CN105835030A - Dangerous area multifunctional detection vehicle based on wireless control and video transmission - Google Patents
Dangerous area multifunctional detection vehicle based on wireless control and video transmission Download PDFInfo
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- CN105835030A CN105835030A CN201610452746.5A CN201610452746A CN105835030A CN 105835030 A CN105835030 A CN 105835030A CN 201610452746 A CN201610452746 A CN 201610452746A CN 105835030 A CN105835030 A CN 105835030A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 47
- 238000001514 detection method Methods 0.000 title claims abstract description 19
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 9
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 9
- 239000000523 sample Substances 0.000 claims description 29
- 239000007789 gas Substances 0.000 claims description 28
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 10
- ATUOYWHBWRKTHZ-UHFFFAOYSA-N Propane Chemical compound CCC ATUOYWHBWRKTHZ-UHFFFAOYSA-N 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 6
- 238000005286 illumination Methods 0.000 claims description 6
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 claims description 5
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 claims description 4
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 claims description 4
- 239000001273 butane Substances 0.000 claims description 4
- 229910002091 carbon monoxide Inorganic materials 0.000 claims description 4
- IJDNQMDRQITEOD-UHFFFAOYSA-N n-butane Chemical compound CCCC IJDNQMDRQITEOD-UHFFFAOYSA-N 0.000 claims description 4
- OFBQJSOFQDEBGM-UHFFFAOYSA-N n-pentane Natural products CCCCC OFBQJSOFQDEBGM-UHFFFAOYSA-N 0.000 claims description 4
- 239000001294 propane Substances 0.000 claims description 4
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- 238000006243 chemical reaction Methods 0.000 description 4
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- QGZKDVFQNNGYKY-UHFFFAOYSA-N Ammonia Chemical class N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 description 1
- 241000208340 Araliaceae Species 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 239000004642 Polyimide Substances 0.000 description 1
- 239000004793 Polystyrene Substances 0.000 description 1
- UCKMPCXJQFINFW-UHFFFAOYSA-N Sulphide Chemical compound [S-2] UCKMPCXJQFINFW-UHFFFAOYSA-N 0.000 description 1
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 description 1
- 229920006221 acetate fiber Polymers 0.000 description 1
- UGZICOVULPINFH-UHFFFAOYSA-N acetic acid;butanoic acid Chemical compound CC(O)=O.CCCC(O)=O UGZICOVULPINFH-UHFFFAOYSA-N 0.000 description 1
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- 239000001257 hydrogen Substances 0.000 description 1
- 229910052739 hydrogen Inorganic materials 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Computer Networks & Wireless Communication (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The utility model provides a multi-functional detection car in dangerous area based on wireless control and video transmission, the inside lithium cell group of detection car, the driving motor of four wheels of detection car is connected to the lithium cell group, and driving motor connects motor drive circuit respectively, and motor drive circuit connection director, wireless control module and video wireless transmission module are connected respectively to the controller. The invention has the technical effects that: remote wireless control and data and image transmission are realized by utilizing a radio technology, and the arm action of a controller is acquired by utilizing a three-dimensional electronic gyroscope to realize accurate, simple and convenient control on the mechanical arm so as to complete complex actions; the system can be used for detecting, rescuing and eliminating danger in dangerous regions or regions which are not suitable for human to enter.
Description
Technical field
The present invention relates to a kind of multi-functional probe vehicles, particularly relate to a kind of dangerous region based on controlled in wireless and transmission of video many
Function probe vehicles.
Background technology
China be a natural disaster and the multiple country of human accident, usual natural disaster and scene of the accident situation complicated and have
The highest danger, but the process of rescue and relief work and accident needs, with rescue, the truth that obtains in scene timely, such as sky
Makings amount, temperature, humidity, casualties situation and the wounded position, whether there is fire etc., but most important of which is that and obtain
Obtain on-the-spot real time imaging；But China lacks correlation detection equipment now, cause obtaining in time above-mentioned information, and then impact
Follow-up rescue work, is even delayed optimal rescue time, causes unnecessary casualties and property loss.Currently for this
The measure that the situation of kind is taked is to be carried correlation detection and the enforcement detection of rescue aid entrance deathtrap and rescue by rescue personnel,
The data obtained and image typically cannot be carried out real-time Transmission by this mode, simultaneously to entering field conduct detection and search-and-rescue work
Personnel there is also huge potential safety hazard.And detection and the rescue aid entrained by rescue personnel is also possible to because of environment
Badly cause malfunctioning.
