot are not in the set optimal environment temperature and humidity range, the robot can perform data communication through a WIFI module connected with the same WIFI, so that the singlechip drives the door and window motor 20 to control the screw to rotate, and the window is opened; when the indoor temperature and humidity are within the set optimal environment temperature and humidity range, the singlechip drives the door and window motor 20 to control the screw to rotate, so that the window is closed, and the optimal temperature and humidity of the indoor environment are ensured.

The single chip microcomputer in the technical scheme is characterized in that a wire carrying shell is arranged in the middle of the lower part of a chassis, the wire carrying shell is composed of a bottom plate and four side plates, the plates are connected and fixed through corner codes, the wire carrying shell is used for carrying the STM32F407 single chip microcomputer, an electric regulator of a motor, a gyroscope and the like, and for better layout of circuits, a plurality of rectangles are engraved on the chassis, and the purpose is to enable the circuits to penetrate from the lower part of the chassis to the upper part of the chassis; meanwhile, a battery bracket is arranged on the chassis and used for storing batteries to charge the patrol robot.

As an improvement of the scheme, referring to fig. 4, the camera is fixed on the chassis through a pan-tilt structure, the camera is OpenMV camera, the pan-tilt structure is provided with a pan-tilt bearing 22 at the bottom and a fixed plate 23 fixed on the periphery of the pan-tilt bearing 22, a rotary support 24 is fixed on the fixed plate 23, the rotary support is provided with two supporting side plates, one end of a sleeve 25 is rotatably fixed on one side plate, the other end of the sleeve is connected with a GM3510 motor 26, and the GM3510 motor 26 is fixed on the other side plate; the camera 3 is fixed in the sleeve 25.

The steering engine 42 drives the cradle head structure to rotate, the steering engine is fixed at the lower part of the chassis 1, the steering engine is connected with a steering wheel, one end of the steering wheel is fixed on a cradle head bearing inner fixing plate, and the other end is fixed on an output head of the steering engine. The bracket of the camera forms: the left end and the right end of the rotary support are respectively fixed with two support side plates through corner connector, one side plate is fixed with one end of a GM3510 motor, the other end of the GM3510 motor is fixed with a sleeve of a OpenMV camera, the other side plate is fixed with a flange bearing, one end of the sleeve of the OpenMV camera is fixed with a screw, the sleeve of the OpenMV camera is internally fixed with a OpenMV camera 3 and a flame sensor 6, and in order to better identify flame, the flame sensor 6 is arranged in the sleeve of the camera. Steering engine control cloud platform camera device's rotation about, GM3510 motor is connected with the sleeve one end of camera for control the rotation about the camera, can realize the omnidirectional rotation of camera from this. The intelligent patrol robot can automatically identify a user and strangers through the image identification of the OpenMV camera, and can automatically send out early warning and send the face information of the photographed strangers to the mobile phone client of the user once detecting that the strangers enter the home, so that the anti-theft function is realized. (the function detection of the part is the same as the principle of the camera monitor and the like used at present)

As an improvement of the scheme, referring to fig. 5, the fire extinguishing device further comprises a fire extinguisher 27, wherein the fire extinguisher 27 is arranged on the chassis 1 through a mounting support 28, an optical axis 29 is fixed on the left side of the fire extinguisher 27, and the lower part of the optical axis is fixed on the chassis through a horizontal optical axis fixing seat B40. The right side of the fire extinguisher 27 is provided with a motor 30, the upper part of the motor 30 is provided with a coupler, the upper part of the coupler is connected with a lead screw 31, the lead screw 31 and the head end of the optical axis 29 of the fire extinguisher are respectively fixed on an upper baffle 34 through a flange bearing 33, and a lower baffle 35 with a lead screw nut is positioned at the lower part of the upper baffle 34 and can slide up and down along the optical axis 29 and the lead screw; in addition, a contact switch A36 is arranged at the lower part of the upper baffle plate 34, and a contact switch B37 is correspondingly arranged on the optical axis at the lower part of the lower baffle plate 35. The lower baffle plate sleeved with the screw rod nut 32 can slide up and down on the screw rod 31 so as to control the working state of the fire extinguisher

