Climbing remote control detection robot control system based on STM32

Abstract

The invention discloses an STM32-based climbing remote control detection robot control system, and aims to realize multi-parameter real-time monitoring and remote control of a complex terrain environment. The system takes an STM32 single-chip microcomputer as a core controller, integrates a plurality of sensor modules, including a temperature sensor, a humidity sensor, a gas sensor, a photosensitive sensor and a sound sensor, and is used for comprehensively monitoring environmental conditions. Meanwhile, the system is provided with an MPU6050 gyroscope module and a GPS positioning module, and posture detection and accurate positioning of the robot are supported. Wireless communication is achieved through an ESP8266 module, and the robot can be connected with a cloud platform in real time to conduct data transmission and remote control operation. In addition, the robot is further provided with a pressure sensor and a camera module which are respectively used for detecting the contact pressure of the wheels of the climbing robot and collecting real-time images. A driving system of the robot adopts combination of motors and Mecanum wheels, flexible multi-direction movement is achieved, electromagnetic valves and air cylinder modules serve as a robot body, and it is guaranteed that enough pressure exists between the wheels and a trunk. The power supply system is composed of a 12V power supply and a voltage stabilizing module, and stable operation of the system is ensured. A user can obtain the real-time state and environment data of the robot through the remote monitoring terminal and the cloud platform, and remote operation control is carried out. The system is suitable for monitoring and detection requirements of various complex terrains, and is widely applied to the fields of environment monitoring, emergency rescue, intelligent agriculture and the like.

Description

[0001] The present invention relates to the field of robotics technology, and in particular to a climbing remote control detection robot control system based on STM32. Background Art

[0002] Most existing environmental monitoring robots are used on flat ground or simple terrain, and lack the ability to climb vertical surfaces such as trees and street lights. In addition, the types of sensors in existing systems are limited and cannot provide comprehensive environmental monitoring data. At the same time, many robots rely on close-range manual operation and lack remote monitoring and control functions. Therefore, it is of great significance to develop a robot that can climb complex terrain, realize multi-parameter environmental detection, and have remote control functions. Summary of the invention

[0003] The purpose of the present invention is to provide a climbing remote control detection robot system based on STM32, which can flexibly climb on vertical surfaces such as trees and street lights, and realize comprehensive environmental data collection through a variety of sensor modules, while having remote monitoring and control functions.

[0004] A climbing remote control detection robot control system based on STM32 comprises an STM32 single-chip microcomputer, a buzzer connected to the STM32 single-chip microcomputer, a pressure sensor, an MPU6050, a GPS positioning module, a camera module, a noise detection sensor, a photosensitive sensor, a gas detection sensor, a humidity detection sensor, a temperature detection sensor, a motor equipped with a Mecanum wheel, a remote controller connected via a wireless serial port module, an ESP8266 and a stabilized 12V power supply.

[0005] In one embodiment, the motor achieves omnidirectional motion by controlling the Mecanum wheel so that it can rotate on the tree trunk.

[0006] In one embodiment, the solenoid valve and the cylinder are used to adjust the contact pressure between the robot and the climbing surface to maintain stability during the climbing process.

[0007] In one of the embodiments, the method further includes connecting the STM32 microcontroller to ESP8266 to transmit information to a host computer.

[0008] In one embodiment, the MPU6050 includes a gyroscope and an accelerometer; the gyroscope is used to obtain the robot's angle change information and angular velocity information; the accelerometer is used to obtain the robot's angle change acceleration information.

[0009] In one embodiment, the posture detection device also includes a digital motion processor DMP and an ADC module; the digital motion processor DMP is used to process the data information collected by the gyroscope and the accelerometer, and the ADC module is used to convert the data information collected by the gyroscope and the accelerometer into a digital signal through the ADC, and send it through the IIC interface to provide a quaternion to the CPU to obtain the Euler angle.

[0010] In one of the embodiments, the MPU6050 posture detection sensor device is a 6-axis motion sensor.

[0011] In one of the embodiments, it also includes a GPS positioning module connected to the STM32 single-chip microcomputer; the GPS positioning module is connected to the wireless network transmission module ESP8266 through the STM32 single-chip microcomputer to obtain and send real-time location information to the host terminal.