Summary of the invention
It is an object of the invention to provide the multi-functional probe vehicles in a kind of dangerous region based on controlled in wireless and transmission of video, this spy
Measuring car solves that above-mentioned existing equipment is blank and technological deficiency, it is provided that a kind of simple to operate, working stability based on wireless controlled
System and the multi-functional detection of wireless video transmission, get rid of the danger and relief car, it is achieved remote-wireless controls, transmission of video and each
The parameter transmission of sensor.
The present invention is achieved in that it includes probe vehicles, mechanical arm, detector, controller, wireless control module, lithium battery
Group, video wireless transmission module, high-definition camera, photographic head The Cloud Terrace, electric expansion bar, motor-drive circuit, AD/DA circuit,
LED illumination lamp, it is characterised in that: the internal lithium battery group of probe vehicles, lithium battery group connects the driving electricity of the four wheels of probe vehicles
Machine, drives motor to connect motor-drive circuit respectively, and motor-drive circuit connects controller, and controller connects controlled in wireless respectively
Module and video wireless transmission module, video wireless transmission module connects high-definition camera, and high-definition camera passes through electric expansion
Bar connects photographic head The Cloud Terrace, and photographic head The Cloud Terrace is fixed on the car body of probe vehicles, and the car body of described probe vehicles is connected with mechanical hand
Arm, the front end of described probe vehicles is provided with LED illumination lamp and several detectors, and controller is also connected with mechanical arm, electric expansion
Bar, photographic head The Cloud Terrace and detector.
The car body of described probe vehicles includes lower shoe and upper plate, and lower shoe is fixed level connection joint upper plate and formed car body.
Described detector is humidity sensor, liquefied gas detector, alcohol detector, methane gas probing device, propane detection
Device, butane detector, carbon monoxide detector, hydrogen gas detector, gas detectors, harmful gas concentration detector, flame are visited
Survey device, IR people locator and ultrasonic ranging detector.
Described ultrasonic ranging detector is fixed on ultrasonic wave module The Cloud Terrace.
The kernel control chip of described controller uses STC12C5A60S2 single-chip microcomputer.
The master chip of described video wireless transmission module uses STM32F407 chip
Install critesistor additional on described IR people locator, prevent it in high temperature environments by false triggering.
Described hygrosensor installs outer containment vessel additional so that it is be not directly exposed in air.
Described photographic head is by video processing module control, and view data is passed to video wireless transmission mould by described video processing module
Block is also passed to host computer by video wireless transmission module, it is achieved video wireless real-time transmission.
High-definition camera is connected on electric expansion bar, and electric expansion bar is connected on photographic head The Cloud Terrace, by controlling photographic head
The Cloud Terrace and electric expansion bar can make photographic head shooting different angles and the image of height, can do surrounding in further detail
Shooting.
Ultrasonic wave module is arranged on ultrasonic wave module The Cloud Terrace, rotates to different directions different angles by controlling ultrasound wave The Cloud Terrace
Can realize distance and obstacle detection without dead angle around multi-functional probe vehicles.
Gas sensor, flame detector and humidity sensor circuit are by AD/DA circuit and humidity sensor, common combustible gas
Bulk concentration detector, harmful gas concentration detector, flame detector collectively constitute；Use the AD conversion mould of this high-precision high-speed
Block can be converted into corresponding digital quantity the analog data of various sensors accurately and pass controller back, and then by controller
Control wireless module and pass host computer back.
Above-mentioned common combustable gas concentration detector and harmful gas concentration detector the most after filtering, by clean analogue signal
Incoming AD/DA modular converter, improves the degree of accuracy of data.
The kernel control chip of above-mentioned agv controller uses STC12C5A60S2 single-chip microcomputer, this single-chip microcomputer and the finger of 51 single-chip microcomputers
Order collection is compatible, but the speed of service is 12 times of 51 single-chip microcomputers in the case of crystal oscillator frequency is identical, operationally opens it
WATCH_DOG function, causes can automatically reseting during program fleet under by your harsh conditions such as grade of strong electromagnetic, improves system
System stability, so this single-chip microcomputer has low price, the speed of service is fast, energy consumption is low, the feature such as stable.
The master chip of above-mentioned video processing module uses STM32F407 chip, this chip have low in energy consumption, disposal ability strong, valency
The advantages such as lattice are cheap.
