CN106483907A - Multifunctional environment gathers remote operated vehicle - Google Patents
Multifunctional environment gathers remote operated vehicle Download PDFInfo
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- CN106483907A CN106483907A CN201611157125.0A CN201611157125A CN106483907A CN 106483907 A CN106483907 A CN 106483907A CN 201611157125 A CN201611157125 A CN 201611157125A CN 106483907 A CN106483907 A CN 106483907A
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- operated vehicle
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- wireless module
- module
- sensor
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Selective Calling Equipment (AREA)
Abstract
The invention discloses a kind of Multifunctional environment gathers remote operated vehicle, trolley body drives for four-wheel DC speed-reducing, three section 3.7V lithium battery series-feds, trolley body is loaded with 5 sensors, controller, wireless module and LCDs, 5 sensors include DS18B20 temperature sensor, collecting ambient humidity module DHT11 digital hygro sensor, BH1750FVI light intensity sensor, gas concentration detection MQ 2 Smoke Sensor, and HC SR501 human body induction module；Controller includes host scm and secondary single-chip microcomputer, and host scm and secondary single-chip microcomputer are all using STC12c5a60s2；One STC12c5a60s2 chip, a nRF24L01 wireless module and a 12864LCD liquid crystal display screen are provided with remote control.The present invention adopts modularized design structure, is mutually independent of each other, has higher hommization and intellectuality between each function.
Description
Technical field
The present invention relates to environmental detection set field is and in particular to a kind of Multifunctional environment gathers remote operated vehicle.
Background technology
Due to having this in daily detection of living, unexpected dangerous situation generations, military surveillance, anti-pollution etc. dangerous and adverse circumstances
Wide application prospect, wireless remote control dolly becomes an important study hotspot.Wireless remote control dolly has small volume, cost
The features such as low, survival ability is strong, motion are flexible.Because its application scenario is special, so it is lightweight, real to specially require this kind of dolly
When property is good, operate with reliability.
Content of the invention
Object of the present invention is to provide a kind of Multifunctional environment gathers remote operated vehicle, using modularized design structure,
Mutually it is independent of each other between each function, there is higher hommization and intellectuality.
For achieving the above object, the technical scheme that the present invention takes is：
Multifunctional environment gathers remote operated vehicle, and including trolley body and remote control, trolley body is slowed down electric for four-wheel direct current
Machine drives, three section 3.7V lithium battery series-feds, and trolley body is loaded with 5 sensors, controller, wireless module and liquid crystal
Display screen, 5 sensors include the temperature collect module DS18B20 temperature sensor of environment, collecting ambient humidity module DHT11 number
Word Temperature Humidity Sensor, BH1750FVI light intensity sensor, gas concentration detection MQ-2 Smoke Sensor, and in front of detection be
The HC-SR501 human body induction module of no someone；Described controller includes host scm and secondary single-chip microcomputer, host scm and pair list
Piece machine, all using STC12c5a60s2, is used for carrying out dolly control and data exchange；It is provided with one on described remote control
STC12c5a60s2 chip, a nRF24L01 wireless module and a 12864LCD liquid crystal display screen, described nRF24L01 wireless module leads to
Cross and be wirelessly connected with described wireless module.
Preferably, described wireless module adopts nRF24L01 wireless module.
Preferably, master chip and secondary chip carry out the exchange of data using microcontroller serial port communication, and exchange velocity is fast, sequential
Simply, sequential is separate avoids affecting.
Preferably, after nrf24L01 is arranged to reception pattern, 6 different data channel (data pipe) can be passed through
Receiving data；Each data channel has a unique address but the frequency of each data channel is identical.This means
Can there is the nRF24L01 communication that 6 nRF24L01 being configured to transmission state can be configured to reception state with one, and
And recipient can distinguish (can reach the purpose of differentiation by judging the 1-3 position of status register).
Preferably, data channel 0 has the address arranging of a unique 40bit；Remaining passage 1 arrives passage 5 then
Front 32 identical, then 8 differences in address；All of data channel can realize Enhanced ShockBurst pattern.
