阅读说明：本技术 一种智能循迹多功能消毒机器人 (Intelligent tracking multifunctional disinfection robot ) 是由 刘刚民 于 2021-08-21 设计创作，主要内容包括：本发明涉及车辆控制技术领域,尤其涉及一种智能循迹多功能消毒机器人。包括主板,主板外侧有外壳,外壳两侧均有两根连杆一,连杆一一端有滚轮一,相邻两个滚轮一之间有履带,外壳一端有两根连杆二,连杆二一侧有连杆三,连杆三一端有滚轮二,连杆二下方有灰度传感器,外壳上方有消毒水罐,消毒水罐内有自动喷洒装置,自动喷洒装置包括圆盘,圆盘一侧有电机,另一侧有连杆四,连杆四下方有滑槽,一端有滑块,滑块一侧有圆柱,滑块下方有弹簧一,滑槽一侧有活塞槽,活塞槽内有活塞,活塞上有槽位,槽位内有圆锥,圆锥一端有弹簧二,活塞下方有弹簧三。本发明提供了一种可以自动循迹,可以自动喷洒消毒水的智能循迹多功能消毒机器人。(The invention relates to the technical field of vehicle control, in particular to an intelligent tracking multifunctional disinfection robot. The automatic spraying device comprises a mainboard, a shell is arranged on the outer side of the mainboard, two first connecting rods are arranged on two sides of the shell, a first roller is arranged at one end of each connecting rod, a track is arranged between every two adjacent first rollers, two second connecting rods are arranged at one end of each shell, a third connecting rod is arranged at one side of each connecting rod, a second roller is arranged at one end of each connecting rod, a gray sensor is arranged below each connecting rod, a disinfection water tank is arranged above each shell, an automatic spraying device is arranged in each disinfection water tank, each automatic spraying device comprises a disc, a motor is arranged on one side of each disc, a fourth connecting rod is arranged on the other side of each connecting rod, a sliding groove is arranged below each connecting rod, a sliding block is arranged at one end of each connecting rod, a cylinder is arranged on one side of each sliding block, a first spring is arranged below each sliding groove, a piston is arranged in each piston groove, a groove is provided with a cone, one end of each cone is provided with a second spring, and a third spring is arranged below each piston. The invention provides an intelligent tracking multifunctional disinfection robot which can automatically track and spray disinfectant.)

1. The utility model provides a multi-functional disinfection machine people of intelligence tracking which characterized in that: comprises a mainboard, a shell (2) is arranged on the outer side of the mainboard, two first connecting rods (3) are arranged on two sides of the shell (2), a first roller (4) is arranged at one end of each first connecting rod (3), a track (5) is arranged between every two adjacent first rollers (4), two second connecting rods (6) are arranged at one end of the shell (2), a third connecting rod (7) is arranged on one side of each second connecting rod (6), a second roller (10) is arranged at one end of each third connecting rod (7), two gray level sensors (8) are symmetrically arranged below the second connecting rods (6), each gray level sensor (8) comprises a capacitance filtering branch, a power lamp branch, an infrared emission geminate transistor driving branch and a comparator branch, a disinfection water tank (1) is arranged above the shell (2), an automatic spraying device (13) is arranged in the disinfection water tank (1), and each automatic spraying device (13) comprises a disc (13.1), one side of the disc (13.1) is provided with a motor, the other side of the disc (13.1) is provided with a four connecting rod (13.2), a sliding groove (13.3) is arranged below the four connecting rods (13.2), one end of each four connecting rod (13.2) is positioned in the sliding groove (13.3) and is internally provided with a sliding block (13.4), a cylinder (13.5) is arranged on one side of the sliding block (13.4), a first spring (13.6) is arranged below the sliding block (13.4), a piston groove (13.7) is arranged at one side of the sliding groove (13.3), a piston (13.8) is arranged in the piston groove (13.7), a groove position (13.9) is arranged on the piston (13.8), a cone (13.10) is arranged in the groove position (13.9), a second spring (13.11) is arranged at one end of the cone (13.10), a third spring (13.12) is arranged below the piston (13.8), one side of the piston groove (13.7) is provided with a stop block (13.13), one side inside the disinfection water tank (1) is provided with a water outlet pipe (13.14), and one end of the water outlet pipe (13.14) is provided with an atomizing nozzle (13.15).

2. The intelligent tracking multifunctional disinfection robot of claim 1, wherein: the connecting rod II (6) and the connecting rod III (7) are provided with a shaft I (11) in a penetrating mode, the shaft I (11) is connected with the connecting rod II (6) through a bearing I, and one end of the shaft I (12) is provided with a steering engine (9).