Above-mentioned wireless video transmission module uses the specification of 1.2GHz, 8W, and the radio frequency of 1.2GHz has and penetrates obstacle energy
Power transmits by force the features such as the little long transmission distance of interference, uses the high-power of 8w can increase transmission range.
Use master chip be the wireless transport module of SI4463-B1B1 as wireless control module, this module have low in energy consumption, pass
Defeated distance is remote, reliability high, can close the high-power video transmission module of 8w when need not transmission of video to save electricity
Can, strengthen flying power.
Using double wireless module transmission, two modules use 1.2GHz and 2.4GHz respectively so that it is will not interfere with each other, improve
The stability of system, reduces the overall energy consumption of system, improves flying power.
Mechanical arm includes 6 high pulling torque digital rudder controllers, metal steering wheel and support；Digital rudder controller has control compared to simulation steering wheel
System is convenient, positioning precision advantages of higher.
Photographic head The Cloud Terrace includes The Cloud Terrace support, cushion and three high accuracy steering wheels, and cushion can make photographic head shooting stable,
The Cloud Terrace can make the image in photographic head shooting different angles direction to the observation of surrounding in further detail and comprehensively.
Above-mentioned expansion link can make the image of photographic head shooting differing heights.
Motor-drive circuit, by two L298N dual H-bridge driving chip, can control No. four direct current generators simultaneously, has circuit letter
Clean stable, that driving force is high advantage.
Improve further, when ultrasonic wave module returned data, read the data of hygrosensor, be not all according to temperature ultrasonic
Ripple provides temperature-compensating, to revise the temperature drift phenomenon of ultrasound wave, improves certainty of measurement.
Improve further, IR people locator is installed additional critesistor, prevents it in high temperature environments by false triggering.
Improve further, install outer containment vessel additional for hygrosensor so that it is be not directly exposed in air, improve accuracy of detection and
Stability.
Improving further, the PC control of mechanical arm uses and installs 6 electronic gyroscope modules additional at effector's arm, with detection
The action of effector, is wirelessly transferred by host computer and reaches dolly control mechanical arm, and this control mode can make mechanical arm complete
Entirely simulate the arm action of effector, it is achieved the mechanical arm of high accuracy and simplicity controls.
Radiotechnics: radiotechnics is the technology by radio wave propagated signal.The principle of radiotechnics is, leads
The change that in body, electric current is strong and weak can produce radio wave.Utilize this phenomenon, information can be loaded on radio wave by modulation
On.When electric wave arrives receiving end by spatial transmission, the electromagnetic field change that electric wave causes can produce again electric current in the conductor.Logical
Cross demodulation information to be extracted from curent change, just reach the purpose of information transmission.
Mechanical arm: mechanical arm is the automated machine device obtaining broad practice in robot technical field, in work
Its figure can be seen in the fields such as industry manufacture, therapeutic treatment, entertainment service, military affairs, semiconductor manufacturing and space probation.To the greatest extent
The form managing them is had nothing in common with each other, but they have a common feature, it is simply that can accept instruction, be precisely positioned to three
Dimension (or two dimension) certain point spatially carries out operation.Mechanical arm is roughly divided into two kinds at present, a kind of according to setting
Program constantly completes the action fixed, and advantage is that action degree of accuracy is high, and speed is fast；Shortcoming is to can be only done set dynamic
Work can not be adjusted to changed conditions.The second is to use button or handle remote control, and advantage is to complete various random action, shortcoming
Being that positioning precision is the highest, operation needs certain skill and proficiency.
Ultrasonic ranging: owing to ultrasound wave directivity is strong, energy expenditure is slow, and that propagates in media as well is distant, thus super
Sound wave is frequently used for the measurement of distance, can be realized by ultrasound wave such as diastimeter etc..Utilize ultrasound examination often than
Relatively rapidly, facilitate, calculate simply, be prone to accomplish to control in real time；But owing to ultrasonic transmission speed is influenced by ambient temperature very big,
Cause certainty of measurement the highest.
IR people locator: in infrared detector, the existence of thermoelement detection human body or movement, and thermoelement
Output signal be converted into voltage signal.Then, voltage signal is carried out waveform analysis.Then, only when passing through waveform analysis
When the waveform produced by human body being detected, just output detections signal.Such as, in two different frequency ranges, voltage letter is amplified
Number, and exaggerated signal is used for the signal differentiating to be caused by human body, its shortcoming is to be vulnerable to ambient temperature interference, works as temperature
Easy false triggering time too high.
