CN105486355A - Three-dimensional detection apparatus for heat distribution of indoor environment - Google Patents

Abstract

The invention relates to a three-dimensional detection device for heat distribution in an indoor environment, which includes a visual detection mechanism, a mobile robot, a mounting bracket, a temperature sensor for measuring temperature, a humidity sensor for measuring humidity, and a wind speed sensor for measuring wind speed. The three-dimensional detection device for thermal distribution of the indoor environment is convenient to move and flexible to use by setting the temperature sensor, humidity sensor and wind speed sensor on the mobile robot. Temperature, humidity and wind speed detection. The three-dimensional detection device for the thermal distribution of the indoor environment can complete the three-dimensional collection of environmental parameters by using fewer sensors, and the detection space covers a wide area without any dependence on the detection area itself, and has strong applicability.

Description

Indoor environment heat distribution three-dimensional detection device

technical field

The invention relates to the field of environmental detection instruments, in particular to a three-dimensional detection device for indoor environment heat distribution.

Background technique

Modern indoor industrial environments often store precision instruments or electrical equipment, and large logistics warehouses often store flammable and explosive items. The condition of such an indoor environment (temperature and humidity, airflow velocity) is related to the normal operation and safe production of equipment or instruments, so it is particularly important to detect the thermal distribution of the environment in real time. At present, most of such indoor environments use distributed sensor layout technology for indoor environment detection, but this technology has many problems, such as limited detection area due to fixed sensor positions, large number of sensors required, and high cost.

Contents of the invention

Based on this, it is necessary to provide a three-dimensional detection device for indoor environment heat distribution that can flexibly detect the heat distribution of the indoor environment.

A three-dimensional detection device for indoor environment heat distribution, comprising:

Visual inspection mechanism;

The mobile robot is equipped with a control mechanism, a data collection mechanism and a data transmission mechanism;

Mounting bracket, the mounting bracket includes a main bar and a cross bar, the main bar is arranged on the mobile robot, there are many cross bars, and a plurality of the cross bars are arranged at different heights of the main bar ;

A temperature sensor for measuring temperature, each of the crossbars is provided with a plurality of the temperature sensors, and the plurality of the temperature sensors on each of the crossbars are arranged at different positions of the crossbar;

A humidity sensor for measuring humidity, each of the crossbars is provided with a plurality of the humidity sensors, and the positions of the plurality of the humidity sensors on each of the crossbars correspond to the positions of the plurality of temperature sensors ;as well as

A wind speed sensor for measuring wind speed, at least one wind speed sensor is provided on each of the crossbars;

The control mechanism is electrically connected to the data collection mechanism and the data transmission mechanism, the data collection mechanism is electrically connected to the temperature sensor, the humidity sensor and the wind speed sensor, and the control mechanism is used to receive the The temperature data, humidity data and wind speed data collected by the data acquisition mechanism, the control mechanism is also used to control the autonomous movement of the mobile robot, and the control mechanism is also used to control the mobile robot to move The robot's positioning data, temperature data, humidity data and wind speed data are encapsulated into data packets and then sent to the remote visual detection mechanism through the data transmission mechanism.

In one of the embodiments, there are multiple main rods, and the multiple main rods are arranged in parallel on the mobile robot.

In one embodiment, each of the main rods includes a plurality of unit rods and a plurality of inter-rod connectors, and adjacent unit rods are detachably connected by the inter-rod connectors.

In one of the embodiments, the thicknesses of the plurality of unit rods of each main rod decrease sequentially from bottom to top.

In one of the embodiments, the temperature sensor and the humidity sensor are integrated together to form a temperature and humidity sensor, and the temperature and humidity sensor is electrically connected to the data transmission mechanism and the data collection mechanism.

In one of the embodiments, the temperature and humidity sensors on each horizontal bar are evenly distributed along the horizontal bar, and the temperature sensors on different horizontal bars are vertically aligned.

