CN207115108U - Intelligent building security protection service robot based on single-chip microcomputer and Internet of Things - Google Patents
Intelligent building security protection service robot based on single-chip microcomputer and Internet of Things Download PDFInfo
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- CN207115108U CN207115108U CN201720975084.XU CN201720975084U CN207115108U CN 207115108 U CN207115108 U CN 207115108U CN 201720975084 U CN201720975084 U CN 201720975084U CN 207115108 U CN207115108 U CN 207115108U
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Abstract
The utility model discloses a kind of intelligent building security protection service robot based on single-chip microcomputer and Internet of Things, including multiple four-wheel drive wheels, singlechip chip, multiple motors, multiple DC electric machine drive apparatus, multiple incremental optical-electricity encoders, CAN high speed reception chip, tri coloured lantern, dust sensor, rain sensor, Temperature Humidity Sensor, photoelectric sensor, serial ports type touch-screen and radio communication receiver；The utility model has abandoned the fixed mode of existing monitoring system, not only increases the flexibility of monitoring system, and in the absence of monitoring dead angle.Robot can transmit data to intelligent terminal to realize monitoring and safety protection function in real time under automatic patrol pattern.In addition, the utility model need not set up monitoring circuit in addition, strong adaptability, that is, throw and use, it is simple, conveniently, it is economical, reliable.
Description
Technical field
It the utility model is related to a kind of robot device, more particularly to a kind of intelligent building based on single-chip microcomputer and Internet of Things
Security protection service robot.
Background technology
With the development of science and technology, building safety-protection system start to be widely applied to colleges and universities' office block, company's building,
The public building such as office building and machine-operated office block, the mode of traditional artificial monitoring and camera head monitor is instead of, is carried significantly
The security of public building has been risen, with the improvement of living standards, people are also increasingly valued personal safety and safeguarding of assets,
The safety of inhabitation building, environment etc. are also into the critical consideration index moved in, the building safety-protection system structure function of prior art
It is single, it is not intelligent enough, can not remote control and interaction.
Utility model content
The purpose of this utility model：A kind of intelligent building security protection service robot based on single-chip microcomputer and Internet of Things is provided,
With safety protection function, personnel in external clerical worker and building can be given to provide help, can be applied directly to colleges and universities' office block,
Company's building, office building and machine-operated office block etc., there is good practical significance.
To achieve these goals, the technical solution of the utility model is：
A kind of intelligent building security protection service robot based on single-chip microcomputer and Internet of Things, including multiple four-wheel drive wheels, list
Piece movement piece, multiple motors, multiple DC electric machine drive apparatus, multiple incremental optical-electricity encoders, the high quick access of CAN
Receive chip, tri coloured lantern, dust sensor, rain sensor, Temperature Humidity Sensor, photoelectric sensor, serial ports type touch-screen and nothing
Line communication receiving device；Described multiple four-wheel drive wheels are respectively separated on robot chassis, described multiple drivings
The output shaft of motor and synchronous axial system coaxially connected with the wheel shaft of described multiple four-wheel drive wheels respectively, described multiple drivings
Motor is connected by described multiple DC electric machine drive apparatus with described singlechip chip respectively；Described multiple increment types
Photoelectric encoder is respectively separated on robot chassis, described multiple incremental optical-electricity encoders respectively with it is described more
Individual motor is corresponding to be connected；Described singlechip chip is provided with control area net(CAN) communication interface, and CAN center lines pass through described
CAN high speed reception chip is connected in the control area net(CAN) communication interface of described singlechip chip；Described tri coloured lantern,
Dust sensor, rain sensor, Temperature Humidity Sensor and photoelectric sensor are connected with described singlechip chip respectively, described
Singlechip chip pass through the described external intelligent terminal of radio communication receiver.
The above-mentioned intelligent building security protection service robot based on single-chip microcomputer and Internet of Things, wherein, described four-wheel drive
Take turns as Mecanum wheel, and the roller of described Mecanum wheel is arranged in order with ground in 45 °.
The above-mentioned intelligent building security protection service robot based on single-chip microcomputer and Internet of Things, wherein, described monolithic movement
The model STM32F405RGT6 of piece.
The above-mentioned intelligent building security protection service robot based on single-chip microcomputer and Internet of Things, wherein, described direct current generator
The model AQMH3615NS of drive device.