Air mass sensor: MQ-135 sensor is suitable for the gas such as ammonia, aromatic compounds, sulfide, benzene series steam, smog
The detection of body harmful gas, according to harmful gas concentration output voltage signal.
Combustible gas sensor: MQ-2, MQ-3, MQ-4, MQ-5, MQ-6, MQ-7, MQ-8, MQ-9 realize to liquefied gas, ethanol,
Methane natural gas, propane, butane, carbon monoxide, the detected with high accuracy of hydrogen；Its principle is the gas sensitive that sensor is used
It it is the tin ash (SnO2) that electrical conductivity is relatively low in clean air.When sensor local environment exists fuel gas, pass
The electrical conductivity of sensor increases with the increase of combustable gas concentration in air.Use the simple circuit can be by the change of electrical conductivity
Be converted to the output signal corresponding with this gas concentration.
Temperature sensor: the DS18B20 temperature sensors of high precision using company of Dallas to produce, can realize-55 DEG C to+125
Temperature sensing in the range of DEG C.
Humidity sensor: wet sensitive original paper humidity sensor is broadly divided into two kinds, is humistor and humicap respectively；Its principle
Respectively: the feature of humistor is one layer of film made with wet sensory material of covering on substrate, when the steam in air is inhaled
When being attached on humidity-sensitive film, resistivity and the resistance value of element all change, and utilize this characteristic can measure humidity.
Humicap is usually to be made with macromolecule membrane electric capacity, conventional macromolecular material have polystyrene, polyimides,
Butyric acid acetate fiber etc..When ambient humidity changes, the dielectric constant of humicap changes so that it is capacitance is also sent out
Changing, its capacitance change is directly proportional to relative humidity.Shortcoming is: the resistance tocrocking of dew cell is poor, at detection environmental wet
When spending, dew cell to be chronically exposed in environment to be measured, it is easy to is contaminated and affects its certainty of measurement and long-time stability.
Servomotor: servomotor controllable speed, positional precision is very accurate, voltage signal can be converted into torque and turn
Speed is to drive control object.Servo motor rotor rotating speed is by input signal control, and energy fast reaction, at automatic control system
In, as executive component, and there is the characteristics such as electromechanical time constant is little, the linearity is high, pickup voltage is low, can be the electricity received
Angular displacement or angular velocity that signal is converted on motor reel export.
Gyroscope: gyro sensor is easy to use moving the location with gesture based on free space and control system
System.
The solution have the advantages that: utilize radiotechnics to realize remote-wireless and control and data, image transmitting and profit
Realize the manipulation accurate, easy to mechanical arm with three-dimensional electronic gyroscope acquisition controlling person's arm action, complete compound action；Can
For to dangerous region or be not suitable for the region that the mankind enter and detect, rescue and dangerous get rid of.
Accompanying drawing explanation
Fig. 1 is the perspective view of the present embodiment；
Fig. 2 is the hull bottom plate structural representation of the present embodiment；
Fig. 3 is the ultrasonic wave module structural representation of the present embodiment；
Fig. 4 is the motor-drive circuit schematic diagram of the present embodiment；
Fig. 5 is motor-drive circuit and the motor catenation principle figure of the present embodiment；
Fig. 6 is the circuit theory diagrams of the main controller master chip of the present embodiment；
Fig. 7 is the LCD liquid crystal display screen connection diagram of the present embodiment；
Fig. 8 is the AD/DA modular circuit schematic diagram of the present embodiment；
Fig. 9 is the photographic head expansion link specification figure of the present embodiment；
Figure 10 is the image processing module master chip external circuit schematic diagram of the present embodiment；
Figure 11 is the distribution of external pin contact pin and the labeled graph of the present embodiment image processing module master chip；
Figure 12 is the circuit theory diagrams of the present embodiment image processing module chip LDO (low pressure difference linear voltage regulator)；
Figure 13 is the present embodiment image processing module analog power circuit theory diagrams；
Figure 14 is the present embodiment image processing module 24,96kHz stereo D/A converter circuit theory diagrams；
Figure 15 is the present embodiment image processing module jtag interface circuit theory diagrams；
Figure 16 is the present embodiment image processing module 1117-3.3V low-dropout regulator circuit theory diagrams；
Figure 17 is that the present embodiment image processing module is connected interface principle figure with 0V7670 camera module；
Figure 18 is the circuit theory diagrams of the present embodiment image processing module RS232-USB interface convertor chip；
Figure 19 is the circuit theory diagrams of the present embodiment image processing module power supply coupling capacitor；
Figure 20 is the present embodiment image processing module SD card interface circuit schematic diagram；
Figure 21 is the circuit theory diagrams that the present embodiment image processing module com interface turns USB interface；
Figure 22 is the processing procedure block diagram of digital camera interface (DCMI)；
Figure 23 is the top-level block diagram of digital camera interface；
Figure 24 is the sequential chart of digital camera interface (DCMI)；
Figure 25 is the present embodiment air mass sensor (MQ-135) circuit theory diagrams.