In one of the embodiments, the installation bracket also includes a sensor installation mechanism; the sensor installation mechanism includes a fixed rod, a gasket, a spring, a sleeve and a lock nut; both ends of the fixed rod have external threads, each A plurality of uniformly distributed screw holes are arranged on the root of the cross bar, and one end of the fixed rod can be inserted into the screw hole to be threadedly connected with the cross bar; the gasket, the spring, the sleeve and the lock nut is sleeved on the fixed rod in turn; the wind speed sensor can be sleeved on the fixed rod and can be limited between the spring and the sleeve; the temperature and humidity sensor It is sleeved on the fixing rod and limited between the sleeve and the locking nut, and can be locked by the locking nut and the external thread at the other end of the fixing rod.

In one of the embodiments, the wind speed sensor and the temperature and humidity sensor are installed on the sensor installation mechanism in the middle of each crossbar, and only the temperature and humidity sensors are installed on the sensor installation mechanisms in other positions. Humidity Sensor.

In one of the embodiments, the mobile robot is also provided with an analog-to-digital conversion mechanism, and the analog-to-digital conversion mechanism is electrically connected to the data acquisition mechanism to convert corresponding electrical signals into digital signals and transmit them to the data collection agency.

In one of the embodiments, the visual detection mechanism has an input and display mechanism, and the input and display mechanism is used to input operation instructions, and is used to digitally display the detection of the temperature sensor, the humidity sensor and the wind speed sensor data.

The above-mentioned three-dimensional detection device for thermal distribution of the indoor environment is convenient to move and flexible to use by setting the temperature sensor, humidity sensor and wind speed sensor on the mobile robot. Temperature, humidity and wind speed detection. The three-dimensional detection device for the thermal distribution of the indoor environment can complete the three-dimensional collection of environmental parameters by using fewer sensors, and the detection space covers a wide area without any dependence on the detection area itself, and has strong applicability.

Description of drawings

Fig. 1 is a structural schematic diagram of an embodiment of a three-dimensional detection device for indoor environment heat distribution;

Fig. 2 is a schematic diagram of the module structure of the three-dimensional detection device for indoor environment heat distribution shown in Fig. 1;

Fig. 3 is the structural representation of main rod in Fig. 1;

Fig. 4 is a sectional view along line A-A in Fig. 3;

Fig. 5 is a schematic diagram of the assembly of the sensor installation mechanism, the temperature and humidity sensor and the wind speed sensor in Fig. 1 .

detailed description

In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.

It should be noted that when an element is referred to as being “fixed” to another element, it can be directly on the other element or there can also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Please refer to FIG. 1 and FIG. 2 , an embodiment of a three-dimensional detection device 10 for indoor environment heat distribution includes a mobile robot 100 , a mounting bracket 200 , a temperature and humidity sensor 300 , a wind speed sensor 400 and a visual detection mechanism 500 .

The mobile robot 100 can be controlled to move freely on the ground. The main part of the mobile robot 100 may be an automated guided vehicle (automated guided vehicle, AGV). The mobile robot 100 has a navigation mechanism and a storage mechanism inside. When the mobile robot 100 runs in an unfamiliar environment for the first time, the navigation mechanism can record the spatial parameters of the environment, such as recording the position information of relatively fixed objects such as walls and object piles in the environment, and construct a three-dimensional navigation map through the position information , and stored in that repository. The storage mechanism can also store the running trajectory of the mobile robot 100 through the navigation mechanism, so as to facilitate the control of the mobile robot 100 to move according to a specific trajectory.

In this embodiment, the mobile robot 100 is further provided with a control mechanism 110 , a data acquisition mechanism 120 , a data transmission mechanism 130 and an analog-to-digital conversion mechanism 140 .

The control mechanism 110 is electrically connected with the data collection mechanism 120 and the data transmission mechanism 130 , and is used for receiving the data collected by the data collection mechanism 120 and receiving the control instructions transmitted by the data transmission mechanism 130 . The control mechanism 110 is electrically connected with the navigation mechanism and the storage mechanism in the mobile robot 100, and is used to control the mobile robot 100 to move autonomously along a specific trajectory or a new trajectory according to the control instruction.

