CN104166380A - Real-time monitoring car applied to complex environments - Google Patents
Real-time monitoring car applied to complex environments Download PDFInfo
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- CN104166380A CN104166380A CN201310195397.XA CN201310195397A CN104166380A CN 104166380 A CN104166380 A CN 104166380A CN 201310195397 A CN201310195397 A CN 201310195397A CN 104166380 A CN104166380 A CN 104166380A
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Abstract
The invention relates to a special unmanned real-time monitoring car applied to complex environments. The monitoring car has wheels, a chassis and an engine universal to motor vehicles, and further has a drive control part and a detection part. An on-board single chip microcomputer is respectively connected with an ultrasonic module, a temperature module, a humidity module, and a video module. A Bluetooth module is connected between the data reception end and the data transmission end of the single chip microcomputer. The real-time monitoring car of the invention has the following advantages: leak source detection and real-time monitoring in a complex environment are solved; operators do not need to be exposed in a high-risk environment for operation; environmental data can be automatically updated in real time; the monitoring car can arrive at the scene of accident in a short time under dangerous conditions to obtain first-hand data of the scene of accident; and the Bluetooth technology is committed to building small-size and low-power-consumption devices, can be deeply embedded into other equipment or carry-on products, and can be adopted to process data, voice, image and even video information in real time. The real-time monitoring car further has the advantages of convenient detection, real-time data acquisition and transmission, low cost, high measurement accuracy, and the like.
Description
Technical field
The invention belongs to environmental monitoring and signal transmission technology field, relate to a kind of unmanned Real-Time Monitoring car being exclusively used under complex environment.
Technical background
At present, there are many construction operation occasions to have serious environmental pollution and the leakage problem of toxic and harmful, daily investigation work, often need manually carry out desired data and search source of leaks, this not only exists huge potential safety hazard and measured data do not have real-time and comprehensive, can not provide enough Data supports for maintenance job.
Progress along with technology, nowadays constituent parts all changes with main equipment timing fixed point monitoring significant points, though no longer need personnel to go through dangers with body, but the data that gather are too confined to, certain is not representative, acquisition mode is also too single fixing, and the data that gather do not have real-time, can not allow monitor staff within the very first time, find fault taking emergency measures in time, incured loss through delay repairing opportunity.Monitor in addition equipment set volume excessive, limited the performance of functions of the equipments.The staggered fault-tolerant ability causing of each functional module is low is also the weak point of this complete equipment.
Analyzing on the basis of former achievements and present situation, the requirement in conjunction with under nowadays new situations new situation, need to solve following problem:
1. field data requires real-time Transmission, the real-time monitoring to complex environment.
2. the miniaturization of complex control system, intellectuality, motorization.
3. each functional module works alone, and strengthens Fault Tolerance.
Before applying for a patent, inventor has retrieved Patents, does not find same or similar open source literature report.
Summary of the invention
For above-mentioned prior art situation, the object of the invention is to the miniaturization, intellectuality, the vehicularized unmanned Real-Time Monitoring car being exclusively used under complex environment that provide a kind of and can solve field data real-time Transmission and monitoring in real time, can strengthen Fault Tolerance, each functional module work alone.
Now the technology of the present invention solution is described below:
A kind of complex environment Real-Time Monitoring of the present invention car, there is the general wheel of motor vehicle or electric motor car, chassis, engine or rechargeable battery, it is characterized in that: the Real-Time Monitoring of complex environment is by vehicle-mounted single-chip microcomputer, motor driving circuit board, each measuring ability module, the outer telecounter of wireless module and car or mobile phone complete: described vehicle-mounted single-chip microcomputer, motor driving circuit board, the outer telecounter of wireless module and car or mobile phone form the drive part of complex environment Real-Time Monitoring car, by the outer telecounter of car or mobile phone, by wireless module, receive and transmit signals to vehicle-mounted single-chip microcomputer, vehicle-mounted single-chip microcomputer transmits signals to motor driving circuit board, the rotation of motor driving circuit board startup and stop vehicle driving mechanism, realize the driving of monitoring car, the outer telecounter of described vehicle-mounted single-chip microcomputer, wireless module, each measuring ability module and car or mobile phone form the test section of complex environment Real-Time Monitoring car, by vehicle-mounted single-chip microcomputer, be connected respectively with ultrasonic wave module, humiture module, video module, infrared obstacle avoidance module, vehicle-mounted single-chip microcomputer and computing machine or mobile phone are by wireless module signal transmission, described wireless module is equivalent to a serial ports, comprises transmitting and receiver module, is connected between computing machine/mobile phone and vehicle-mounted single-chip microcomputer (seeing Fig. 1).