Detailed description of the invention
Describe the present invention below by specific embodiment once.
For making the object, technical solutions and advantages of the present invention clearer, below the present invention is carried out full and accurate, complete description.
Based on the embodiment in the present invention, other embodiments that others skilled in the art obtain under not making creative work, all belong to
In the scope of protection of the invention.
With reference to Fig. 1, Fig. 2, Fig. 3, the multi-functional probe vehicles in dangerous region based on controlled in wireless and transmission of video includes: lower shoe 1,
Upper plate 2, is arranged on the lithium battery group 3 at lower shoe 1 rear portion, is arranged on the controller 4 in the middle part of lower shoe 1, is arranged on lower shoe 1
The video wireless transmission module 5 of rear left and wireless control module 6, the high-definition camera 7 being arranged on electric expansion bar 8,
It is arranged on the photographic head The Cloud Terrace 9 of upper plate 2 front portion, is arranged on the electric expansion bar 8 on photographic head The Cloud Terrace 9 top, is arranged on and goes to the bottom
The motor-drive circuit 10 on controller 4 left side on plate 1, it is arranged on the AD/DA circuit 11 of controller 4 front portion, is arranged on lower shoe
Humidity sensor 12 on the right of 1 front portion, it is sequentially arranged in the common combustable gas concentration detector (liquefied gas of lower shoe 1 front portion
Detector 13, alcohol detector 14, methane gas probing device 15, propane detector 16, butane detector 17, carbon monoxide are visited
Survey device 18, hydrogen gas detector 19, gas detectors 20), be arranged on lower shoe 1 front portion harmful gas concentration detector 21, peace
It is contained in the anterior detecting head of lower shoe 1 to stretch out the flame detector 22 in the middle part of dolly front, be arranged in the middle of upper plate 2 Vehicular body front
IR people locator 23, the ultrasonic distance measuring module 24 being arranged on ultrasound wave The Cloud Terrace 25, be arranged in upper plate 2 front portion
Between ultrasonic wave module The Cloud Terrace 25, be arranged on the mechanical arm 26 in the middle part of upper plate 2, the LED that is arranged on high-definition camera 7 shines
Bright lamp 28, be arranged on upper plate 2 rear portion direct-current voltage reducing circuit 27, be arranged on left front, lower shoe 1 bottom the near front wheel 29, peace
It is contained in the left rear wheel 30 of left back, lower shoe 1 bottom, is arranged on the off-front wheel 31 in lower shoe 1 lower right front, is arranged on and goes to the bottom
The off hind wheel 32 at plate 1 lower right rear, the off-front wheel being arranged on off-front wheel 31 drive motor 33, are arranged on off hind wheel 32
The left rear wheel that off hind wheel driving motor 34, the near front wheel being arranged on the near front wheel 29 drive motor 35, are arranged on left rear wheel 30
Drive the support copper post 37 of motor 36, connection lower shoe 1 and upper plate 2, be arranged on the LCD in the middle of upper plate 2 rear portion
(12864B) display screen 38.
In the present embodiment, the P0^0 mouth of the I/O port of the master chip STC12C5A60S2 of controller connects 74HC138 to P0^2 mouth
Three input pins of chip, eight output pins of 74HC138 chip connect the different inputs of motor-drive circuit respectively
To control main story and the reversion of four wheels, also by the speed of the form control rotating speed of PWM output, use 74HC138 core
Sheet can save I/O port resource.
In the present embodiment, to meet IIC respectively total for the P1^0 mouth of the I/O port of the master chip STC12C5A60S2 of controller and P1^1 mouth
The clock cable SCL and data signal line SDA of line, can be connected on clock cable SCL the device that communication protocol is IIC agreement
With on data signal line SDA, same iic bus at most can 8 same type chip of carry, in the present embodiment can be 3
PCF8591 chip is connected on iic bus, arranges different ground by 3 address pin of chip are met VCC or GND for chip
Location, such that it is able to uniquely have access to some PCF8591 chip on same iic bus, each PCF8591 chip simultaneously
4 detectors being output as analog quantity can be connected, the analog quantity that detector exports is converted into digital quantity input controller, enters
And pass host computer back by wireless control module.