The data collection mechanism 120 is used for collecting temperature data, humidity data and wind speed data. The data transmission mechanism 130 is used to transmit data between the control mechanism 110 and the visual detection mechanism 500, such as sending the positioning data and temperature data, humidity data and wind speed data of the mobile robot 100 to the remote visual detection mechanism 500. When the data is sent, It is preferably sent in the form of data packets; another example is to receive a request command sent by the remote visual detection mechanism 500 to the control mechanism 110 to control the movement of the mobile robot 100 and control the corresponding sensors to perform data detection.

The analog-to-digital conversion mechanism 140 is electrically connected to the data collection mechanism 120 to convert corresponding electrical signals collected by the data collection mechanism 120 into digital signals and transmit them to the data collection mechanism 120 . The data collection mechanism 120 also has a memory for storing data collected and/or sent by the analog-to-digital conversion mechanism 140 .

The analog-to-digital conversion mechanism 140 of this embodiment can adopt the switched capacitor type 10-bit precision AD converter TLC15543 of Ti Company. The analog-to-digital converter TLC15543 has 11 channels, three built-in self-test modes, and provides EOC (conversion complete) signal. The interface between the analog-to-digital converter TLC15543 and the single-chip microcomputer adopts a serial interface mode, which has few leads and is simple to connect with the single-chip microcomputer.

The data collection mechanism 120 of present embodiment can adopt the EZ-USB control chip of CY7C68013A-128AXC of CYPRESS company, and it has integrated an enhanced 8051 core, 16KB RAM, 4KB FIFO memory, intelligent USB serial engine (SIE) , USB2.0 data transceiver, 5 8-bit I/O ports, 16-bit address lines, 8-bit data lines, general programmable interface (GPIF). The enhanced 8051 core is fully compatible with the standard 8051, and the performance can reach more than 4 times that of the standard 8051, and the data processing and transmission efficiency is high.

Please refer to FIG. 1 and FIG. 3 , the mounting bracket 200 includes a main bar 210 and a horizontal bar 220 . The main pole 210 is provided on the mobile robot 100 . The main pole 210 is arranged vertically. Specifically, in this embodiment, a chassis 102 is fixedly installed on the mobile robot 100 . The chassis 102 has a mounting slot (not shown). The shape and size of the mounting groove are adapted to the shape and size of the bottom of the main rod 210, and the bottom of the main rod 210 can be inserted into and locked in the mounting groove. In this embodiment, there are three main rods 210 , correspondingly, three chassis 102 are provided on the mobile robot 100 or one chassis 102 has three installation slots. Three main rods 210 are arranged on the chassis 102 in parallel. It can be understood that, in other embodiments, there may be only one main rod 210 , or there may be multiple rods such as two or four.

Please refer to FIG. 3 and FIG. 4 , in this embodiment, each main rod 210 includes a plurality of unit rods 212 and a plurality of connecting pieces 214 between rods. Adjacent unit rods 212 are detachably connected by inter-rod connectors 214 . The main rod 210 adopts a detachable structure, the height of the main rod 210 can be adjusted according to the specific application environment, and it is easy to disassemble and easy to carry. Further, the thickness (that is, the degree of thickness) of the multiple unit rods 212 of each main rod 210 decreases sequentially from bottom to top when the unit rods 212 are cylindrical rods. The gradual thickness design can improve the installation stability of the entire main pole 210 on the chassis 102 and avoid shaking when moving.

The crossbar 220 is disposed on the main pole 210 . In this embodiment, there are multiple cross bars 220 . A plurality of cross bars 220 are respectively arranged at different heights of the main bar 210 . The distance between adjacent cross bars 220 is preferably equidistant. A clamping mechanism (not shown) is provided on the cross bar 220 . The clamping mechanism is detachably connected to the main rod 210 .

In this embodiment, a plurality of horizontal bars 220 are arranged in parallel to form a planar detection network, and correspondingly, a plurality of main bars 210 are arranged in parallel. It can be understood that, in other embodiments, the plurality of cross bars 220 can also be intersected to form a three-dimensional detection network, and correspondingly, the plurality of main bars 210 can form a columnar structure as required.