The screw rod is provided with an upper critical height and a lower critical height, wherein the upper critical height is the height when the fire extinguisher is in a non-working state, and the lower critical height is the lowest height which can be pressed when the fire extinguisher is in a normal working state. When the indoor smoke concentration reaches the alarm value of the smoke sensor, the flame sensor detects that open flame exists indoors, and a detection signal is transmitted to the singlechip. The household intelligent patrol robot starts to search for the ignition point by using the OpenMV camera of the household intelligent patrol robot to rotate, and meanwhile, the robot can walk and capture the ignition point, and the ignition point is captured once so as to extinguish the fire. When the domestic intelligent patrol robot finds the ignition point, the STM32F407 singlechip drives a motor on the fire extinguishing structure to control the screw rod to rotate, so that the lower baffle plate starts to slide downwards, and the fire extinguisher is pressed to extinguish fire. Once the lower baffle touches a contact switch arranged at the lower critical height, the lower baffle stops sliding down. When the camera of the household intelligent patrol robot detects that the ignition point is extinguished, the internal control circuit of the household intelligent patrol robot enables the lower baffle to start moving upwards, the lower baffle stops moving upwards when touching the contact switch arranged at the upper critical height, and the household intelligent patrol robot completes the fire extinguishing work. Once a robot recognizes a fire, there are two solutions: 1. the robot immediately gives an alarm and sends emergency information to a user in a short message form; 2. the robot is provided with the fire extinguisher, can automatically extinguish fire, but has certain defects in the structure of the fire extinguisher, can extinguish fire only in a limited height range, and exceeds a certain range, namely the fire extinguishing is unsuccessful;

while the embodiments of the present invention have been described briefly, the present invention is not limited to the above embodiments, and various changes may be made without departing from the spirit of the invention within the knowledge of those skilled in the art.

Claims

1. A domestic intelligent patrol robot which is characterized in that: comprises a vehicle body, a control module and a detection module, wherein the control module and the detection module are arranged on a chassis,

the control module comprises a singlechip and is used for receiving signals and sending control instructions;

The detection module comprises a camera, an MQ-9 sensor, a DHT11 temperature and humidity sensor and a flame sensor, wherein the MQ-9 sensor, the DHT11 temperature and humidity sensor and the flame sensor are respectively in signal connection with the singlechip, and the camera is connected with the mobile phone end;

The movable wheels are respectively fixed on the chassis through a suspension system, the suspension system comprises a motor mounting seat which is obliquely designed, and the upper end and the lower end of the motor mounting seat are provided with connecting copper columns; the motor mounting seat is suspended on the chassis by the optical axis fixing seat, and the optical axis fixing seat is fixed on the chassis;

the motor mounting seat is provided with a copper column, the lower end of the copper column is rotatably fixed on the lower part of the motor mounting seat, the upper end of the copper column is rotatably fixed on the shock absorber mounting seat, and the shock absorber mounting seat is also fixed on the chassis;

The camera is fixed on the chassis through a cradle head structure, the cradle head structure is provided with a bottom cradle head bearing, a fixed plate is fixed on the periphery of the bottom cradle head bearing, a rotary support is fixed on the fixed plate, the rotary support is provided with two support side plates, one end of a sleeve is rotatably fixed on one support side plate, the other end of the sleeve is connected with a first motor, and the first motor is fixed on the other support side plate; the camera is fixed in the sleeve;

The chassis on still be equipped with an anticollision device, include: a photoelectric switch and a laser radar are respectively arranged at the left edge, the right edge and the rear edge of the chassis;

the anti-falling device comprises a fixing plate which is arranged at the front edge, the rear edge, the left edge and the right edge of the chassis and protrudes forwards, and the ultrasonic sensor is arranged at the lower part of the fixing plate;

The fire extinguisher is arranged on the chassis through the mounting seat, an optical axis is fixed on the left side of the fire extinguisher, a second motor is arranged on the right side of the fire extinguisher, a coupler is arranged on the upper portion of the second motor, a screw rod is connected to the upper portion of the coupler, the head ends of the screw rod and the optical axis are respectively fixed on the upper baffle, a lower baffle with a screw rod nut is sleeved on the optical axis and the screw rod and is positioned on the lower portion of the upper baffle, and the lower baffle and the screw rod can slide up and down along the optical axis; in addition, a contact switch is arranged at the lower part of the upper baffle plate, and a contact switch is correspondingly arranged on the optical axis at the lower part of the lower baffle plate.