The above-mentioned intelligent building security protection service robot based on single-chip microcomputer and Internet of Things, wherein, described CAN is high
The model TJA1050 of fast reception chip.
The above-mentioned intelligent building security protection service robot based on single-chip microcomputer and Internet of Things, wherein, described humiture passes
The model DHT11 of sensor.
The above-mentioned intelligent building security protection service robot based on single-chip microcomputer and Internet of Things, wherein, described photoelectric sensing
The model TCRT5000 of device.
The above-mentioned intelligent building security protection service robot based on single-chip microcomputer and Internet of Things, wherein, described radio communication
The model ESP8266 of reception device.
The utility model has abandoned the fixed mode of existing monitoring system, not only increases the flexibility of monitoring system,
And in the absence of monitoring dead angle.Robot can transmit data to intelligent terminal to realize reality under automatic patrol pattern
When monitoring and safety protection function.In addition, the utility model need not set up monitoring circuit in addition, strong adaptability, that is, throw and use, letter
It is single, conveniently, it is economical, reliable.
Brief description of the drawings
Fig. 1 is the theory diagram of intelligent building security protection service robot of the utility model based on single-chip microcomputer and Internet of Things.
Fig. 2 is four increment types of intelligent building security protection service robot of the utility model based on single-chip microcomputer and Internet of Things
The interface schema of photoelectric encoder.
Fig. 3 is that the CAN of intelligent building security protection service robot of the utility model based on single-chip microcomputer and Internet of Things is high
The interface schema of fast reception chip.
Fig. 4 is that the radio communication of intelligent building security protection service robot of the utility model based on single-chip microcomputer and Internet of Things connects
The serial interface figure of receiving apparatus.
Fig. 5 is the singlechip chip of intelligent building security protection service robot of the utility model based on single-chip microcomputer and Internet of Things
Schematic diagram.
Fig. 6 is that the radio communication of intelligent building security protection service robot of the utility model based on single-chip microcomputer and Internet of Things connects
The schematic diagram of receiving apparatus.
Fig. 7 is the temperature and humidity sensing of intelligent building security protection service robot of the utility model based on single-chip microcomputer and Internet of Things
The circuit diagram of device 10.
Fig. 8 is the photoelectric sensor of intelligent building security protection service robot of the utility model based on single-chip microcomputer and Internet of Things
Circuit diagram.
Embodiment
Embodiment of the present utility model is further illustrated below in conjunction with accompanying drawing.
Refer to shown in accompanying drawing 1, a kind of intelligent building security protection service robot based on single-chip microcomputer and Internet of Things, including it is more
Individual four-wheel drive wheel 1, singlechip chip 2, multiple motors 3, multiple DC electric machine drive apparatus 4, multiple increment photoelectrics
Encoder 5, CAN high speed reception chip 6, tri coloured lantern 7, dust sensor 8, rain sensor 9, Temperature Humidity Sensor 10,
Photoelectric sensor 11, serial ports type touch-screen 12 and radio communication receiver 13；Described multiple four-wheel drive wheels 1 are respectively separated
On robot chassis, the output shafts of described multiple motors 3 wheel with described multiple four-wheel drive wheels 1 respectively
Axle is coaxially connected and synchronous axial system, described multiple motors 3 respectively by described multiple DC electric machine drive apparatus 4 with
Described singlechip chip 2 connects；Described multiple incremental optical-electricity encoders 5 are respectively separated on robot chassis,
The connection corresponding with described multiple motors 3 respectively of described multiple incremental optical-electricity encoders 5；Described singlechip chip
2 are connected to institute provided with control area net(CAN) communication interface bxCAN, CAN center line by described CAN high speed reception chip 6
On the control area net(CAN) communication interface bxCAN for the singlechip chip 2 stated；Described tri coloured lantern 7, dust sensor 8, rainfall sensing
Device 9, Temperature Humidity Sensor 10 and photoelectric sensor 11 are connected with described singlechip chip 2 respectively, described singlechip chip 2
Pass through described 13 external intelligent terminal of radio communication receiver.