The temperature and humidity sensor 300 is used to measure the temperature and humidity of the environment. A plurality of temperature and humidity sensors 300 are arranged on each horizontal bar 220 . A plurality of temperature and humidity sensors 300 on each horizontal bar 220 are arranged at different positions of the horizontal bar 220 . The temperature and humidity sensors 300 on different horizontal bars 220 are vertically aligned and arranged. In this embodiment, the multiple temperature and humidity sensors 300 on each horizontal bar 220 are evenly distributed on the horizontal bar 220 , and the temperature and humidity sensors 300 on different horizontal bars 220 are vertically aligned. The temperature and humidity sensor 300 is electrically connected to the data collection unit 120 to send temperature data to the data collection unit 120 and to receive control request instructions sent by the control unit 110 .

In this embodiment, the temperature and humidity sensor 300 may use a DHT21 digital temperature and humidity sensor. DHT21 digital temperature and humidity sensor is a composite sensor with calibrated digital signal output for temperature and humidity detection. DHT21 digital temperature and humidity sensor includes capacitive humidity sensing element and NTC (negative temperature coefficient thermistor) temperature measuring element. DHT21 digital temperature and humidity sensor has a single-wire serial interface, and the signal transmission distance can reach more than 20m. It can be understood that in other embodiments, the temperature and humidity detection can also be realized by separate temperature sensors and humidity sensors. Correspondingly, there are multiple temperature sensors and humidity sensors, and multiple temperature sensors on each crossbar Corresponding to the positions of the multiple humidity sensors, the temperature sensor and the humidity sensor are respectively electrically connected to the data acquisition mechanism 120 .

The wind speed sensor 400 is used to detect the air flow condition of the environment. In this embodiment, at least one wind speed sensor 400 is disposed on each cross bar 220 . The wind speed sensor 400 is electrically connected with the data collection unit 120 to send the collected wind speed signal to the data collection unit 120 . The data acquisition mechanism 120 is electrically connected to the analog-to-digital conversion mechanism 140, and the analog-to-digital conversion mechanism 140 converts the corresponding electrical signal into a digital signal and sends it to the data acquisition mechanism 120. As in this embodiment, the analog-to-digital conversion mechanism 140 converts the wind speed sensor The wind speed electric signal detected by 400 is converted into a digital signal and sent to the data acquisition mechanism 120 . The wind speed sensor 400 can also receive the control request command sent by the control mechanism 110 .

The wind speed sensor 400 of this embodiment adopts the LFES series voltage output wind speed sensor, such as the LFWS05A wind speed sensor. The measured wind speed range of the wind speed sensor 400 is 0-10m/s, the response time is less than 20ms, the sensitivity is high, bidirectional measurement is possible, and the miniature design is easy to install.

It can be understood that, in other embodiments, the wind speed sensor 400 can also be a digital wind speed sensor, and correspondingly, the wind speed sensor 400 can be directly electrically connected with the data collection mechanism 120 to send wind speed data to the data collection mechanism 120, and Receive and respond to the request instruction sent by the data collection mechanism 120 .

Please refer to FIG. 1 and FIG. 5 , in this embodiment, the mounting bracket 200 further includes a sensor mounting mechanism 230 . The sensor installation mechanism 230 includes a fixing rod 231 , a washer 232 , a spring 233 , a sleeve 234 and a locking nut 235 . Both ends of the fixing rod 231 have external threads. Each cross bar 220 is provided with a plurality of uniformly distributed screw holes (not shown). One end of the fixing rod 231 can be inserted into the screw hole and threadedly connected with the cross bar 220 . The washer 232 , the spring 233 , the sleeve 234 and the locking nut 235 are sleeved on the fixing rod 231 in sequence. The wind speed sensor 400 can be sleeved on the fixed rod 231 and can be limited between the spring 233 and the sleeve 234 . The temperature and humidity sensor 300 is sleeved on the fixing rod 231 and limited between the sleeve 234 and the locking nut 235 , and can be locked by the locking nut 235 and the external thread at the other end of the fixing rod 231 .