The invention has the advantages that：
Mutually it is independent of each other between each function of the present invention, there is higher hommization and intellectuality；With based on nRF24L01
The nRF24L01 wireless communication system of radio transmitting and receiving chip, and onboard select DS18B20 as the temperature collect module of environment,
With DHT11 digital hygro sensor as collecting ambient humidity module, with BH1750FVI light intensity sensor to surrounding
Illumination is detected, and with MQ-2 Smoke Sensor as gas concentration detection apparatus such as ETS, and uses HC-SR501 people
Body induction module detect in front of whether someone, dolly is that four-wheel DC speed-reducing drives, and three save 3.7V2600mA lithium battery strings
Alliance electricity, dolly has two pieces of stc12c5a60s2 chips communicated, and data is sent to remote control by nRF24L01
On stc12c5a60s2 chip, data on a remote control 12864LCD display screen display.Through test, debugging wireless
Transceiver module, it works in 2.4GHz～2.5GHz work SM frequency range；The distance outdoor of remote control and dolly about within 140 meters,
, about within 40 meters, there is reasonable data-transformation facility interior.Pass through the precision being wirelessly transferred after temperature data is encoded
Control within 0.01 degree Celsius.
Brief description
Fig. 1 is the entire block diagram of the embodiment of the present invention.
Fig. 2 is DS18B20 sensing module block diagram.
Fig. 3 is DHT11 sensing module block diagram.
Fig. 4 is sensing module block diagram.
Fig. 5 is 7805 voltage reduction module circuit diagrams.
Fig. 6 is embodiment of the present invention overall circuit figure.
Fig. 7 is remote control software block flow diagram.
Fig. 8 is dolly software module flow chart.
Specific embodiment
In order that objects and advantages of the present invention become more apparent, with reference to embodiments the present invention is carried out further
Describe in detail.It should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not used to limit this
Bright.
Embodiments provide a kind of Multifunctional environment collection remote operated vehicle, including trolley body and remote control, little
Car body be four-wheel DC speed-reducing drive, three section 3.7V lithium battery series-feds, trolley body be loaded with 5 sensors,
Controller, wireless module and LCDs, 5 sensors include the temperature collect module DS18B20 temperature sensor of environment,
Collecting ambient humidity module DHT11 digital hygro sensor, BH1750FVI light intensity sensor, gas concentration detection MQ-2 cigarette
Mist sensor, and in front of detecting whether someone HC-SR501 human body induction module；Described controller include host scm and
Secondary single-chip microcomputer, host scm and secondary single-chip microcomputer, all using STC12c5a60s2, are used for carrying out dolly control and data exchange；Described
One STC12c5a60s2 chip, a nRF24L01 wireless module and a 12864LCD liquid crystal display screen are provided with remote control, described
NRF24L01 wireless module passes through wirelessly to be connected with described wireless module.
Described wireless module adopts nRF24L01 wireless module.
Master chip and secondary chip carry out the exchange of data using microcontroller serial port communication, and exchange velocity is fast, and sequential is simple, when
Sequence is separate to be avoided affecting.
After nrf24L01 is arranged to reception pattern, number can be received by 6 different data channel (data pipe)
According to；Each data channel has a unique address but the frequency of each data channel is identical.This means to there is 6
The nRF24L01 communication that the individual nRF24L01 being configured to transmission state can be configured to reception state with one, and recipient
(can reach the purpose of differentiation by judging the 1-3 position of status register) can be distinguished.
Data channel 0 has the address arranging of a unique 40bit；Remaining passage 1 is to before passage 5 then address 32
Identical, then 8 differences in position；All of data channel can realize Enhanced ShockBurst pattern.
In transmitting terminal, data channel 0 is used to receive confirmation, and the address of the therefore data channel 0 of transmitting terminal is necessary
It is equal to and sends address, so just can receive response message.After a 24L01 transmission terminates, it can be opened receptor and wait
Confirm.Without receiving confirmation, then retransmit, until receiving confirmation.Interrupt and change when repeating transmission exceedes certain number of times and then sends
Status register.Being limited in SETUP_RETR_ARC depositor of sending times is arranged.
No matter when receive confirmation, all can think that a upper packet sends successfully, this packet will be by slow from sending
Rush area to remove, and TX_DS IRQ is set to height.Start spi every time to write, read back is all status word.
In the present system, using STC12c5a60s2 single-chip microcomputer be microprocessor；Intelligent temperature sensor DS18B20 conduct
Detecting element, is connected with single-chip microcomputer using monobus line system, decreases the hardware circuit of outside.Supply voltage：3.3～5.5V/
DC, measurement range：- 55 DEG C～+125 DEG C, 0.5 DEG C of intrinsic resolution.The DS18B20 sensing module of this works is as shown in Figure 2.
DHT11 digital hygro sensor includes a resistance-type humidity sensing element and a NTC temperature element, and with one
8 single-chip microcomputers of high-performance are connected.Supply voltage：3.3～5.5V/DC, measurement range：0～50 DEG C of temperature, certainty of measurement：Temperature
Degree+- 2 DEG C, resolution：1 DEG C of temperature.The DHT11 sensing module of this works is as shown in Figure 3.