P1^2 mouth and the P3^2 mouth of the I/O port of the master chip STC12C5A60S2 of controller is connected on ultrasonic mode in the present embodiment
Echo (receiving terminal) interface of block, P1^3 interface is connected on Trig (control end) interface of ultrasound wave, by the P1^ of STC12C5A60S2
3 mouthfuls of high level sending a more than 10us to ultrasound wave Trig (control end), ultrasonic wave module sends 8 40khz's automatically
Square wave, has automatically detected whether that signal returns, has had signal to return, and exports a high level by Echo mouth, and high level is lasting
Time is exactly ultrasound wave from being transmitted into time of return, and the P1^2 mouth of the STC12C5A60S2 chip that Echo mouth is connected detects
High level opens single-chip microcomputer timer immediately, starts to record high level time, and P3^2 mouth is that the external interrupt of single-chip microcomputer triggers mouth,
Single-chip microcomputer external interrupt is set as trailing edge triggering mode, as long as P3^2 mouth receives trailing edge signal, closes timer immediately,
And read between timer clocked, here it is ultrasound wave is from being transmitted into the precise time of return, then read the temperature of chip temperature
Angle value, according to the temperature drift of temperature value correction ultrasound wave, thus reads accurate distance.
In the present embodiment, the P1^4 mouth of the I/O port of the master chip STC12C5A60S2 of controller connects the data of hygrosensor
Interface, DS18B20 chip temperature uses monobus mode to communicate, and the master chip STC12C5A60S2 of controller can pass through I/O port
P1^4 mouth read present local environment accurate temperature numerical value.
P1^5, P1^6, P1^7 mouth of the I/O port of the master chip STC12C5A60S2 of controller connects 74HC138 in the present embodiment
Three input pins of chip, eight output pins of 74HC138 chip connect the eight bit data line of LCD (12864B), controller
P3^0, P3^1, P3^4 mouth of I/O port of master chip STC12C5A60S2 meet RS, RW, E of LCD (12864B) respectively, it is achieved right
The control of display screen LCD (12864B).
P2^0, P2^1, P2^2, P2^3, P2^4, P2 of the I/O port of the master chip STC12C5A60S2 of controller in the present embodiment
^5 mouth respectively with the control line of six digital rudder controllers of mechanical arm, if the PWM square wave of these six I/O ports output different duty,
Just can control the different angles that steering wheel rotates, produce PWM square wave with single-chip microcomputer intervalometer, the most fixed of mechanical arm can be realized
Position；The master chip STC12C5A60S2 of controller is obtained the ginseng of gyroscope manipulator's arm by wireless transport module from host computer
Number, controls mechanical arm steering wheel with this, makes the action the most consistent with manipulator's arm, accomplishes accurate positioning, manipulation simplicity.
The P2^6 mouth of the I/O port of the master chip STC12C5A60S2 of controller controls a relay, and then control in the present embodiment
Whether the work of screen transport module processed, photographic head The Cloud Terrace, video processing module and high-definition camera；High-definition camera photographed
Image, after the process of video processing module, passes host computer back through video wireless transmission module.
P3^5, P3^6, P3^7 of the I/O port of the master chip STC12C5A60S2 of controller controls to take the photograph respectively in this example
As three steering wheels of head The Cloud Terrace, control, by the PWM square wave of output different duty, direction and the angle that three steering wheels rotate, real
The most accurately control, be the photographic head image that can shoot different angles and direction.
The P2^6 mouth of the I/O port of the master chip STC12C5A60S2 of controller connects electromagnetic relay in this example, controls shooting
The motion of head expansion link, can accurately control the motion of expansion link by the way of output PWM square wave.
Photographic head LED illumination lamp is connected with the DO pin of photosensitive resistance sensor in the present embodiment, when ambient light intensity reaches not
Being that DO exports high level to setting threshold value, light LED illumination lamp, this method can automatically control the light on and off of LED, saves
Electric energy.
The P2^7 mouth of the I/O port of the master chip STC12C5A60S2 of controller connects IR people locator's in the present embodiment
Output pin, after IR people locator senses life entity, output pin output high level, when P2^7 mouth receives high electricity
Information can be sent by wireless control module to host computer, the corresponding rescue of request after Ping.