[0012] In one of the embodiments, a buzzer connected to the STM32 microcontroller is further included; the buzzer is used for working sound prompts and for issuing an alarm sound when the robot data processing module outputs an abnormal signal.

[0013] In one of the embodiments, it also includes a pressure sensor module connected to the STM32 single-chip microcomputer; the pressure sensor module is connected through the STM32 single-chip microcomputer to control the contact pressure between the Mecanum wheel and the climbed object.

[0014] In one embodiment, it also includes a noise detection module, a temperature detection module, a humidity detection module, a gas detection module, and a photosensor connected to the STM32 microcontroller.

[0015] In one embodiment, the noise detection module is used to detect and obtain the noise level data of the environment around the robot in real time, connect with the wireless network transmission module ESP8266 through the STM32 microcontroller, and send real-time noise information to the host terminal.

[0016] In one of the embodiments, the temperature detection module is used to detect and obtain the air temperature data of the environment around the robot in real time, connect to the wireless network transmission module ESP8266 through the STM32 microcontroller, and send real-time temperature information to the host terminal.

[0017] In one embodiment, the humidity detection module is used to detect and obtain the air humidity data of the environment around the robot in real time, connect with the wireless network transmission module ESP8266 through the STM32 microcontroller, and send real-time humidity information to the host terminal;

[0018] In one embodiment, the gas detection module is used to detect and obtain gas data of the environment around the robot in real time, connect with the wireless network transmission module ESP8266 through the STM32 microcontroller, and send real-time gas information to the host terminal;

[0019] In one of the embodiments, the photosensor is used to detect and obtain the light intensity data of the environment around the robot in real time, connect with the wireless network transmission module ESP8266 through the STM32 microcontroller, and send real-time humidity information to the host terminal.

[0020] In one of the embodiments, the photosensor, gas detection sensor, humidity detection sensor, and temperature detection sensor modules are connected to a third-party cloud platform to analyze and calculate future weather changes through the third cloud platform.

[0021] In one embodiment, the host terminal is a mobile phone or a computer.

[0022] In one of the embodiments, it also includes an OLED display module connected to the on-site remote control;

[0023] In one of the embodiments, it also includes a power module connected to the STM32 microcontroller; the power module is used to provide a regulated power supply for the STM32 microcontroller.

[0024] In one of the embodiments, the model of the STM32 microcontroller is STM32F103C8T6.

[0025] In one of the embodiments, the model of the STM32 microcontroller is STM32F407VET6.

[0026] In one of the embodiments, the host computer terminal is also connected to a third-party cloud platform for data exchange.

[0027] In one of the embodiments, the ESP8266 is also connected to a monitoring system and sends real-time on-site image information to a host terminal.

[0028] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention integrates multiple environmental monitoring modules such as temperature sensors, humidity sensors, gas sensors, photosensors, and sound sensors, which can simultaneously monitor multiple environmental parameters in a complex environment and provide more comprehensive monitoring data than traditional single sensor systems. 2. The present invention realizes the omnidirectional movement capability of the robot on the vertical surface, can flexibly respond to challenges, and has stronger adaptability than traditional crawler or wheeled mobile systems. 3. The integrated MPU6050 gyroscope module and GPS positioning module of the present invention enable the robot to detect its own posture and precise geographical location in real time. This real-time posture and position feedback function improves the accuracy and stability of the robot's posture control during climbing. 4. The present invention realizes connection with the cloud platform through the ESP8266 wireless communication module, and the user can control the robot in real time, monitor data and manage it through the remote terminal. Compared with the traditional short-range control method, remote control expands the application range of the robot, and is particularly suitable for performing tasks in dangerous or inaccessible environments. 5. The present invention is applicable to various complex environments such as agriculture, forestry, environmental monitoring, emergency rescue, etc., and has broad application prospects. Traditional robot systems are often limited to flat ground operations, while the present invention can break through terrain limitations and adapt to more diverse task requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a structural diagram of the STM32-based climbing remote control detection robot system.