In this embodiment, the wind speed sensor 400 and the temperature and humidity sensor 300 are installed on the sensor installation mechanism 230 in the middle of each crossbar 220 , and only the temperature and humidity sensor 300 is installed on the sensor installation mechanisms 230 at other positions. It can be understood that, in other embodiments, if there are multiple wind speed sensors 400 on each cross bar 220, the multiple wind speed sensors 400 are not limited to only being arranged on the sensor installation mechanism 230 in the middle of the cross bar 220, as can be used with Install etc. on the adjacent sensor installation mechanism 230 in the middle.

The control mechanism 110 is used to receive the temperature data, humidity data and wind speed data transmitted by the data acquisition mechanism 120, and send the positioning information of the mobile robot 100 and the temperature issue, humidity data and wind speed data in the form of data packets through the data transmission mechanism 130. To a remote visual inspection mechanism 500 . In addition, the control mechanism 110 is also used to receive the request command sent by the visualization detection mechanism 500 through the data transmission mechanism 130 to control the actions of the mobile robot 100 , the temperature and humidity sensor 300 and the wind speed sensor 400 .

The control mechanism 110 controls the collection program in a multi-threaded manner, which can be easily integrated with the navigation program of the mobile robot 100, so the three-dimensional coordinates of the collection point can accurately correspond to the collected environmental parameters (Celsius temperature, relative humidity, wind speed). Analytics provide important data.

In this embodiment, the visual detection mechanism 500 includes an input and display mechanism. The input and display mechanism is electrically connected with the control mechanism 110 . The input and display mechanism is used for inputting operation instructions and for digitally displaying the detection results of the temperature and humidity sensor 300 and the wind speed sensor 400 .

In this embodiment, the temperature and humidity sensor 300 and the wind speed sensor 400 are electrically connected to the data acquisition mechanism 120 through a socket. The data acquisition mechanism 120 is electrically connected to the analog-to-digital conversion mechanism 140 through GPIO. When receiving the data acquisition request signal, the data acquisition mechanism 120 obtains the digital signal of the temperature and humidity sensor 300 and the voltage signal of the wind speed sensor 400 according to the communication protocol of each sensor, and the GPIO controls the analog-to-digital conversion mechanism 140 to complete the analog of the wind speed sensor 400 acquisition signal. Data conversion, the control mechanism 110 and the data acquisition mechanism 120 complete the initialization and parameter setting of the USB endpoint through API functions, and send data packets and handshake signals. Each sensor signal is sent to the control mechanism 110 through a USB serial engine (SIE) and a USB2.0 data transceiver.

In addition, in this embodiment, the three-dimensional detection device 10 for indoor environment heat distribution is also provided with an alarm mechanism (not shown in the figure). The alarm mechanism is electrically connected to the control mechanism 110 and/or the data collection mechanism 120, and when the control mechanism 110 and/or the data collection mechanism 120 detects that the collected environmental parameters exceed preset values, the alarm mechanism acts and sends out an alarm signal.

The above-mentioned three-dimensional detection device 10 for indoor environment thermal distribution is provided with the temperature and humidity sensor 300 and the wind speed sensor 400 on the mobile robot 100, which is convenient to move and flexible to use, and each sensor is located at different heights, which can monitor the indoor environment at different heights. Three-dimensional temperature, humidity and wind speed detection. The three-dimensional detection device 10 for thermal distribution of the indoor environment can complete the three-dimensional collection of environmental parameters by using fewer sensors, and the detection space covers a wide area without any dependence on the detection area itself, and has strong applicability.