3. The intelligent tracking multifunctional disinfection robot of claim 1, wherein: two shafts II (12) penetrate through the connecting rods III (7), and the shafts II (12) are connected with the rollers II (10) through bearings II.

4. The intelligent tracking multifunctional disinfection robot of claim 1, wherein: the disinfection water tank (1) is connected with the outer shell (2) through bolts.

5. The intelligent tracking multifunctional disinfection robot of claim 1, wherein: the infrared emission geminate transistor driving branch circuit comprises a power supply anode, current starts from the power supply anode and is limited through a 180 omega resistor, so that the current passing through the infrared emission geminate transistor is in a working range, the infrared geminate transistor emits stable infrared light, the comparator circuit starts from VCC and enters a diode through a sliding rheostat with the resistance value set to be 2V, when the input voltage of the anode of the diode is larger than the input voltage of the cathode of the diode, the output voltage of the diode is 5V, and otherwise, the output voltage of the diode is 0V.

6. The intelligent tracking multifunctional disinfection robot of claim 1, wherein: the model of the mainboard is ARM 7.

7. The intelligent tracking multifunctional disinfection robot of claim 1, wherein: the tracking steps of the gray sensor (8) are as follows:

the method comprises the following steps: the left sensor recognizes that the trolley deviates to the right and needs to turn left for adjustment;

step two: the right sensor recognizes that the trolley deviates to the left and needs to rotate to the right for adjustment;

step three: the double recognition and the double non-recognition both indicate that the trolley is normally advanced to run.

8. The intelligent tracking multifunctional disinfection robot of claim 2, wherein: steering wheel (9) adopt handle control, be equipped with bluetooth module on the mainboard, establish the back of being connected with the dolly, when the dolly meets the obstacle that can not cross, turn to through button control steering wheel (9) to the control front wheel lifts.

9. The intelligent tracking multifunctional disinfection robot of claim 1, wherein: slider (13.4) one end is connected to the one end of spring (13.6), spout (13.3) inboard is connected to the other end of spring (13.6), circular cone (13.10) one end is connected to the one end of spring two (13.11), trench (13.9) are inboard connected to the other end of spring two (13.11), piston (13.8) one end is connected to the one end of spring three (13.12), piston groove (13.7) inboard is connected to the other end of spring three (13.12), piston groove (13.7) inboard one end is equipped with the aperture.

Technical Field

The invention relates to the technical field of vehicle control, in particular to an intelligent tracking multifunctional disinfection robot.

Background

Most of large public places cannot be provided with disinfection equipment such as ultraviolet lamp tubes, but people in the public places have large flow and do not lack tourists carrying pets or polluting garbage, the space in the public places is large, the installation of small disinfection equipment is only cup car salaries, along with the rapid development of micro-electronic products such as sensors, single-chip microcomputers and the like, the intelligent robot is taken as a strategic means of national innovation education at first, and then, the intelligent robot has been widely applied in various fields through one-step improvement and innovation.

Disclosure of Invention

The invention provides an intelligent tracking multifunctional disinfection robot which can automatically track and spray disinfectant.

The technical scheme adopted by the invention is as follows: the utility model provides a multi-functional disinfection machine people of intelligence tracking which characterized in that: the automatic spraying device comprises a mainboard, wherein a shell is arranged on the outer side of the mainboard, two first connecting rods are arranged on two sides of the shell, one end of each first connecting rod is provided with a first roller, a crawler belt is arranged between every two adjacent first rollers, one end of the shell is provided with a second connecting rod, one side of each second connecting rod is provided with a third connecting rod, one end of each third connecting rod is provided with a second roller, two gray level sensors are symmetrically arranged below the second connecting rods, each gray level sensor comprises a capacitance filtering branch, a power lamp branch, an infrared emission geminate transistor driving branch and a comparator branch, a disinfection water tank is arranged above the shell, an automatic spraying device is arranged in the disinfection water tank, the automatic spraying device comprises a disc, a motor is arranged on one side of the disc, a fourth connecting rod is arranged on the other side of the disc, a chute is arranged below the fourth connecting rod, a sliding block is arranged in one end of the connecting rod, a cylinder is arranged on one side of the sliding block, the improved disinfection water tank is characterized in that a first spring is arranged below the sliding block, a piston groove is formed in one side of the sliding groove, a piston is arranged in the piston groove, a groove position is formed in the piston, a cone is arranged in the groove position, a second spring is arranged at one end of the cone, a third spring is arranged below the piston, a stop block is arranged on one side of the piston groove, a water outlet pipe is arranged on one side inside the disinfection water tank, and an atomization nozzle is arranged at one end of the water outlet pipe.

And a first shaft penetrates through the second connecting rod and the third connecting rod, the first shaft is connected with the second connecting rod through a first bearing, and a steering engine is arranged at one end of the first shaft.