BH1750FVI supports I2C BUS interface (f/s Mode Support).Spectral sensitivity close to visual sensitivity
Characteristic (wavelength of peak sensitivity representative value：560nm).Corresponding widely input optical range (being equivalent to 1-655351x).By fall
Low power function, realizes low current.The stable mensure of light noise functional realiey is removed by 50Hz/60Hz.Support 1.8V logic
Input interface.There are two kinds of optional I2C slave addresses.The larger factor of adjustable measurement result impact is light entrance size.
Minimum error changes ± 20%.Affected very little by infrared ray.
The running voltage of LM393, zYMQ-2 gas sensor is 5 volts of direct current.Application：It is applied to the gas of family or factory
Leakage monitor, is suitable for the monitoring devices such as liquefied gas, butane, propane, methane, ethanol, hydrogen, smog.This works
DS18B20 sensing module is as shown in Figure 4.
HC-SR501 is the automatic control module based on infrared technology, is set using German imported with original packaging LHI778 probe
Meter, sensitivity is high, and highly reliable, extra low voltage mode of operation is widely used in all kinds of automatic sensing electric equipments, especially dry
Battery powered automatically control product.
Wirelessly received using the monolithic that nRF24L01 is the ISM band being operated in 2.4GHz～2.5GHz being produced by NORDIC
Send out device chip.Wireless transceiver includes：Frequency generator, enhancement mode " SchockBurst " mode controller, power amplifier,
Crystal oscillator, modulator and demodulator.The setting of output channel selection and agreement can be set by SPI interface
Put.Almost may be coupled to various singlechip chips, and complete Wireless data transmission work.Extremely low current drain：Work as work
Transmission power is that during 0dBm, current drain is 11.3mA in the transmission mode, is 12.3mA during reception pattern, power-down mode and treating
Under machine pattern, current drain is lower.
Power configuration adopts rechargeable battery 18650 as power source, voltage after three section 18650 rechargeable battery series connection
Probably in 12V, 12V voltage is higher, directly as motor drive power supply higher unsuitable for, and such power supply is single should
With dumb.Voltage is down to 8V after the LM2596 voltage reduction module by power supply, gives voltage stabilization in 5V through 7805
Single-chip microcomputer is powered, and thus can realize single power supply and provide different voltage outputs.LM2596 is adjustable voltage reduction module circuit is such as
Shown in Fig. 5.Overall circuit design is as shown in Figure 6.
Originally it is embodied as, with receiving nRF24L01 signal procedure in host scm, by remote control device dolly, controlling
Carriage walking path, the temperature data under the current environment that DS18B20 is gathered back, the collection of DHT11 digital hygro sensor
The ambient humidity data returned and BH1750FVI gather the data of light conditions returned, also useful MQ-2 Smoke Sensor collection
The gas concentration data such as ETS, HC-SR501 human body induction module detect in front of whether on the data write dolly of someone
Secondary single-chip microcomputer, carry out the data processing of fast correlation.Then secondary single-chip microcomputer and host scm are carried out between single-chip microcomputer quickly
Communication, sends the data to host scm, data is sent to remote control, remote control by nRF24L01 by host scm again
And after doing data processing, then 12864LCD liquid crystal display screen on a remote control carries out gathered environmental data and shows in real time.
The system adopts software simulation monobus (1-Wire) agreement and DS18B20 temperature sensor and DHT11 numeral temperature
Humidity sensor connects, and simulation I2C agreement (needing 2 wire jumper, one clock lines one data line) is sensed with BH1750FVI light intensity
Device connects, and simulation SPI protocol is connected with nRF24L01 wireless module.
For the bag of ACK pattern transmission, PTX can interrupt judging whether packet sends by MAX_RT or TX_DS
Success, if sending unsuccessfully, PTX just retransmits, if retransmit several times still failing, switching to next frequency and starting to send；PRX
If a period of time does not receive bag, switch to next frequency and receive.Frequency error factor speed due to PTX and PRX differs
Sample, therefore, just at a time, if both sides receive and dispatch successfully then it represents that this frequency can use in certain frequency.