Described four-wheel drive wheel 1 can use the Mecanum wheel of prior art, and the roller of described Mecanum wheel
It is arranged in order with ground in 45 °, when being contacted with ground, ground can give the frictional force that four-wheel drive wheel presss from both sides 45 degree with rotating shaft, this
Frictional force can be divided into X-component and Y-component, by the rotating or stopping of wheel, change the direction of XY component forces, can adjust bottom
Disk does the movement of various modes.Using the advantages of Mecanum wheel can be achieved on forward chassis, traversing, diagonal, rotation and its
The motion modes such as combination.Therefore, this chassis is especially suitable for transhipment space is limited, operation path is narrow building, cabin and machine
The environment such as cabin.
The model STM32F405RGT6 of described singlechip chip 2, from STM32F405RGT6 chips as chassis
The central controller of mobile platform, complete the tasks such as sensor information collection, motor control, PERCOM peripheral communication extension, the chip work
Make highest frequency up to 84MHz, high-speed computation can be realized.Processor has three kinds of low-power consumption modes and flexible clock control machine
System, can reasonably be optimized according to requirement of system design to it.Operating voltage can be between 2.0-3.3V, in 3.3V confession
Under piezoelectric voltage, its typical small size electric current is only 1.4 μ A；The motor drive mode of use is armature control mode, passes through output
PWM pulse-width modulation PWMs level controls the armature voltage of motor 3, realizes speed-regulating function.
Model AQMH3615NS, the AQMH3615NS DC electric machine drive apparatus 4 of described DC electric machine drive apparatus 4
Control situation it is as follows：Need first to brake more than 0.1S again to reverse signal when PWM is 100%, otherwise motor 3 is anti-
To electromotive force supply voltage sudden change may be caused driving chip is entered guard mode and cause error running, for non-full PWM
State, if to change the rotation direction of motor, preferably also first brake more than 0.1S gives reverse signal again, in order to avoid cause power supply electric
It is pressed with larger fluctuation；For incremental optical-electricity encoder, if photoelectric code disk every revolution exports P pulse, in T1(unit
For S) in the time, encoder input m1The rotating speed Ns (unit r/min) of pulse, then motor.
In T2(T2=T1+ Δ T, unit S) in the time, if now the count internal frequency of singlechip chip 2 is fc, count
It is worth for m2, service life method calculating T2,
The final real-time rotating speed that can obtain each motor of mobile platform.
The model TJA1050 of described CAN high speed reception chip 6.
Described dust sensor 8 can use Sharp's PM2.5 dust sensors.
The model DHT11 of described Temperature Humidity Sensor 10.Each DHT11 sensors are in extremely accurate humidity school
Test in room and calibrated.Calibration factor is stored in OTP memory in the form of program, processing of the sensor internal in detection signal
During to call these calibration factors.One wire system serial line interface, the system integration is set to become simple quick.Extra small volume, pole
Low power consumption, signal transmission distance become the even the harshest application scenario of types of applications most up to more than 20 meters
Good choosing is then.Product is the single pin package of 4 pins, easy to connect.The circuit of DHT11 sensors as shown in Figure 7, can draw from DOUT
Pin reads temperature and humidity information.
The model TCRT5000 of described photoelectric sensor 11.TCRT5000 photoelectric sensors sensor is used for judging
No someone comes, and its circuit diagram is as shown in Figure 8.
Described serial ports type touch-screen can use the touch-screen that prestige synthetic fibre leads to.
The model ESP8266 of described radio communication receiver 13.Wireless remote control mode is selected, can more be facilitated
Flexibly robot is manipulated, it is not necessary to which artificial activity can, which is realized, is interrogated and examined visitor or conveniently come to visit
Person's awareness information, add the reliability of system.
Because photo-electric velocity-measuring system has the advantages that low inertia, low noise, high-resolution and high accuracy, it is usually used in high-precision
Spend tachometric survey and the feedback of torque motor.Optical-electricity encoder be it is a kind of by opto-electronic conversion by the geometry of machinery on output shaft
Displacement is converted into the sensor of pulse or digital quantity.Photoelectric encoder can divide according to its scale method and signal output form
For incremental optical-electricity encoder, absolute optical encoder, the incremental optical-electricity encoder 5 that the utility model is selected has structure
Simply, the advantages that mechanical average life span was up to more than tens of thousands of hours, strong antijamming capability, reliability height, suitable transmission over long distances.
