CN206885205U - Autonomous patrol intelligent vehicle based on embedded system - Google Patents
Autonomous patrol intelligent vehicle based on embedded system Download PDFInfo
- Publication number
- CN206885205U CN206885205U CN201720736713.3U CN201720736713U CN206885205U CN 206885205 U CN206885205 U CN 206885205U CN 201720736713 U CN201720736713 U CN 201720736713U CN 206885205 U CN206885205 U CN 206885205U
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- installing plate
- embedded system
- microcontroller
- wheel
- intelligent vehicle
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Abstract
The utility model discloses a kind of autonomous patrol intelligent vehicle based on embedded system, including two-wheel running dolly, wheel hoofing part mechanism and autonomous patrol controlling organization, two-wheel running dolly includes installing plate one, installing plate two and two road wheels, wheel hoofing part mechanism includes the motor for driving road wheel to walk and the motor driver for motor are connected and be used for traction drive, autonomous patrol controlling organization includes avoiding obstacles by supersonic wave module, camera, head, embedded system and control panel, microcontroller and communication interface are integrated with control panel, the input of microcontroller is terminated with inertial sensor and tachogenerator, the output of microcontroller is terminated with head driver.The utility model obtains visual pattern and inertial data by camera and inertial sensor, realize the independent navigation of dolly, control dolly to balance by inertial data and tachogenerator, independently gone on patrol by the way of embedded system progress image procossing and by two machine communication.
Description
Technical field
The utility model belongs to autonomous patrol technical field, and in particular to a kind of autonomous patrol intelligence based on embedded system
Can car.
Background technology
At present, either in military control region, or special operator on duty couple is required in regions such as campus, cells
Region is gone on patrol, annual in this regard all to have put into substantial amounts of manpower, financial resources, but there is no guarantee that go on patrol at any time,
So that allowing lawless people to avail oneself of the opportunity to get in, the property loss even personnel in the region are caused to receive injury.In recent years, safety monitoring
Popularization reduce the workload of patrol personnel, also ensured the person and property safety in its coverage, but peace at present
The anti-primary stage also in an application, many deficiencies be present：First, all areas can not be completely covered in monitoring, narrow and small
Corner can turn into offender place；Secondly, substantial amounts of monitored picture causes monitoring personnel observation constant, it is impossible in time
Note abnormalities region.The actual patrol for still needing outfit patrol personnel reciprocal solves this problem, therefore, nowadays lacks one
Autonomous patrol intelligent vehicle of the kind based on embedded system, can replace patrol personnel, and can monitor all target areas in real time.
Utility model content
Technical problem to be solved in the utility model is to be directed to above-mentioned deficiency of the prior art, there is provided one kind is based on
The autonomous patrol intelligent vehicle of embedded system, it is novel in design rationally, and visual pattern is obtained by camera and inertial sensor
And inertial data, the independent navigation of dolly is realized, controls dolly to balance by inertial data and tachogenerator, use is embedded
System carries out image procossing and independently gone on patrol by way of two machine communication, is easy to promote the use of.
In order to solve the above technical problems, the technical solution adopted in the utility model is：Independently patrolling based on embedded system
Patrol intelligent vehicle, it is characterised in that：Driven including two-wheel running dolly, for driving the wheel of the two-wheel running carriage walking to walk
Motivation structure and the autonomous patrol controlling organization being arranged on the two-wheel running dolly, the two-wheel running dolly include installing plate
First, the installing plate two of the bottom of installing plate one and two road wheels for being separately mounted to the bottom both sides of installing plate two are set in parallel in,
Installing plate one is connected with installing plate two by support bar, and battery, the wheel hoofing part mechanism are provided with installing plate two
It is described including the motor for driving road wheel to walk and the motor driver for motor are connected and be used for traction drive
Autonomous patrol controlling organization includes avoiding obstacles by supersonic wave module, camera, the head for installing and adjusting camera rotation, is used for
The embedded system pre-processed to the image of camera collection and the control panel with the Communication in embedded system, control panel
On be integrated with microcontroller and the communication interface being connected with microcontroller, the input of microcontroller is terminated with inertial sensor and survey
Fast sensor, the output of microcontroller are terminated with the head driver for controlling cloud platform rotation, motor driver and ultrasonic wave
Obstacle avoidance module by microprocessor control, the embedded system include the embeded processor to be communicated with remote monitoring terminal and
The SD card to connect with embeded processor, the output end of camera connect with the input of embeded processor.