The P0^3 mouth of the I/O port of the master chip STC12C5A60S2 of controller connects the control of ultrasound wave The Cloud Terrace in the present embodiment
Line, is realized the rotation of ultrasound wave The Cloud Terrace different directions different angles, thus realizes super by the PWM square wave of output different duty
Sound wave module can be with the surrounding of scanning probe car.
Fig. 4, Fig. 5 are the circuit theory diagrams of motor-drive circuit and motor-drive circuit and motor catenation principle figure, and motor drives
Galvanic electricity road includes that two L298N driving chip, each L298N module can drive 2 direct current generators, build according to Fig. 4 method
Motor-drive circuit, connects circuit and the motor of motor-drive circuit according to Fig. 5 method.
Fig. 6 is the circuit theory diagrams of main controller master chip, builds main controller master chip circuit according to schematic diagram.
Fig. 7 is LCD (12864B) LCDs connection diagram, builds LCD (12864B) liquid crystal according to method shown in Fig. 7
Show circuit.
Fig. 8 is AD/DA modular circuit schematic diagram, builds AD/DA modular circuit according to schematic diagram shown in Fig. 8.
Fig. 9 is photographic head expansion link specification figure, notes its specification and stroke during installation.
Figure 10 to Figure 21 is image processing module circuit theory diagrams, builds image processing module according to circuit theory diagrams shown in Figure 10
Master chip circuit.
Figure 10 is the circuit theory diagrams of image processing module master chip peripheral circuit, connects image processing module master as shown in Figure 10
Chip and the circuit part such as external crystal-controlled oscillation and decoupling capacitor, the peripheral circuit completing image processing module master chip is built.
Figure 11 is the I/O port external connection row pin corresponding diagram of image processing module master chip.
Figure 12 is the peripheral circuit catenation principle figure of image processing module LDO-1.8V chip, and it is a kind of low pressure difference linearity voltage stabilizing
Device, its function is at 1.8V by voltage stabilization, builds the external circuit of LDO-1.8V chip shown in circuit theory diagrams.
Figure 13 is image processing module analog power circuit theory diagrams, has wherein used 105,104 electric capacity to be filtered, had entered
Repeatedly filtering, and be connected to inductance component in circuit so that it is the unidirectional current ripple of output is little, high purity, working stability is pressed
According to the analog power circuit building image processing module as shown in the figure.
Figure 14 is 24 of image processing module, 96kHz stereo D/A converter external circuit schematic diagram, is perfect solid
Sound digital-to-analogue output system, for the process of sound, according to building its external circuit as shown in the figure.
Figure 15 is the jtag interface peripheral circuit schematic diagram of image processing module, and JTAG is joint test working group, jtag interface
Can be used for being programmed the devices such as FLASH, JTAG programming mode greatly speeds up project progress, according to building JTAG as shown in the figure
The external circuit figure of interface.
Figure 16 is the 1A low-dropout regulator of image processing module, and it can provide the normal voltage of 3.3V, according to taking as shown in the figure
Build circuit theory diagrams.
Figure 17 is that image procossing mould is connected circuit theory diagrams with OV7670 high-definition camera, its can realize image processing module with
The connection of OV7670 high-definition camera, so that image processing module accepts and processes the number that OV7670 high-definition camera is passed back
According to, according to connecting circuit as shown in the figure.
Figure 18 is the circuit theory diagrams of image processing module RS232-USB interface convertor chip, PL2303 chip one height
Integrated RS232-USB interface convertor, it is possible to provide a RS232 full duplex asynchronous serial communication device and USB functional interface
Easy connection, can realize the automatic conversion of RS232 signal and usb signal, thus realizes the logical of computer and image transmission module
Letter, is used for as image processing module programming program, and transmission data etc., according to building PL2303 peripheral circuit as shown in the figure
Figure 19 is the decoupling circuit of digital power, can remove ripple, exports the purest unidirectional current, according to connecting as shown in the figure
Connection circuit.
Figure 20 is the circuit theory diagrams that image processing module SD card is connected with master chip, can realize image procossing mould by this circuit
Block master chip reads data from SD card and writes data to SD card, owing to image file is relatively big, can receive interference, and image cannot
When passback or passback poor effect by image storage in SD card, after dolly returns, read the video in SD card, it is possible to will visit
The data that survey device detects are stored in SD card.
Figure 21 is the circuit theory diagrams that image processing module com interface turns USB interface, its can realize serial form data with
The conversion of USB format data, according to connecting circuit as shown in the figure.