The present invention further provides a kind of complex environment Real-Time Monitoring car, it is characterized in that: motor driving circuit board receives the pwm signal control rate of vehicle-mounted single-chip microcomputer, receive two contrary signal control motor rotatings; On motor driving circuit board, there are motor driver amplified current components and parts, to meet long-term driving direct current generator demand.
The present invention further provides a kind of complex environment Real-Time Monitoring car, it is characterized in that: described vehicle-mounted single-chip microcomputer receives electric signal, image video signal, wireless blue tooth signal and the motor control signal that each module is inputted; Each module be connected with infrared sensor, Temperature Humidity Sensor, sonac, gas sensor respectively (referring to Fig. 1).
The present invention further provides a kind of complex environment Real-Time Monitoring car, it is characterized in that: described ultrasonic wave module comprises radiating circuit, ultrasonic probe, receiving circuit; Ultrasonic wave module adopts IO to trigger range finding, gives at least high level signal of 10u s; Ultrasonic wave module sends the square wave of 8 40KHZ automatically, automatically whether detection has signal to return, there is signal to return, by IO, export a high level, the lasting time of high level be exactly ultrasound wave from being transmitted into the time of returning, measuring distance=(the high level time * velocity of sound (340m/s)/2).Control end, receiving end that on monitoring car, ultrasonic wave module triggers are connected with vehicle-mounted single-chip microcomputer mainboard SPI communication interface 52,53 respectively, and distance accuracy is 0.1mm (referring to Fig. 2).
The present invention further provides a kind of complex environment Real-Time Monitoring car, it is characterized in that: described Temperature Humidity Sensor module comprises the wet element of a resistance-type sense and a temperature element; The resistance value of the wet element of resistance-type sense changes with the variation of humidity, thereby causes the variation of electric current, make humidity measurement to realize; Temperature element utilizes thermistor with the characteristic of temperature, realizes the measurement to temperature, its serial data, Temperature Humidity Sensor module bus be connected with the A9 port of vehicle-mounted single-chip microcomputer (referring to Fig. 3,4,10).
The present invention further provides a kind of complex environment Real-Time Monitoring car, it is characterized in that: described infrared obstacle avoidance module is connected with vehicle-mounted one-chip machine port A14, its principle of work is when barrier being detected, infrared photodiode receives and reflects infrared light, there is low and high level conversion in its output, this signal is delivered to vehicle-mounted single-chip microcomputer mainboard and carried out analyzing and processing immediately after amplifier amplifies; Then the result after processing is sent to motor driving circuit board, proofread and correct; Control it and turn right, turn left and retreat; Keep away barrier highly sensitive, as long as little front side has barrier, infrared ray breaks the barriers and reflexes to photosensitive tube, sensor output low level, send to single-chip microcomputer and process, then single-chip microcomputer is processed rear drive motor drive module and is gone to control trolley travelling and direction (referring to Fig. 8,9,10).
The present invention further provides a kind of complex environment Real-Time Monitoring car, it is characterized in that: described gas module is NO
2concentration sensor, is connected with the AO port of vehicle-mounted single-chip microcomputer; By miniature AL
2o
3ceramic pipe, SnO
2sensitive layer, potential electrode well heater form, and are fixed in the cavity that stainless steel makes, and well heater provides necessary condition of work for gas sensor; Gas, in the redox reaction of semiconductor surface, causes sensitive element change in resistance, and gas concentration signal is converted to electric quantity signal by gas sensor subsequently, by wireless module be transferred to vehicle-mounted single-chip microcomputer analyze and process (referring to Fig. 5,, 10).