Refer to shown in accompanying drawing 2, rotation-speed measuring device of the incremental optical-electricity encoder 5 as motor 3, measuring principle is by right
Unit interval pulse is counted.But the method for being used to measure in practice, is divided into following three kinds：First method is that measurement is being advised
Fix time interior pulse number, i.e. tachometer value is calculated in measurement frequency, and the method is referred to as method Measuring Frequency Method, and it is height in rotating speed
Precision is higher in the case of speed.Second is the time difference measured between continuous two pulses real-time rotating speed to be always calculated,
The method is referred to as method periodic method, and the method precision in the case where rotating speed is low-speed situations is higher.The third be and meanwhile time of measuring and
Rotating speed is calculated in pulse number in this time, and the method is referred to as method frequency cycle method.The method combines above frequency measurement
It is the advantages of method and measuring period method, more conventional in practice.And the utility model is exactly to use the third speed-measuring method.
Refer to shown in accompanying drawing 3, control area net(CAN) communication interface bxCAN refers to extend CAN substantially, can be with the CPU of very little
Load carrys out high efficiency of transmission and handles a large amount of messages.The priority request for also supporting message to send simultaneously, i.e. priority can be by soft
Part is configured.For the practical application that security requirement is strict, it can also provide the institute for supporting time triggered informational function
There is communication function.In view of the above advantage that CAN has, CAN is mainly used to be driven motor 3 in the utility model
Control, can be total by CAN high speed reception chip 6TJA1050 and CAN because main control chip embeds CAN controller
Line connects, and this provides reliable wire communication for the control of mobile platform.
Refer to shown in accompanying drawing 4, operating personnel can send related fortune by radio communication receiver 13 by host computer
Dynamic instruction, its security advanced can be ensured in complex environment.And communication when wireless data transmission high speed, stability
And accuracy, it is directly connected to functional reliability of the whole control system under remote wireless control, therefore the selection of wireless module
It is particularly important.
Refer to shown in accompanying drawing 5 and accompanying drawing 6, main control part is formed using STM32103c8t6+ESP8266, sensor portion
Dividing has tri coloured lantern 7, dust sensor 8, rain sensor 9, Temperature Humidity Sensor 10 and photoelectric sensor 11 to form.Pass through monolithic
2 sensor informations collected of movement piece upload to high in the clouds, and then high in the clouds will send information to the mobile phone terminal of personnel in building,
For staff's Query Information in security personnel and building.The information of equipment is transmitted to ESP8266 by STM32 by USART2, then will
Control device and can read transducer handled, the result after processing is passed to structure equipment variables, by timer, one
Straight timing reports information to high in the clouds.
The utility model realizes that Migrant women looks for the inquiry service function of people and consulting thing by adding 7 cun of touch-screens,
A feedback information is obtained when someone is in Query Information simultaneously, realizes simple safety protection function.Staff in building and
Security personnel can obtain outdoor environment information in real time using cell phone application by connecting WiFi, be whole building people so as to complete one
One intelligent building security protection robot of member's service.
Security personnel by the rocking bar of Digiplex can directly control machine people advance, retrogressing, left, right translation, to
Anticlockwise and to right rotation, Security Personnel, which is sitting in interior, easily control machine people to complete security protection work, alleviate security
The work load of personnel, work enjoyment is added, while reduce the cost of security protection work.
In security personnel and building staff can be obtained in real time by cell phone application humiture outside building, air quality and
Rainfall.Be capable of deciding whether rain and whether someone by robot by query by screen information.Can be square by these information
Just in building staff trip.Display portion shows the information of sensor using serial ports screen, and gives to look for people and consulting
The people of thing provides Query Information.The demand information of the multi-stag menu setting Migrant women of logical touch screen design, enhances people
The flexibility of machine interaction.
Some conventional environmental informations are creatively sent in cell phone application by the utility model by WiFi, by this
Function is dissolved into security protection service robot, can the preferably personnel of Services Building in the world, provides and facilitates for people's trip.
In summary, the utility model has abandoned the fixed mode of existing monitoring system, not only increases monitoring system
Flexibility, and in the absence of monitoring dead angle.Robot can transmit data to intelligent terminal under automatic patrol pattern and set
For with the real-time monitoring of realization and safety protection function.In addition, the utility model need not set up monitoring circuit in addition, strong adaptability, i.e.,
Throw and use, it is simple, conveniently, it is economical, reliable.