The above-mentioned autonomous patrol intelligent vehicle based on embedded system, it is characterised in that：The autonomous patrol controlling organization
It is arranged on installing plate one, motor driver is arranged on installing plate two.
The above-mentioned autonomous patrol intelligent vehicle based on embedded system, it is characterised in that：The embeded processor passes through
Wireless network card is communicated with remote monitoring terminal.
The above-mentioned autonomous patrol intelligent vehicle based on embedded system, it is characterised in that：The embeded processor and micro-
Controller is communicated by wired or wireless mode.
The above-mentioned autonomous patrol intelligent vehicle based on embedded system, it is characterised in that：The embeded processor is place
Device STM32F103C8T6 is managed, microcontroller is ARM microcontroller.
The above-mentioned autonomous patrol intelligent vehicle based on embedded system, it is characterised in that：The inertial sensor is
MPU6050 inertial sensors, tachogenerator are AB phase Hall photoelectric measure speeding sensors.
The above-mentioned autonomous patrol intelligent vehicle based on embedded system, it is characterised in that：The installing plate one and installing plate
Two be rectangular slab, and the quantity of head is two, and two heads are laid in the both ends of installing plate one, the line and row of two heads
Walk the axis parallel of wheel.
The utility model has advantages below compared with prior art：
1st, the utility model is independently gone on patrol using two-wheel running dolly, reduces the volume of dolly, passes through two layers of installation
Plate separates wheel hoofing part mechanism and autonomous patrol controlling organization, and modularized design is flexible for installation convenient.
2nd, camera is arranged on head by the utility model by setting head and head driver, is easy to obtain greatly
The visual pattern at visual angle, visual pattern processing is carried out by the embeded processor in embedded system, passes through embedded system
In SD card carry out visual pattern storage, realize the vision guided navigation of dolly；By setting inertial sensor to obtain dolly inertia number
According to and carry out dolly pose acquisition, pose data realize the inertial navigation of dolly, by embedded by transmitting to microcontroller
The two machine communication of processor and microcontroller, the independent navigation of dolly is realized by vision guided navigation and inertial navigation, and then realized
The autonomous patrol of dolly, reliable and stable, using effect is good.
3rd, the utility model is novel in design rationally, obtains dolly pose data by inertial sensor, passes through the sensing that tests the speed
Device detects to the speed of dolly, by motor driver regulation motor rotating speed, and then controls dolly to keep balance, adopts
Communicated with the mode of remote data transmission with remote monitoring terminal, be easy to promote the use of.
In summary, the utility model is novel in design rationally, by camera and inertial sensor obtain visual pattern and
Inertial data, the independent navigation of dolly is realized, control dolly to balance by inertial data and tachogenerator, using embedded system
System carries out image procossing and independently gone on patrol by way of two machine communication, is easy to promote the use of.
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is schematic block circuit diagram of the present utility model.
Description of reference numerals:
1-installing plate one；2-installing plate two；3-support bar；
4-road wheel；5-motor；6-motor driver；
7-battery；8-avoiding obstacles by supersonic wave module；9-head；
10-camera；11-control panel；11-1-microcontroller；
11-2-inertial sensor；11-3-tachogenerator；11-4-communication interface；
11-5-head driver；12-embedded system；12-1-embeded processor；
12-2-SD card；13-wireless network card；14-remote monitoring terminal.