The present invention further provides a kind of complex environment Real-Time Monitoring car, it is characterized in that: described video module is a wireless camera, by video converter, the image document of camera collection is transferred to computer screen by wireless transmit receiver module, thereby reaches the object (referring to Fig. 6) of checking the place ahead road conditions.
The invention has the advantages that:
(1) the Real-Time Monitoring car that, the design is used in conjunction with based on controlled in wireless and multiple sensors; solved under complex environment; to the detection in propellant leakage source and Real-Time Monitoring; avoided technician to be exposed to operation under high-risk environment; guarantee personal safety, improved the robotization real-time update of environmental data.Along with informationalized, develop rapidly, it is operation that intellectuality replaces people gradually, and this monitoring car will have broader application prospect.
(2) take take the vehicle-mounted single-chip microcomputer mainboard of Arduino Mega2560, ultrasonic wave module, Temperature Humidity Sensor module, gas sensor module, infrared obstacle avoidance module and the video acquisition module complex environment Real-Time Monitoring car as main original paper design, can within the short time under hazardous environment, arrive at the scene of the accident, obtain the firsthand information of the scene of the accident, in real time simultaneously, neatly accident spot is monitored, thus provide enough Data supports for the expansion of follow-up maintenance job.That this system has is easy to detect, real-time data acquisition transmission, expense is cheap and measuring accuracy advantages of higher.
(3), that Bluetooth technology is devoted to build volume is little, low in energy consumption, and the product that can the degree of depth is embedded into other equipment or carries; Use Bluetooth technology can real-time processing data, voice, image, or even video information.
(4) vehicle-mounted single-chip microcomputer mainboard is Arduino Mega2560, and core is the single-chip microcomputer of AVR, has nearly 54 railway digital input and output, is particularly suitable for needing the design of a large amount of I/O interfaces.
Accompanying drawing explanation
Fig. 1: the present invention program's functional-block diagram
Fig. 2: ultrasonic ranging principle schematic
Fig. 3: humiture principle schematic
Fig. 4: humiture module circuit diagram
Fig. 5: gas sensor principle schematic
Fig. 6: video acquisition module circuit diagram
Fig. 7: wireless module circuit diagram
Fig. 8: infrared obstacle avoidance schematic flow sheet
Fig. 9: infrared obstacle avoidance circuit theory diagrams
Figure 10: vehicle-mounted single chip circuit schematic diagram
Embodiment
Now by reference to the accompanying drawings the specific embodiment of the present invention is described further
Referring to Fig. 1: drive and control and the realization of measuring ability; Drive control part of the present invention is received and is transmitted signals to vehicle-mounted single-chip microcomputer mainboard by the blue-tooth device of computing machine or mobile phone by wireless module, vehicle-mounted single-chip microcomputer mainboard transmits signals to motor driving circuit board, and motor driving circuit board starts and stop the motion of driving mechanism; Detection of the present invention transmits signals to vehicle-mounted single-chip microcomputer mainboard by the blue-tooth device of computing machine or mobile phone by wireless module, and vehicle-mounted single-chip microcomputer mainboard is connected with ultrasonic wave module, humiture module, video module respectively.The computer software Wiring language compilation that the various functions of the present invention realize.
Referring to Fig. 2: the realization of ultrasonic ranging function.Ultrasound wave refers to that frequency is higher than the mechanical wave of 20kHz.For using ultrasound wave as detection means, must have and produce and receive hyperacoustic device, the device that completes this function is exactly ultrasonic sensor, is called traditionally ultrasonic transducer or ultrasonic probe.Ultrasonic sensor is divided into transmitter and receiver, but a ultrasonic sensor also can have the double action of sending and receiving sound wave.Ultrasonic sensor is to utilize the principle of piezoelectric effect that electric energy and ultrasound wave are transformed mutually.Utilized the principle of ultrasonic ranging, ultrasonic transmitter, to a certain reverse transmitting ultrasound wave, starts timing at x time simultaneously, and ultrasound wave is propagated in air, in way, run into barrier and reflect, ultrasonic receiver receives reflection wave and just stops immediately timing.The aerial velocity of propagation of ultrasound wave is v=340ms
-1, according to the time t of timer record, just can calculate launching site apart from the distance s of barrier, that is: s=vt/2.Along with deepening continuously of control technology research, the measurement that device is adjusted the distance requires more and more higher, and the distance accuracy of this ultrasonic wave module is ± 0.1mm.