And a second shaft penetrates through the two third connecting rods, and the second shaft is connected with the second roller through a second bearing.

The disinfection water tank is connected with the outer shell through bolts.

The infrared emission geminate transistor driving branch circuit comprises a power supply anode, current starts from the power supply anode and is limited through a 180 omega resistor, so that the current passing through the infrared emission geminate transistor is in a working range, the infrared geminate transistor emits stable infrared light, the comparator circuit starts from VCC and enters a diode through a sliding rheostat with the resistance value set to be 2V, when the input voltage of the anode of the diode is larger than the input voltage of the cathode of the diode, the output voltage of the diode is 5V, and otherwise, the output voltage of the diode is 0V.

The model of the mainboard is ARM 7.

The tracking steps of the gray sensor are as follows:

the method comprises the following steps: the left sensor recognizes that the robot deviates to the right and needs to turn left for adjustment;

step two: the right sensor recognizes that the robot deviates to the left and needs to turn right for adjustment;

step three: the double recognition and the double non-recognition both represent that the robot is allowed to normally advance to run;

the steering wheel adopts handle control, be equipped with bluetooth module on the mainboard, establish the back of being connected with the robot, when the robot meets the obstacle that can't cross, turn to through button control steering wheel to the control front wheel lifts.

One end of the first spring is connected with one end of the sliding block, the other end of the first spring is connected with the inner side of the sliding groove, one end of the second spring is connected with one end of the cone, the other end of the second spring is connected with the inner side of the groove, one end of the third spring is connected with one end of the piston, the other end of the third spring is connected with the inner side of the piston groove, and one end of the inner side of the piston groove is provided with a small hole.

The invention has the beneficial effects that: the automatic spraying device is provided with two gray level sensors, the two motors are respectively controlled by the two gray level sensors, when the output of one gray level sensor is 1, the motor corresponding to the gray level sensor stops rotating, so that the robot turns, when the output of the other gray level sensor is 1, the result is opposite to the process, the automatic spraying device is arranged, the motors can be opened as required, disinfectant water is sprayed, the front wheels are provided with steering wheels, the steering wheels can be controlled to rotate by certain angles through handles as required, the steering wheels are lifted up, and obstacles are crossed.

Drawings

FIG. 1 is a schematic diagram of the overall structure of an intelligent tracking multifunctional disinfection robot of the invention;

FIG. 2 is a bottom view of an intelligent tracking multifunctional disinfection robot of the present invention;

FIG. 3 is a flowchart of the procedure of an intelligent tracking multifunctional disinfection robot of the present invention;

FIG. 4 is a cross-sectional view of a disinfection water tank of the intelligent tracking multifunctional disinfection robot of the invention;

(1, a disinfection water tank; 2, a shell; 3, a first connecting rod; 4, a first roller; 5, a crawler belt; 6, a second connecting rod; 7, a third connecting rod; 8, a gray sensor; 9, a steering engine; 10, a second roller; 11, a first shaft; 12, a second shaft; 13, an automatic spraying device; 13.1, a disc; 13.2, a fourth connecting rod; 13.3, a sliding groove; 13.4, a sliding block; 13.5, a cylinder; 13.6, a first spring; 13.7, a piston groove; 13.8, a piston; 13.9, a groove; 13.10, a cone; 13.11, a second spring; 13.12, a third spring; 13.13, a stop dog; 13.14, a water outlet pipe; 13.15, an atomizing nozzle)

Detailed Description

The invention will be further explained with reference to the drawings.

The utility model provides a multi-functional disinfection machine people of intelligence tracking which characterized in that: the automatic spraying device comprises a mainboard, wherein a shell 2 is arranged on the outer side of the mainboard, two first connecting rods 3 are arranged on two sides of the shell 2, a first roller 4 is arranged at one end of each first connecting rod 3, a crawler 5 is arranged between every two adjacent first rollers 4, two second connecting rods 6 are arranged at one end of the shell 2, a third connecting rod 7 is arranged on one side of each second connecting rod 6, a second roller 10 is arranged at one end of each third connecting rod 7, two gray level sensors 8 are symmetrically arranged below the corresponding second connecting rods 6, each gray level sensor 8 comprises a capacitance filtering branch, a power lamp branch, an infrared emission geminate transistor driving branch and a comparator branch, a disinfection water tank 1 is arranged above the shell 2, an automatic spraying device 13 is arranged in the disinfection water tank 1, the automatic spraying device 13 comprises a disc 13.1, a motor is arranged on one side of the disc 13.1, a fourth connecting rod 13.2 is arranged on the other side of the disc 13.1, a sliding chute 13.3 is arranged below the fourth connecting rod 13.2, one end of the four connecting rods 13.2 is located in the sliding groove 13.3 and is provided with a sliding block 13.4, one side of the sliding block 13.4 is provided with a cylinder 13.5, a first spring 13.6 is arranged below the sliding block 13.4, a piston groove 13.7 is arranged on one side of the sliding groove 13.3, a piston 13.8 is arranged in the piston groove 13.7, a groove 13.9 is arranged on the piston 13.8, a cone 13.10 is arranged in the groove 13.9, one end of the cone 13.10 is provided with a second spring 13.11, a third spring 13.12 is arranged below the piston 13.8, a stop block 13.13 is arranged on one side of the piston groove 13.7, a water outlet pipe 13.14 is arranged on one side inside the disinfection water tank 1, and an atomizing nozzle 13.15 is arranged at one end of the water outlet pipe 13.14.

