CN217157092U

CN217157092U - Internet of things reconnaissance trolley based on STM32

Info

Publication number: CN217157092U
Application number: CN202122527971.XU
Authority: CN
Inventors: 薛文辉; 武永华; 陈达贵; 余运龙; 郑何; 林超; 潘宇浚
Original assignee: Fujian Jiangxia University
Current assignee: Fujian Jiangxia University
Priority date: 2021-10-20
Filing date: 2021-10-20
Publication date: 2022-08-09
Anticipated expiration: 2031-10-20

Abstract

The utility model relates to an Internet of things reconnaissance trolley based on STM32, which comprises a main controller, a wireless module, an image acquisition module, a two-degree-of-freedom steering engine holder, a motor control system and a basic physical framework; the main controller is respectively connected with the wireless module, the image acquisition module, the two-degree-of-freedom steering engine holder and the motor driving module. The utility model discloses realize carrying out diversified image acquisition at the removal in-process, solve the limited problem of fixed camera monitoring range at to a great extent.

Description

Internet of things reconnaissance trolley based on STM32

Technical Field

The utility model relates to an intelligence reconnaissance field, concretely relates to based on STM32 thing networking reconnaissance dolly.

Background

Along with the rapid development of microelectronic technology, the equipment intellectualization is more and more popular, and the intelligence degree is higher and higher. Intelligent vehicles and intelligent robots have a specific application scenario in both civil and military fields, and many enterprises and countries are actively conducting research and design on intelligent vehicles. The reconnaissance trolley is an intelligent trolley in a specific application scene and belongs to a mobile robot.

Aiming at the complex dangerous environment, the reconnaissance trolley can enter the area where people can not go to, so as to replace manual exploration, and the life and property safety of people is greatly guaranteed in the reconnaissance task. The intelligent reconnaissance trolley has important significance in the detection field, and different acquisition devices can be matched with the trolley according to specific application scenes so as to replace the traditional manual work for collecting data. In intelligent house application field, intelligent reconnaissance dolly can be used to simulate artificial control, and the environment and steerable domestic appliance in the remote monitoring family can also look over the surrounding environment with first visual angle even not at home to exert the practical application of intelligent house to the at utmost.

Disclosure of Invention

In view of this, the utility model aims at providing a based on STM32 thing networking reconnaissance dolly realizes carrying out diversified image acquisition at the removal in-process, solves the limited problem of fixed camera monitoring range at to a great extent.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

an Internet of things reconnaissance trolley based on STM32 comprises a main controller, a wireless module, an image acquisition module, a two-degree-of-freedom steering engine holder, a motor control system and a basic physical framework; the main controller is respectively connected with the wireless module, the image acquisition module, the two-degree-of-freedom steering engine holder and the motor driving module.

Further, an internet of things control platform server, a personal server and a mobile terminal are also arranged; the Internet of things control platform server is used as a trolley state collection and command execution center; the personal server is used as an image transmission processing and control page deployment platform; the mobile terminal is used for remotely controlling the movement of the trolley, the rotation of the cradle head and the real-time monitoring of image pictures

Further, the main controller adopts an STM32F407ZGT6 small system board.

Furthermore, the wireless module adopts 2 ATK-ESP8266 wireless modules, one of which is connected with the Internet of things control platform server and is used for synchronizing the state of the trolley and switching the state; and the other wireless module is connected with the personal server and is used for independently transmitting image data and supporting the downloading and updating of the online firmware package and the trolley movement control.

Further, the two-degree-of-freedom holder system comprises a one-dimensional platform and a two-dimensional platform; the one-dimensional platform adopts a DS3115MG double-shaft digital steering engine to realize a horizontal controllable angle of 0-270 degrees, and the two-dimensional platform adopts an RDS3115MG single-shaft digital steering engine to realize a vertical controllable angle of 0-180 degrees.

Further, the motor control system comprises two integrated L298N motor driving modules, 4 direct current speed reducing motors and a Hall speed measuring encoder; the two integrated L298N motor driving modules control 4 direct current speed reduction motors to convert PWM waves output by the main controller into control signals of the motors and regulate the speed of the motors.

Further, the basic physical framework adopts a double-layer aluminum alloy plate as a chassis support, an adjustable damping suspension is used between a bottom plate and wheels, and 4 Mecanum wheels are used.

Compared with the prior art, the utility model following beneficial effect has:

the utility model adopts the design collocation of the camera, the two-degree-of-freedom cradle head and the wheat wheel trolley, combines the advantages of large controllable angle of the cradle head steering engine and strong flexibility of the wheat wheel trolley, realizes multi-directional image acquisition in the moving process, and solves the problem of limited monitoring range of the fixed camera;

drawings

FIG. 1 is a block diagram of the system of the present invention;

FIG. 2 is a block diagram of the cart hardware according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of the overall hardware of the cart according to an embodiment of the present invention;

fig. 4 is a schematic diagram of an STM32F407ZGT6 mini-system board in an embodiment of the invention;

fig. 5 is a schematic circuit diagram of an image acquisition module according to an embodiment of the present invention;

fig. 6 is a schematic diagram of a dual L298N module in an embodiment of the invention;

fig. 7 is a schematic diagram of a wireless Wi-Fi module according to an embodiment of the present invention.

Detailed Description

The present invention will be further explained with reference to the drawings and the embodiments.