[0030] Figure 2 It is a structural schematic diagram of the connection between the STM32 climbing remote control detection robot system and the cloud platform in the present invention. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] Based on STM32 climbing remote control detection robot system, such as Figure 1 As shown, it includes an STM32 single-chip microcomputer, a buzzer connected to the STM32 single-chip microcomputer, a pressure sensor, an MPU6050, a GPS positioning module, a camera module, a noise detection sensor, a light sensor, a gas detection sensor, a humidity detection sensor, a temperature detection sensor, a motor equipped with a Mecanum wheel, a remote control connected through a wireless serial port module, an ESP8266, and a stabilized power supply.

[0033] In one embodiment, if Figure 1 As shown, it also includes connecting the STM32 microcontroller and ESP8266 through UART, and transmitting the information obtained by STM32 to the host computer through ESP8266;

[0034] In one embodiment, if Figure 1 As shown in the figure, the MPU6050 module includes a gyroscope and an accelerometer. The gyroscope is used to obtain the robot's angle change information and angular velocity information. The accelerometer is used to obtain the robot's angle change acceleration information.

[0035] In one embodiment, if Figure 1 As shown in the figure, the MPU6050 module also includes a digital motion processor DMP and an ADC module. The digital motion processor DMP is used to process the data information collected by the gyroscope and accelerometer, and the ADC module is used to convert the data information collected by the gyroscope and accelerometer into digital signals through the ADC and send them through the IIC interface to provide quaternions to the CPU to obtain Euler angles. After obtaining the Euler angles, the robot is kept level by adjusting the motor in time.

[0036] In one embodiment, the MPU6050 gyroscope is a MEMS gyroscope.

[0037] In one embodiment, the MPU6050 accelerometer is a MEMS accelerometer.

[0038] In one embodiment, if Figure 1 As shown, it also includes a GPS positioning module connected to the STM32 microcontroller, which obtains location information through UART. The GPS positioning module is connected to the ESP8266 wireless network transmission module through the STM32 microcontroller to obtain and send real-time location information to the host terminal.

[0039] In one embodiment, if Figure 1 As shown, a buzzer connected to the STM32 microcontroller is also included. The STM32 microcontroller controls the volume of the buzzer by controlling the GPIO output PWM. The buzzer is used for work sound prompts and for issuing an alarm sound when the robot system data processing outputs an abnormal signal.

[0040] In one embodiment, it also includes a pressure sensor module connected to the STM32 single-chip microcomputer; the pressure sensor module is connected through the STM32 single-chip microcomputer, and when the sensor senses external pressure, the sensor resistance value changes, and a circuit is used to convert the pressure signal sensed by the sensor into an electrical signal output with a corresponding change in intensity, so as to control the contact pressure between the Mecanum wheel and the climbed object.

[0041] In one embodiment, it also includes a noise detection module, a temperature detection module, a humidity detection module, a gas detection module, and a photosensor connected to the STM32 microcontroller.

[0042] In one embodiment, if Figure 1As shown, the noise detection module is used to detect and obtain the noise size data of the environment around the robot in real time. The module transmits data with the STM32 microcontroller through the IIC protocol, is connected to the wireless network transmission module ESP8266 through the STM32 microcontroller, and sends real-time noise information to the host terminal.

[0043] In one embodiment, if Figure 1 As shown, the temperature detection module is used to detect and obtain the air temperature data of the environment around the robot in real time. The module transmits data with the STM32 microcontroller through the IIC protocol, is connected to the wireless network transmission module ESP8266 through the STM32 microcontroller, and sends real-time temperature information to the host terminal.

[0044] In one embodiment, if Figure 1 As shown, the humidity detection module is used to detect and obtain the air humidity data of the environment around the robot in real time. The module transmits data with the STM32 microcontroller through the IIC protocol, connects with the wireless network transmission module ESP8266 through the STM32 microcontroller, and sends real-time humidity information to the upper computer terminal;

[0045] In one embodiment, if Figure 1 As shown, the gas detection module is used to detect and obtain the gas data of the robot's surrounding environment in real time. The module transmits data with the STM32 microcontroller through the IIC protocol, connects with the wireless network transmission module ESP8266 through the STM32 microcontroller, and sends real-time gas information to the upper computer terminal;

[0046] In one embodiment, if Figure 1 As shown, the photosensor is used to detect and obtain the light intensity data of the robot's surrounding environment in real time. The module transmits data with the STM32 microcontroller through the IIC protocol, is connected to the wireless network transmission module ESP8266 through the STM32 microcontroller, and sends real-time humidity information to the host terminal.