After transmitting terminal sends over, the data is activation put well is gone out by receiving terminal, it is noted that must read sending out
The data brought or empty reception FIFO, not so transmitting terminal cannot receive the ACK bag with data, does not read or clearly
Sky place data into W_ACK_PAYLOAD be also white put, not only lose time, also can run off the data put into, in can sending
Put into new data in disconnected, so can either save the time, and not waste data, but it is noted that must be when initialized
First place data in W_ACK_PAYLOAD, not so cannot send.IRQ pin equally can be arranged in the receiving end interrupt, when
Just receive through row after pin step-down and send, can remove from and constantly use SPI query time to waste.So be provided with is followed by
The time interval that receiving end sends data rests in the handss of transmitting terminal
The above is only the preferred embodiment of the present invention it is noted that ordinary skill people for the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (5)
1. Multifunctional environment collection remote operated vehicle, including trolley body and remote control it is characterised in that trolley body is that four-wheel is straight
Stream reducing motor drives, three section 3.7V lithium battery series-feds, and trolley body is loaded with 5 sensors, controller, wireless modules
And LCDs, 5 sensors include the temperature collect module DS18B20 temperature sensor of environment, collecting ambient humidity mould
Block DHT11 digital hygro sensor, BH1750FVI light intensity sensor, gas concentration detection MQ-2 Smoke Sensor, and visit
The HC-SR501 human body induction module of whether someone in front of survey；Described controller includes host scm and secondary single-chip microcomputer, main monolithic
Machine and secondary single-chip microcomputer, all using STC12c5a60s2, are used for carrying out dolly control and data exchange；Be provided with described remote control-
STC12c5a60s2 chip,-nRF24L01 wireless module and -12864LCD liquid crystal display screen, described nRF24L01 wireless module passes through
Wirelessly it is connected with described wireless module.
2. Multifunctional environment collection remote operated vehicle as claimed in claim 1 is it is characterised in that described wireless module adopts
NRF24L01 wireless module.
3. Multifunctional environment collection remote operated vehicle as claimed in claim 1 is it is characterised in that master chip and secondary chip are using single
Piece machine serial communication carries out the exchange of data.
4. Multifunctional environment collection remote operated vehicle as claimed in claim 1 is it is characterised in that nrf24L01 is arranged to receive
After pattern, 6 different data channel (data pipe) receiving datas can be passed through；Each data channel has one uniquely
But the frequency of address each data channel is identical.
5. Multifunctional environment collection remote operated vehicle as claimed in claim 4 is it is characterised in that data channel 0 has one uniquely
40bit the address arranging；Remaining passage 1 arrives passage 5 then front 32 identical, then 8 differences in address；All of number
Enhanced ShockBurst pattern can be realized according to passage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611157125.0A CN106483907A (en) | 2016-12-15 | 2016-12-15 | Multifunctional environment gathers remote operated vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611157125.0A CN106483907A (en) | 2016-12-15 | 2016-12-15 | Multifunctional environment gathers remote operated vehicle |
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| CN106483907A true CN106483907A (en) | 2017-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611157125.0A Pending CN106483907A (en) | 2016-12-15 | 2016-12-15 | Multifunctional environment gathers remote operated vehicle |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202306283U (en) * | 2011-10-13 | 2012-07-04 | 无锡大麦创意设计有限公司 | Embedded multifunctional intelligent trolley |
| KR101225150B1 (en) * | 2011-06-22 | 2013-01-25 | 주식회사 이도시앤에스 | Air Pollution Control And Monitoring System Using GPS |
| CN202947759U (en) * | 2012-08-24 | 2013-05-22 | 扬州大学 | Wireless environment monitoring vehicle |
| CN203191820U (en) * | 2013-04-28 | 2013-09-11 | 张宁 | Automatic small patrol line vehicle |
| CN203637651U (en) * | 2013-12-23 | 2014-06-11 | 华东交通大学 | ZigBee-based wireless data acquisition group intelligent trolley |
-
2016
- 2016-12-15 CN CN201611157125.0A patent/CN106483907A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101225150B1 (en) * | 2011-06-22 | 2013-01-25 | 주식회사 이도시앤에스 | Air Pollution Control And Monitoring System Using GPS |
| CN202306283U (en) * | 2011-10-13 | 2012-07-04 | 无锡大麦创意设计有限公司 | Embedded multifunctional intelligent trolley |
| CN202947759U (en) * | 2012-08-24 | 2013-05-22 | 扬州大学 | Wireless environment monitoring vehicle |
| CN203191820U (en) * | 2013-04-28 | 2013-09-11 | 张宁 | Automatic small patrol line vehicle |
| CN203637651U (en) * | 2013-12-23 | 2014-06-11 | 华东交通大学 | ZigBee-based wireless data acquisition group intelligent trolley |
Non-Patent Citations (1)
| Title |
|---|
| 讯通科技: "nrf24L01中文手册", 《NRF24L01中文手册》 * |
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Application publication date: 20170308 |