Preferred embodiment of the present utility model is the foregoing is only, not thereby limits the scope of the claims of the present utility model,
Every equivalent structure transformation made using the utility model description, or it is directly or indirectly related with other are attached to
The technical field of product, similarly it is included in scope of patent protection of the present utility model.
Claims (8)
- A kind of 1. intelligent building security protection service robot based on single-chip microcomputer and Internet of Things, it is characterised in that：Including multiple four-wheels Driving wheel, singlechip chip, multiple motors, multiple DC electric machine drive apparatus, multiple incremental optical-electricity encoders, CAN Bus high speed reception chip, tri coloured lantern, dust sensor, rain sensor, Temperature Humidity Sensor, photoelectric sensor, serial ports type Touch-screen and radio communication receiver；Described multiple four-wheel drive wheels are respectively separated on robot chassis, described Multiple motors output shaft and synchronous axial system coaxially connected with the wheel shaft of described multiple four-wheel drive wheels respectively, it is described Multiple motors be connected respectively by described multiple DC electric machine drive apparatus with described singlechip chip；Described Multiple incremental optical-electricity encoders are respectively separated on robot chassis, described multiple incremental optical-electricity encoders difference Connection corresponding with described multiple motors；Described singlechip chip is provided with control area net(CAN) communication interface, CAN It is connected to by described CAN high speed reception chip in the control area net(CAN) communication interface of described singlechip chip；Institute Tri coloured lantern, dust sensor, rain sensor, Temperature Humidity Sensor and the photoelectric sensor stated respectively with described monolithic movement Piece connects, and described singlechip chip passes through the described external intelligent terminal of radio communication receiver.
- 2. the intelligent building security protection service robot according to claim 1 based on single-chip microcomputer and Internet of Things, its feature exist In：Described four-wheel drive wheel is Mecanum wheel, and the roller of described Mecanum wheel is arranged in order with ground in 45 °.
- 3. the intelligent building security protection service robot according to claim 1 based on single-chip microcomputer and Internet of Things, its feature exist In：The model STM32F405RGT6 of described singlechip chip.
- 4. the intelligent building security protection service robot according to claim 1 based on single-chip microcomputer and Internet of Things, its feature exist In：The model AQMH3615NS of described DC electric machine drive apparatus.
- 5. the intelligent building security protection service robot according to claim 1 based on single-chip microcomputer and Internet of Things, its feature exist In：The model TJA1050 of described CAN high speed reception chip.
- 6. the intelligent building security protection service robot according to claim 1 based on single-chip microcomputer and Internet of Things, its feature exist In：The model DHT11 of described Temperature Humidity Sensor.
- 7. the intelligent building security protection service robot according to claim 1 based on single-chip microcomputer and Internet of Things, its feature exist In：The model TCRT5000 of described photoelectric sensor.
- 8. the intelligent building security protection service robot according to claim 1 based on single-chip microcomputer and Internet of Things, its feature exist In：The model ESP8266 of described radio communication receiver.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720975084.XU CN207115108U (en) | 2017-08-05 | 2017-08-05 | Intelligent building security protection service robot based on single-chip microcomputer and Internet of Things |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720975084.XU CN207115108U (en) | 2017-08-05 | 2017-08-05 | Intelligent building security protection service robot based on single-chip microcomputer and Internet of Things |
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| CN207115108U true CN207115108U (en) | 2018-03-16 |
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| CN201720975084.XU Expired - Fee Related CN207115108U (en) | 2017-08-05 | 2017-08-05 | Intelligent building security protection service robot based on single-chip microcomputer and Internet of Things |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114689052A (en) * | 2021-10-19 | 2022-07-01 | 江苏理工学院 | An indoor security robot system and its autonomous navigation method |
-
2017
- 2017-08-05 CN CN201720975084.XU patent/CN207115108U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114689052A (en) * | 2021-10-19 | 2022-07-01 | 江苏理工学院 | An indoor security robot system and its autonomous navigation method |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180316 Termination date: 20180805 |
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| CF01 | Termination of patent right due to non-payment of annual fee |