Referring to Fig. 3,4: the realization of temperature measurement function.Temperature Humidity Sensor module comprises the wet element of a resistance-type sense and a NTC temperature element.The resistance value of the wet element of resistance-type sense changes with the variation of humidity, thereby causes the variation of electric current, make humidity measurement to realize.NTC temperature element utilizes thermistor with the characteristic of temperature, realizes the measurement to temperature.
Referring to Fig. 5: the realization of gasmetry function.Gas sensor is by miniature AL
2o
3ceramic pipe, SnO
2sensitive layer, potential electrode well heater form, and are fixed in the cavity that stainless steel makes, and well heater provides necessary condition of work for gas sensor.Non-electric charge quantity signalling (gas) is converted to electric quantity signal by gas sensor, is transferred to computing machine analyzes and process by wireless module.
Referring to Fig. 6: the realization of video acquisition function.Image document, by the camera collection on monitoring car, is transferred to computing machine by wireless module, realizes the real-time monitoring of site environment.It is little, lightweight that the wireless pocket camera adopting takies volume, is easy to carry about with one and low energy consumption, gathers image ability strong, had both been conducive to observe site environment, is beneficial to again and controls dolly arrival appointed area.
Referring to Fig. 7: wireless module comprises the realization of transmitting and receiving function.Bluetooth (Blue tooth) be a kind of whole world open, radio communication standard cheaply.In addition, because bluetooth has long transmission distance, the advantage that antijamming capability is strong, low in energy consumption, transfer rate is high.The present invention adopts bluetooth and mobile phone multimode to realize wireless communication mode.Wireless module is equivalent to a serial ports, is connected between single-chip data reception and data transmission.
Referring to Fig. 8,9: the realization of infrared obstacle avoidance function.When barrier being detected, infrared photodiode receives and reflects infrared light, and low and high level conversion occurs immediately in its output, and this signal is delivered to single-chip microcomputer and carried out analyzing and processing after amplifier amplifies.Then the result after processing is sent to motor driving circuit board, proofread and correct.Control it and turn right, turn left and retreat.Keep away barrier highly sensitive, as long as little front side has barrier, infrared ray breaks the barriers and reflexes to photosensitive tube, and sensor output low level sends to single-chip microcomputer and processes, and then single-chip microcomputer is processed rear drive motor driving circuit board and gone to control trolley travelling and direction.Infrared obstacle avoidance design flow diagram.
Referring to Figure 10: vehicle-mounted single-chip microcomputer is Arduino Mega2560, and core is the single-chip microcomputer of AVR, there are nearly 54 railway digital input and output, be particularly suitable for needing the design of a large amount of I/O interfaces.Vehicle-mounted single-chip microcomputer mainboard is responsible for receiving electric signal, image video signal, wireless blue tooth signal and the motor control signal of various sensors (infrared sensor, Temperature Humidity Sensor, sonac, gas sensor).Motor driving circuit board Main Function is to drive car body motor, single-chip processor i/o output current is too little can not drive direct current generator for a long time, must use motor driver amplified current, motor drive plate receives the pwm signal control rate of single-chip microcomputer, receives two contrary signal control motor rotatings.
Claims (8)
1. a complex environment Real-Time Monitoring car, there is the general wheel of motor vehicle or electric motor car, chassis, engine or rechargeable battery, it is characterized in that: the Real-Time Monitoring of complex environment completes by the outer telecounter of vehicle-mounted single-chip microcomputer, motor driving circuit board, each measuring ability module, wireless module and car or mobile phone; The outer telecounter of described vehicle-mounted single-chip microcomputer, motor driving circuit board, wireless module and car or mobile phone form the drive part of complex environment Real-Time Monitoring car, by the outer telecounter of car or mobile phone, by wireless module, receive and transmit signals to vehicle-mounted single-chip microcomputer, vehicle-mounted single-chip microcomputer transmits signals to motor driving circuit board, the rotation of motor driving circuit board startup and stop vehicle driving mechanism, realizes the driving of monitoring car; The outer telecounter of described vehicle-mounted single-chip microcomputer, wireless module, each measuring ability module and car or mobile phone form the test section of complex environment Real-Time Monitoring car, by vehicle-mounted single-chip microcomputer, be connected respectively with ultrasonic wave module, humiture module, video module, infrared obstacle avoidance module, vehicle-mounted single-chip microcomputer and computing machine or mobile phone are by wireless module signal transmission; Described wireless module is equivalent to a serial ports, comprises transmitting and receiver module, is connected between computing machine/mobile phone and vehicle-mounted single-chip microcomputer.