[0047] In one of the embodiments, the photosensor, gas detection sensor, humidity detection sensor, and temperature detection sensor modules are connected to a third-party cloud platform to analyze and calculate future weather changes through the third cloud platform.

[0048] In one embodiment, the host terminal is a mobile phone or a computer.

[0049] In one of the embodiments, an OLED display module connected to the on-site remote control is also included. The module transmits data with the STM32 microcontroller via the SPI protocol, and the information of each sensor can be viewed through the module.

[0050] In one of the embodiments, ESP8266 and the host computer terminal are connected to the cloud platform through the MQTT protocol to transmit information to the cloud platform.

[0051] The above embodiments only express several implementation methods of the present invention, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A climbing remote control detection robot control system based on STM32, characterized in that: The invention comprises an STM32 single-chip microcomputer, a buzzer connected to the STM32 single-chip microcomputer, a pressure sensor, an MPU6050, a GPS positioning module, a camera module, a noise detection sensor, a light sensor, a gas detection sensor, a humidity detection sensor, a temperature detection sensor, a motor equipped with a Mecanum wheel, a remote controller connected via a wireless serial port module, an ESP8266 and a stabilized power supply. The STM32 single-chip microcomputer is used as the core control unit of the system to manage various sensors and actuators; The multiple sensor modules include temperature sensors, humidity sensors, gas sensors, light sensors and sound sensors, and are used to collect multiple parameter information of the environment; The MPU6050 gyroscope module is used to detect changes in the robot's posture during the climbing process, so that the robot always remains in a horizontal state; The GPS positioning module is used to obtain the geographical location information of the robot; The camera module is used to collect real-time images of the climbing process to prepare for obstacle avoidance; The pressure sensor is used to detect the contact pressure between the robot and the climbing surface; The motor module drives the Mecanum wheels to achieve flexible movement in multiple directions; The solenoid valve and cylinder module are used to provide the robot with a stable frame and adapt to objects of different thicknesses; The ESP8266 module is used to communicate data with the remote cloud platform to achieve remote monitoring and information reading; The 12V power supply and voltage regulator module provide a stable power supply for the entire system.

2. The robot control system according to claim 1, characterized in that: The sensor module can monitor the ambient temperature, humidity, gas composition, light intensity and ambient noise in real time, and transmit these data to the cloud platform through the STM32 microcontroller; The temperature detection module is used to detect and obtain the air temperature data of the user's surrounding environment in real time, and output it to the STM32 microcontroller; The humidity detection module is used to detect and obtain the air humidity data of the user's surrounding environment in real time, and output it to the STM32 microcontroller; The gas detection module is used to detect and obtain gas data of the user's surrounding environment in real time, and output it to the STM32 microcontroller; The light sensor is used to detect and obtain the light intensity data of the user's surrounding environment in real time, and output it to the STM32 microcontroller.

3. The robot control system according to claim 1, characterized in that: The ESP8266 module can be connected to the cloud platform via Wi-Fi, and users can monitor remotely and view real-time data through the terminal.

4. The robot control system according to claim 1, characterized in that: The camera module can collect real-time images during the robot's climbing process, provide visual feedback, and transmit image data to the remote controller via a wireless serial port.

5. The robot control system according to claim 1, characterized in that: The pressure sensor can detect the contact pressure between the robot and the climbing surface to ensure that the robot maintains stability during the climbing process.

6. The robot control system according to claim 1, characterized in that: The solenoid valve and cylinder module are used to control the robot to adapt to objects of different thicknesses to be climbed, ensuring that the robot can climb on various complex trunks.

7. The robot control system according to claim 1, characterized in that: The buzzer is used for working sound prompts and for issuing an alarm sound when the robot system data processing module outputs an abnormal signal.

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