A first shaft 11 penetrates through the second connecting rod 6 and the third connecting rod 7, the first shaft 11 is connected with the second connecting rod 6 through a first bearing, and a steering engine 9 is arranged at one end of the first shaft 12.

Two shafts 12 penetrate through the two connecting rods 7, and the two shafts 12 are connected with the two rollers 10 through bearings.

The disinfection water tank 1 is connected with the outer shell 2 through bolts.

The infrared emission geminate transistor driving branch circuit comprises a power supply anode, current starts from the power supply anode and is limited through a 180 omega resistor, so that the current passing through the infrared emission geminate transistor is in a working range, the infrared geminate transistor emits stable infrared light, the comparator circuit starts from VCC and enters a diode through a sliding rheostat with the resistance value set to be 2V, when the input voltage of the anode of the diode is larger than the input voltage of the cathode of the diode, the output voltage of the diode is 5V, and otherwise, the output voltage of the diode is 0V.

The model of the mainboard is ARM 7.

The tracking steps of the gray sensor 8 are as follows:

the method comprises the following steps: the left sensor recognizes that the robot deviates to the right and needs to turn left for adjustment;

step two: the right sensor recognizes that the robot deviates to the left and needs to turn right for adjustment;

step three: the double recognition and the double non-recognition both represent that the robot is allowed to normally advance to run;

steering wheel 9 adopts handle control, be equipped with bluetooth module on the mainboard, establish the back of being connected with the robot, when the robot meets the obstacle that can't cross, turn to through button control steering wheel 9 to the control front wheel lifts.

One end of the first spring 13.6 is connected with one end of the sliding block 13.4, the other end of the first spring 13.6 is connected with the inner side of the sliding groove 13.3, one end of the second spring 13.11 is connected with one end of the cone 13.10, the other end of the second spring 13.11 is connected with the inner side of the groove position 13.9, one end of the third spring 13.12 is connected with one end of the piston 13.8, the other end of the third spring 13.12 is connected with the inner side of the piston groove 13.7, and one end of the inner side of the piston groove 13.7 is provided with a small hole.

In the specific implementation of the invention, the alternating current component in the pulsating direct current voltage is reduced as much as possible through the filter circuit on the gray level sensor 8, the direct current component is retained, the ripple factor of the output voltage is reduced, the power lamp branch is provided, after the power is switched on, the power lamp is turned on, namely, the power lamp is connected, the infrared emission geminate transistor driving branch is provided, the infrared light can be emitted, the reflected infrared light can be received, the comparator circuit is provided, the photoelectric signal received by the infrared receiver is compared by the comparator circuit, two paths of input of the comparator are analog signals, one path of output of the comparator is a 01 digital signal, when the output of the comparator is 0, the robot is represented not deviated from the track, when the output of the comparator is 1, the robot is represented as deviated from the track, the two gray level sensors 8 respectively control the two motors, when the output of one gray level sensor 8 is 1, the motor corresponding to the gray sensor 8 stops rotating, so that the robot turns, when the output of the other gray sensor 8 is 1, the result is opposite to the process, the automatic spraying device 13 is arranged, the automatic spraying device 13 can be started as required, the motor drives the disc 13.1 to rotate, the disc 13.1 drives the connecting rod four 13.2 to move up and down, the cylinder 13.5 on one side of the sliding block 13.4 clamps the cone 13.10 to move downwards, the piston 13.8 is driven to move downwards, the gas in the piston groove 13.7 enters the disinfection water tank 1, after the gas moves to the position of the stop block 13.13, the cone 13.10 slides into the groove 13.9, the piston 13.8 is reset, the disinfection water spraying is completed for the first time, the front wheel is provided with the steering engine 9, the steering engine 9 can be controlled to rotate by a certain angle by a handle as required, the front wheel is lifted up to cross the obstacle.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.