Embodiment
As depicted in figs. 1 and 2, the utility model includes two-wheel running dolly, for driving the small garage of the two-wheel running
The wheel hoofing part mechanism walked and the autonomous patrol controlling organization being arranged on the two-wheel running dolly, the two-wheel running
Dolly includes installing plate 1, is set in parallel in the installing plate 22 of the bottom of installing plate 1 and two are separately mounted to installing plate 22
The road wheel 4 of bottom both sides, installing plate 1 and installing plate 22 are connected by support bar 3, and battery is provided with installing plate 22
7, the wheel hoofing part mechanism includes being connected with road wheel 4 and for driving the motor 5 of the walking of road wheel 4 and being used for
The motor driver 6 of motor 5, the autonomous patrol controlling organization include avoiding obstacles by supersonic wave module 8, camera 10, are used for
Install and adjust the head 9 of the rotation of camera 10, the embedded system that the image for being gathered to camera 10 is pre-processed
12 and the control panel 11 that is communicated with the embedded system 12, microcontroller 11-1 and and microcontroller are integrated with control panel 11
The communication interface 11-4 of 11-1 connections, microcontroller 11-1 input are terminated with inertial sensor 11-2 and tachogenerator 11-
3, microcontroller 11-1 output are terminated with the head driver 11-5 for controlling head 9 to rotate, motor driver 6 and ultrasound
Ripple obstacle avoidance module 8 controls by microcontroller 11-1, and the embedded system 12 is embedding including being communicated with remote monitoring terminal 14
Enter formula processor 12-1 and the SD card 12-2 to connect with embeded processor 12-1, the output end and embedded processing of camera 10
Device 12-1 input connects.
In the present embodiment, the autonomous patrol controlling organization is arranged on installing plate 1, and motor driver 6 is arranged on peace
In loading board 22.
It should be noted that independently patrol intelligent vehicle uses two-wheel running dolly, the volume of dolly is reduced, two-wheel running is small
Car is separated wheel hoofing part mechanism and autonomous patrol controlling organization by two layers of installing plate, and modularized design is flexible for installation
Convenient, installing plate 1 and installing plate 22 are connected by support bar 3, and motor driver 6 and battery 7 are installed in installing plate two
On 2, battery 7 is the autonomous patrol controlling organization power supply on motor 5 and installing plate 22 under installing plate 22, reduces motor and drives
The wiring path of motor 5 of the dynamic device 6 with controlling the rotation of road wheel 4, while reduce the path of power supply connecting line；Head 9 and head
Driver 11-5 setting is to provide installation foundation to camera 10, be easy to camera 10 to obtain the vision figure at big visual angle
Picture, the setting of the embeded processor 12-1 in embedded system 12 is in order to carry out visual pattern processing, due to camera 10
Obtaining the visual pattern memory space at big visual angle needs greatly, and the setting of the SD card 12-2 in embedded system 12 is in order to shooting
First 10 visual patterns for obtaining big visual angle provide sufficient visual pattern memory space, and camera 10 is matched somebody with somebody with embedded system 12
Close, realize the vision guided navigation of dolly；Inertial sensor 11-2 setting is to obtain dolly inertial data and carry out dolly position
Appearance obtains, and pose data, to microcontroller 11-1, realize the inertial navigation of dolly by transmitting, pass through embeded processor 12-1
With microcontroller 11-1 two machine communication, the independent navigation of dolly is realized by vision guided navigation and inertial navigation, is counted using long-range
Communicated according to the mode of transmission with remote monitoring terminal 14, and then realize the autonomous patrol of dolly；In addition, tachogenerator
11-3 setting one is in order to be detected to the speed of dolly, second, in order to obtain dolly pose number with inertial sensor 11-2
According to combination, by the rotating speed of 6 regulation motor of motor driver 5, and then dolly is controlled to keep balance.
The wired connection and data transfer of microcontroller 11-1 and peripheral hardware can be achieved in communication interface 11-4 setting.
In the present embodiment, the embeded processor 12-1 is led to by wireless network card 13 and remote monitoring terminal 14
Letter.
It should be noted that embeded processor 12-1 is led to by the way of radio communication with remote monitoring terminal 14
Letter, in actual use, embeded processor 12-1 can also be communicated by WIFI module with remote monitoring terminal 14.
In the present embodiment, the embeded processor 12-1 and microcontroller 11-1 are carried out by wired or wireless mode
Communication.
In the present embodiment, the embeded processor 12-1 is processor STM32F103C8T6, and microcontroller 11-1 is
ARM microcontroller.