The various technical features of the above-mentioned embodiments can be combined arbitrarily. For the sake of concise description, all possible combinations of the various technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only express several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the patent scope of the invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (10)

1. an indoor environment heat distribution three-dimensional detecting device, is characterized in that, comprising:

Visual retrieval mechanism;

Mobile robot, is inside provided with control gear, data acquisition mechanism and data-set structure;

Mounting bracket, described mounting bracket comprises mobile jib and cross bar, and described mobile jib is located on described mobile robot, and described cross bar has many, and many described cross bars are located at the differing heights place of described mobile jib;

For the temperature sensor of measuring tempeature, cross bar described in every root is provided with multiple described temperature sensor, and the multiple described temperature sensor on cross bar described in every root is located at the diverse location place of described cross bar;

For measuring the humidity sensor of humidity, cross bar described in every root is provided with multiple described humidity sensor, and the multiple described humidity sensor on cross bar described in every root is distinguished corresponding with the position of multiple described temperature sensor; And

For the air velocity transducer of measuring wind, described in every root, cross bar is provided with air velocity transducer described at least one;

Described control gear is electrically connected with described data acquisition mechanism and described data-set structure, described data acquisition mechanism and described temperature sensor, described humidity sensor and the electrical connection of described air velocity transducer, the temperature data that described control gear gathers for receiving described data acquisition mechanism, humidity data and air speed data, described control gear is also for controlling described mobile robot's autonomous, described control gear also for control described mobile robot's movement while by the locator data of described mobile robot and temperature data, humidity data and air speed data are sent to long-range described Visual retrieval mechanism by described data-set structure after being packaged into packet.

2. indoor environment heat distribution three-dimensional detecting device as claimed in claim 1, it is characterized in that, described mobile jib has many, and many described mobile jibs are set in parallel on described mobile robot.

3. indoor environment heat distribution three-dimensional detecting device as claimed in claim 2, it is characterized in that, mobile jib described in every root comprises web member between many root units bar and multiple bar, by the detachable connection of web member between described bar between adjacent described unit bar.

4. indoor environment heat distribution three-dimensional detecting device as claimed in claim 3, it is characterized in that, the rugosity of many root units bar of mobile jib described in every root reduces from bottom to up successively.

5. indoor environment heat distribution three-dimensional detecting device as claimed in claim 1, it is characterized in that, described temperature sensor and described humidity sensor integrate formation Temperature Humidity Sensor, and described Temperature Humidity Sensor is electrically connected with described data-set structure and described data acquisition mechanism.

6. indoor environment heat distribution three-dimensional detecting device as claimed in claim 5, it is characterized in that, described Temperature Humidity Sensor on cross bar described in every root is uniformly distributed along described cross bar, and the described temperature sensor on different described cross bars is arranged in vertical direction alignment.

7. indoor environment heat distribution three-dimensional detecting device as claimed in claim 6, it is characterized in that, described mounting bracket also comprises sensor attachment mechanism; Described sensor attachment mechanism comprises fixed bar, pad, spring, sleeve and set nut; The two ends of described fixed bar have external thread, and cross bar described in every root is provided with multiple equally distributed screw, and one end of described fixed bar can be inserted in described screw and is threaded with described cross bar; Described pad, described spring, described sleeve and described set nut are set on described fixed bar successively; Described air velocity transducer can be set on described fixed bar and can be spacing between described spring and described sleeve; Described Temperature Humidity Sensor to be set on described fixed bar and spacing between described sleeve and described set nut, and can be locked by the external thread of described set nut and the described fixed bar other end.

8. indoor environment heat distribution three-dimensional detecting device as claimed in claim 7, it is characterized in that, be located on the described sensor attachment mechanism in the middle part of every root cross bar and described air velocity transducer and described Temperature Humidity Sensor are installed simultaneously, the described sensor attachment mechanism of other positions is only provided with described Temperature Humidity Sensor.

9. the indoor environment heat distribution three-dimensional detecting device according to any one of claim 1 ~ 8, it is characterized in that, described mobile robot is also provided with analog to digital conversion mechanism, to described data acquisition mechanism, described analog to digital conversion mechanism is electrically connected that corresponding electric signal is converted to digital signal, and transfer to described data acquisition mechanism.

10. the indoor environment heat distribution three-dimensional detecting device according to any one of claim 1 ~ 8, it is characterized in that, described Visual retrieval mechanism has input and indication mechanism, described input and indication mechanism are used for entering the operating instructions, and for the detection data of temperature sensor, described humidity sensor and described air velocity transducer described in numerical monitor.