2. a kind of complex environment Real-Time Monitoring car according to claim 1, is characterized in that: motor driving circuit board receives the pwm signal control rate of vehicle-mounted single-chip microcomputer, receives two contrary signal control motor rotatings; On motor driving circuit board, there are motor driver amplified current components and parts, to meet long-term driving direct current generator demand.
3. a kind of complex environment Real-Time Monitoring car according to claim 2, is characterized in that: described vehicle-mounted single-chip microcomputer receives electric signal, image video signal, wireless blue tooth signal and the motor control signal that each module is inputted; Each module is connected with infrared sensor, Temperature Humidity Sensor, sonac, gas sensor respectively.
4. a kind of complex environment Real-Time Monitoring car according to claim 3, is characterized in that: described ultrasonic wave module comprises radiating circuit, ultrasonic probe, receiving circuit; Ultrasonic wave module adopts IO to trigger range finding, gives at least high level signal of 10us; Ultrasonic wave module automatically sends the square wave of 8 40KHZ, and whether detection has signal to return automatically, has signal to return, and by IO, exports a high level, the lasting time of high level be exactly ultrasound wave from being transmitted into the time of returning, measuring distance=high level time * velocity of sound; Control end, receiving end that on monitoring car, ultrasonic wave module triggers are connected with vehicle-mounted single-chip microcomputer mainboard SPI communication interface 52,53 respectively.
5. a kind of complex environment Real-Time Monitoring car according to claim 4, is characterized in that: described Temperature Humidity Sensor module comprises the wet element of a resistance-type sense and a temperature element; The resistance value of the wet element of resistance-type sense changes with the variation of humidity, thereby causes the variation of electric current, make humidity measurement to realize; Temperature element utilizes thermistor with the characteristic of temperature, realizes the measurement to temperature, its serial data, and Temperature Humidity Sensor module bus is connected with the A9 port of vehicle-mounted single-chip microcomputer.
6. a kind of complex environment Real-Time Monitoring car according to claim 5, is characterized in that: described infrared obstacle avoidance module is connected with vehicle-mounted one-chip machine port A14; Infrared photodiode receives and reflects infrared light, and low and high level conversion occurs immediately in its output, and this signal is delivered to vehicle-mounted single-chip microcomputer mainboard and carried out analyzing and processing after amplifier amplifies; Then the result after processing is sent to motor driving circuit board, proofread and correct; Control it and turn right, turn left and retreat; The barrier of little front side, is broken the barriers and is reflexed to photosensitive tube by infrared ray, and sensor output low level, sends to single-chip microcomputer and process, and then single-chip microcomputer is processed rear drive motor drive module and gone to control trolley travelling and direction.
7. a kind of complex environment Real-Time Monitoring car according to claim 6, is characterized in that: described gas module is NO
2concentration sensor, is connected with the AO port of vehicle-mounted single-chip microcomputer; By miniature AL
2o
3ceramic pipe, SnO
2sensitive layer, potential electrode well heater form, and are fixed in the cavity that stainless steel makes; Gas causes sensitive element change in resistance in the redox reaction of semiconductor surface, and gas concentration signal is converted to electric quantity signal by gas sensor subsequently, is transferred to vehicle-mounted single-chip microcomputer analyzes and process by wireless module.
8. a kind of complex environment Real-Time Monitoring car according to claim 7, it is characterized in that: described video module is a wireless camera, by video converter, the image document of camera collection is transferred to computer screen by wireless transmit receiver module, thereby reaches the object of checking the place ahead road conditions.