In the present embodiment, the inertial sensor 11-2 is MPU6050 inertial sensors, and tachogenerator 11-3 is AB phases
Hall photoelectric measure speeding sensor.
It should be noted that MPU6050 inertial sensors are integrated with three-axis gyroscope and 3-axis acceleration, Ke Yicong
Acceleration and angular speed is drawn in MPU6050 inertial sensors, data fusion is carried out by microcontroller 11-1, and then draw appearance
State angle, does not interfere with each other between gyroscope and accelerometer, easy to use, and small volume is cheap.
In the present embodiment, the installing plate 1 and installing plate 22 are rectangular slab, and the quantity of head 9 is two, two
Head 9 is laid in the both ends of installing plate 1, the line of two heads 9 and the axis parallel of road wheel 4.
It should be noted that installing plate 1 and installing plate 22 are that rectangular slab processing and fabricating is simple, the quantity of head 9 is
Two, a camera 10 is installed respectively on two heads 9, adjusting the rotation of camera 10 by head 9 obtains video image, and two
The setting of individual camera 10 is to obtain the panoramic picture of surrounding environment in real time, and using effect is good.
The utility model is powered in use, going on patrol controlling organization for wheel hoofing part mechanism and independently by battery 7,
Rotated by the controlled motor 5 of microcontroller 11-1 drive motor drivers 6, and then drive the walking patrol of road wheel 4, using testing the speed
The autonomous patrol intelligent vehicle travel speed of sensor 11-3 collections, the position of autonomous patrol intelligent vehicle is gathered by inertial sensor 11-2
Appearance, autonomous patrol intelligent vehicle balance is controlled, stable to advance, camera 10 gathers ambient video sequence, passes through microcontroller in real time
11-1 driving head driver 11-5 control heads 9 rotate, and then drive camera 10 to rotate and obtain wide-angle image, pass through two
Individual head 9 drives two cameras 10 to rotate and obtains panoramic picture, and handling panoramic picture progress vision by embedded system leads
Boat, and the inertial data gathered by inertial sensor 11-2 carries out inertial navigation, the patrol for autonomous patrol intelligent vehicle provides
Navigation feature, ensure that autonomous patrol intelligent vehicle is kept away the barrier that runs into during advancing by avoiding obstacles by supersonic wave module 8
Open, the information of the autonomous path for going on patrol intelligent vehicle patrol and patrol collection is wirelessly transmitted to remote monitoring by wireless network card 13
Terminal 14, reduces manpower, and patrol is comprehensive.
It is described above, only it is preferred embodiment of the present utility model, not the utility model is imposed any restrictions, every
Any simple modification, change and the equivalent structure change made according to the utility model technical spirit to above example, still
Belong in the protection domain of technical solutions of the utility model.
Claims (7)
1. the autonomous patrol intelligent vehicle based on embedded system, it is characterised in that：Including two-wheel running dolly, it is described for driving
The wheel hoofing part mechanism of two-wheel running carriage walking and the autonomous patrol control machine being arranged on the two-wheel running dolly
Structure, the two-wheel running dolly include installing plate one (1), are set in parallel in the installing plate two (2) and two of installing plate one (1) bottom
The individual road wheel (4) for being separately mounted to installing plate two (2) bottom both sides, installing plate one (1) and installing plate two (2) pass through support bar
(3) connect, battery (7) is installed on installing plate two (2), the wheel hoofing part mechanism includes being driven with road wheel (4)
Connect and be used for the motor (5) for driving road wheel (4) to walk and the motor driver (6) for motor (5), it is described autonomous
Patrol controlling organization includes avoiding obstacles by supersonic wave module (8), camera (10), the cloud for installing and adjusting camera (10) rotation
Embedded system (12) that platform (9), the image for being gathered to camera (10) are pre-processed and with the embedded system
(12) control panel (11) of communication, it is integrated with microcontroller (11-1) on control panel (11) and is connected with microcontroller (11-1)
Communication interface (11-4), the input of microcontroller (11-1) are terminated with inertial sensor (11-2) and tachogenerator (11-3),
The output of microcontroller (11-1) is terminated with being used for the head driver (11-5) for controlling head (9) to rotate, motor driver (6)
Controlled with avoiding obstacles by supersonic wave module (8) by microcontroller (11-1), the embedded system (12) includes whole with remote monitoring
The embeded processor (12-1) of end (14) communication and the SD card (12-2) to connect with embeded processor (12-1), camera
(10) output end connects with the input of embeded processor (12-1).