Figure 22, Figure 23, Figure 24 are control block diagram and sequential chart, the wherein DCMI number of image processing module master chip DCMI interface
Word utilizing camera interface is a synchronous parallel interface, it is possible to receive outside 8,10,12 or 14 CMOS camera modules
The high-speed data-flow sent.Different data forms can be supported: YCbCr4:2:2/RGB565 progressive and compression data
(JPEG).Its high-speed data-flow is up to 54MB/s.This interface comprises up to 14 data line (D13-D0) and a pixel clock
Line (PIXCLK).The polarity of pixel clock can program, and therefore can capture data at the rising edge of pixel clock or trailing edge.
These data are placed in 32 bit data register (DCMI_DR), are then transmitted by general DMA.Image buffer by
DMA manages rather than is managed by utilizing camera interface.The data received from photographic head can organize (original YUB/ by row/frame
RGB/ Bayer pattern), it is also possible to it is a series of jpeg images.Data stream can by optional HSYNC (horizontal synchronization) signal and
VSYNC (vertical synchronization) signal hardware synchronizes, or is synchronized by the synchronous code embedded in data stream.View data after process
It is transferred to video wireless transmission module by image processing module, and then passes host computer back.
The camera module of the present embodiment is connected with image processing module, by image processing module master chip by DCMI interface
The photographic head data that reason receives, and be sent to wireless video transmission module, wireless video transmission module pass host computer back.
Figure 25 is air mass sensor (MQ-135) circuit theory diagrams, builds air mass sensor circuit according to Figure 11, its
His gas sensor circuit is similar with this circuit, and simply inductive head is different, changes inductive head part by this circuit and can build
Go out other gas sensor circuit.
Claims (8)
1. the multi-functional probe vehicles in dangerous region based on controlled in wireless and transmission of video, it includes probe vehicles, mechanical arm, spy
Survey device, controller, wireless control module, lithium battery group, video wireless transmission module, high-definition camera, photographic head The Cloud Terrace, electronic
Expansion link, motor-drive circuit, AD/DA circuit, LED illumination lamp, it is characterised in that: it is furnished with lithium battery group, lithium electricity in probe vehicles
Pond group connects the driving motor of the four wheels of probe vehicles, drives motor to connect motor-drive circuit, motor-drive circuit respectively
Connecting controller, controller connects wireless control module and video wireless transmission module respectively, and video wireless transmission module connects
High-definition camera, high-definition camera connects photographic head The Cloud Terrace by electric expansion bar, and photographic head The Cloud Terrace is fixed on the car of probe vehicles
On body, the car body of described probe vehicles being connected with mechanical arm, the front end of described probe vehicles is provided with LED illumination lamp and several detect
Device, controller is also connected with mechanical arm, electric expansion bar, photographic head The Cloud Terrace and detector.
The multi-functional probe vehicles in dangerous region based on controlled in wireless and transmission of video the most according to claim 1, its feature
Being: the car body of described probe vehicles includes lower shoe and upper plate, lower shoe is fixed level connection joint upper plate and is formed car body.
The multi-functional probe vehicles in dangerous region based on controlled in wireless and transmission of video the most according to claim 1, its feature
It is: described detector is humidity sensor, liquefied gas detector, alcohol detector, methane gas probing device, propane detection
Device, butane detector, carbon monoxide detector, hydrogen gas detector, gas detectors, harmful gas concentration detector, flame are visited
Survey device, IR people locator and ultrasonic ranging detector.
The multi-functional probe vehicles in dangerous region based on controlled in wireless and transmission of video the most according to claim 3, its feature
It is: described ultrasonic ranging detector is fixed on ultrasonic wave module The Cloud Terrace.
The multi-functional probe vehicles in dangerous region based on controlled in wireless and transmission of video the most according to claim 1, its feature
It is: the kernel control chip of described controller uses STC12C5A60S2 single-chip microcomputer.
The multi-functional probe vehicles in dangerous region based on controlled in wireless and transmission of video the most according to claim 1, its feature
It is: the master chip of described video wireless transmission module uses STM32F407 chip.
The multi-functional probe vehicles in dangerous region based on controlled in wireless and transmission of video the most according to claim 1, its feature
It is: on described IR people locator, install critesistor additional, prevents it in high temperature environments by false triggering.
The multi-functional probe vehicles in dangerous region based on controlled in wireless and transmission of video the most according to claim 1, its feature
It is: described hygrosensor installs outer containment vessel additional so that it is be not directly exposed in air.
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