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| CN104535023A (en) * | 2015-01-27 | 2015-04-22 | 北京理工大学 | Intelligent vehicle for pipeline detection |
| CN104699100A (en) * | 2015-01-30 | 2015-06-10 | 东北大学 | Grid automatic tracking based intelligent vehicle system and automatic tracking method thereof |
| CN105549495A (en) * | 2016-02-25 | 2016-05-04 | 佛山市南海区广工大数控装备协同创新研究院 | Bluetooth intelligent car circuit control system under remote control of mobile phone |
| CN105954327A (en) * | 2016-07-07 | 2016-09-21 | 钟林超 | High-reliability CO2 gas sensor |
| CN106647468A (en) * | 2016-11-30 | 2017-05-10 | 广东石油化工学院 | Poisonous gas leakage source point intelligent detection device |
| CN106990784A (en) * | 2017-04-26 | 2017-07-28 | 大连理工大学 | A kind of system and method that unmanned vehicle is rescued for monitoring and controlling |
| CN108803624A (en) * | 2018-08-10 | 2018-11-13 | 钟祥博谦信息科技有限公司 | Intelligent carriage ranging safety traffic system and method based on Arduino |
| CN108801344A (en) * | 2018-05-28 | 2018-11-13 | 国网河南省电力公司电力科学研究院 | Extra-high voltage alternating current-direct current parallel powerline electromagnetic environment continuous monitoring system |
| CN109696171A (en) * | 2019-01-11 | 2019-04-30 | 天津科技大学 | On-vehicle navigation apparatus based on infrared ray and ultrasonic wave |
| CN111089881A (en) * | 2019-07-01 | 2020-05-01 | 天津大学 | Laboratory nitrogen dioxide gas detection system |
| CN113867364A (en) * | 2021-10-25 | 2021-12-31 | 山东飞科电动车有限公司 | Utilize sound wave to keep away safe type electric motor car of barrier |
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| CN104699100A (en) * | 2015-01-30 | 2015-06-10 | 东北大学 | Grid automatic tracking based intelligent vehicle system and automatic tracking method thereof |
| CN104699100B (en) * | 2015-01-30 | 2017-02-22 | 东北大学 | Grid automatic tracking based intelligent vehicle system and automatic tracking method thereof |
| CN105549495A (en) * | 2016-02-25 | 2016-05-04 | 佛山市南海区广工大数控装备协同创新研究院 | Bluetooth intelligent car circuit control system under remote control of mobile phone |
| CN105954327A (en) * | 2016-07-07 | 2016-09-21 | 钟林超 | High-reliability CO2 gas sensor |
| CN106647468A (en) * | 2016-11-30 | 2017-05-10 | 广东石油化工学院 | Poisonous gas leakage source point intelligent detection device |
| CN106990784A (en) * | 2017-04-26 | 2017-07-28 | 大连理工大学 | A kind of system and method that unmanned vehicle is rescued for monitoring and controlling |
| CN106990784B (en) * | 2017-04-26 | 2020-01-14 | 大连理工大学 | System and method for monitoring and controlling rescue unmanned vehicle |
| CN108801344A (en) * | 2018-05-28 | 2018-11-13 | 国网河南省电力公司电力科学研究院 | Extra-high voltage alternating current-direct current parallel powerline electromagnetic environment continuous monitoring system |
| CN108803624A (en) * | 2018-08-10 | 2018-11-13 | 钟祥博谦信息科技有限公司 | Intelligent carriage ranging safety traffic system and method based on Arduino |
| CN109696171A (en) * | 2019-01-11 | 2019-04-30 | 天津科技大学 | On-vehicle navigation apparatus based on infrared ray and ultrasonic wave |
| CN111089881A (en) * | 2019-07-01 | 2020-05-01 | 天津大学 | Laboratory nitrogen dioxide gas detection system |
| CN113867364A (en) * | 2021-10-25 | 2021-12-31 | 山东飞科电动车有限公司 | Utilize sound wave to keep away safe type electric motor car of barrier |
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Application publication date: 20141126 |