2. according to the autonomous patrol intelligent vehicle based on embedded system described in claim 1, it is characterised in that：It is described independently to patrol
Patrol controlling organization to be arranged on installing plate one (1), motor driver (6) is arranged on installing plate two (2).
3. according to the autonomous patrol intelligent vehicle based on embedded system described in claim 1, it is characterised in that：It is described embedded
Processor (12-1) is communicated by wireless network card (13) with remote monitoring terminal (14).
4. according to the autonomous patrol intelligent vehicle based on embedded system described in claim 1, it is characterised in that：It is described embedded
Processor (12-1) and microcontroller (11-1) are communicated by wired or wireless mode.
5. according to the autonomous patrol intelligent vehicle based on embedded system described in claim 4, it is characterised in that：It is described embedded
Processor (12-1) is processor STM32F103C8T6, and microcontroller (11-1) is ARM microcontroller.
6. according to the autonomous patrol intelligent vehicle based on embedded system described in claim 1, it is characterised in that：The inertia passes
Sensor (11-2) is MPU6050 inertial sensors, and tachogenerator (11-3) is AB phase Hall photoelectric measure speeding sensors.
7. according to the autonomous patrol intelligent vehicle based on embedded system described in claim 1, it is characterised in that：The installing plate
One (1) and installing plate two (2) are rectangular slab, and the quantity of head (9) is two, and two heads (9) are laid in installing plate one (1)
Both ends, the line of two heads (9) and the axis parallel of road wheel (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720736713.3U CN206885205U (en) | 2017-06-22 | 2017-06-22 | Autonomous patrol intelligent vehicle based on embedded system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720736713.3U CN206885205U (en) | 2017-06-22 | 2017-06-22 | Autonomous patrol intelligent vehicle based on embedded system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206885205U true CN206885205U (en) | 2018-01-16 |
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ID=61315485
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720736713.3U Expired - Fee Related CN206885205U (en) | 2017-06-22 | 2017-06-22 | Autonomous patrol intelligent vehicle based on embedded system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108759922A (en) * | 2018-06-12 | 2018-11-06 | 哈尔滨工程大学 | Chemical defence detection system based on miniature self-service vehicle and combinations thereof air navigation aid |
| CN108836149A (en) * | 2018-07-05 | 2018-11-20 | 李林涛 | A kind of intelligences combination system |
| CN111369614A (en) * | 2020-02-26 | 2020-07-03 | 辽宁中新自动控制集团股份有限公司 | Intelligent vehicle and method for automatically tracking and recording go chess manual |
| CN113146626A (en) * | 2021-03-31 | 2021-07-23 | 中北大学南通智能光机电研究院 | Patrolling robot based on AprilTag visual positioning |
| CN114537554A (en) * | 2022-03-07 | 2022-05-27 | 电子科技大学成都学院 | Coal mine safety searching tool car |
-
2017
- 2017-06-22 CN CN201720736713.3U patent/CN206885205U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108759922A (en) * | 2018-06-12 | 2018-11-06 | 哈尔滨工程大学 | Chemical defence detection system based on miniature self-service vehicle and combinations thereof air navigation aid |
| CN108836149A (en) * | 2018-07-05 | 2018-11-20 | 李林涛 | A kind of intelligences combination system |
| CN111369614A (en) * | 2020-02-26 | 2020-07-03 | 辽宁中新自动控制集团股份有限公司 | Intelligent vehicle and method for automatically tracking and recording go chess manual |
| CN113146626A (en) * | 2021-03-31 | 2021-07-23 | 中北大学南通智能光机电研究院 | Patrolling robot based on AprilTag visual positioning |
| CN114537554A (en) * | 2022-03-07 | 2022-05-27 | 电子科技大学成都学院 | Coal mine safety searching tool car |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180116 Termination date: 20180622 |
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| CF01 | Termination of patent right due to non-payment of annual fee |