Referring to fig. 1, the utility model provides an internet of things reconnaissance trolley based on STM32, which comprises a main controller, a wireless module, an image acquisition module, a two-degree-of-freedom steering engine cradle head, a motor control system and a basic physical framework; the main controller is respectively connected with the wireless module, the image acquisition module, the two-degree-of-freedom steering engine holder and the motor driving module.

Referring to fig. 2, in the present embodiment, the reconnaissance car includes a main controller, a wireless module, an image acquisition module, a two-degree-of-freedom steering engine pan-tilt, a motor control system, and a basic physical architecture; the main controller is respectively connected with the wireless module, the image acquisition module, the two-degree-of-freedom steering engine holder and the motor driving module.

Preferably, referring to fig. 3, in the present embodiment, each module is specifically as follows:

referring to fig. 4, the master controller system: the STM32F407ZGT6 small-sized system board is used as a core controller and is mainly used for transmitting data obtained by an image acquisition module, the data is sent to a server through a wireless module, a cradle head steering engine and a motor are controlled to drive, Hall encoder signals are acquired and converted into trolley speed. Compared with other chips, the small system board adopting the chip has the characteristics of rich peripheral resources and interfaces, high performance and low power consumption, meets the performance requirement of image acquisition, has a large-capacity memory and supports the capacity expansion of the memory, and can meet the design requirement.

Preferably, in the embodiment, the main controller module used is a positive point atomic STM32F407ZGT6 small system board, and integrates various interfaces. Aiming at the requirement related to the transmission of a large amount of image data in the design, the STM32F407 series chip supports a DCMI interface, can be connected with an 8-bit parallel camera interface of an OV2640 camera sensor, reduces the load of a CPU by using a DMA controller, delivers a data transmission task to the DMA controller for transmission, provides the working frequency of 168MHZ, has DSP instructions to improve the floating point operation performance, and has strong operation performance enough to meet the design requirement. The embedded type image acquisition system comprises a 192KB RAM, a larger memory means that an image with higher resolution can be acquired at one time, and a system board is also expanded with 1MB of SRAM and 16MB of FLASH to meet design requirements. Its abundant peripheral hardware resource is having the effect of lifting foot at this design, provides and has reached 14 timers as many as, wherein contains 6 timers that have encoder interface mode, conveniently combines the motor encoder to count, and every timer can both set up PWM output mode, and control motor and steering wheel are more convenient. Moreover, 4 USARTs and 2 UARTs are included, and the requirement on the serial port in the design can be easily met. And an IWDG watchdog and a WWDG watchdog are additionally arranged, so that the running stability of a trolley system can be ensured, and the fault-tolerant rate is increased.

Referring to fig. 5, the image acquisition module: by adopting an ATK-OV2640 camera module as an image acquisition module, a DCMI digital camera interface supported by an F4 series chip can receive data flow of 54MB/s and 14 data buses. In the OV2640, only 8 data buses are used, and the STM32 performs module register configuration through the SCCB interface protocol. The JPEG image is output in the design, the design is more suitable for Web transmission and storage, occupies less space, and also supports manual focal length adjustment and camera mode configuration.

Two-degree-of-freedom holder system: the one-dimensional platform adopts DS3115MG biax digital steering engine to realize 0-270 horizontal controllable angle, and the two-dimensional platform adopts RDS3115MG unipolar digital steering engine to realize 0-180 perpendicular controllable angle, and the two degrees of freedom cloud platform of collocation double steering engine lets the camera possess wider acquisition scope, also can gather diversified view under the automobile body forbidden state, lets the dolly possess higher flexibility and practicality.

Referring to fig. 6, the motor control system: the system adopts 4 direct current speed reduction motors and is provided with a Hall speed measuring encoder, the rotating speed of the motor can be measured, the 4-path motor is controlled by matching two integrated L298N motor driving modules, PWM waves output by a main controller are converted into control signals of the motor, and the motor is regulated. 4 wheels of 4 way motor independent control rotate and form 4 and drive, improve the fault-tolerant rate of dolly in complicated road conditions, increase equipment reliability, powerful power output makes the dolly be fit for the reconnaissance and the investigation of unknown environment more.

Preferably, the motor driving module supports 4-path motor driving, can directly connect a 12V power supply to drive peak current 4A, and is internally provided with an L7805 voltage reduction chip to provide 5V voltage stabilization output to supply power for the main controller system board. The module pin description is shown in table 1.

TABLE 1 Dual L298N Motor drive Module Pin description

Pin name Balance	Pin description
		IN1- IN8	A power supply logic control end for respectively controlling the motors 1-4
EN1- EN4	A motor enable terminal for respectively enabling the motors 1-4
		ON/OFF	Internal power supply selection, wherein when the control voltage is 7-35V, a jumper cap is connected to an ON end, and 5V power supply output can be provided; when the control voltage is less than 7V, the jumper wire is capped OFF terminal, at this time, an external 5V power supply is needed to supply power to the module chip
VIN/ GND	Motor power interface
		VCC/ GND	When the jumper cap is ON, the VCC can be output; when OFF, this VCC requires an externally supplied stable 5V power supply as an input
MOT1- MOT4	4-way motor interface

Pins IN1 to IN8 respectively control the rotation direction of the 4-path motor, pins EN1 to EN4 respectively control the starting and stopping of the 4-path motor, and PWM waves are input to the pins, so that the speed regulation function of the motor is realized. A single motor control state truth table is shown in table 2.

TABLE 2 true value table for motor control

EN	IN1	IN2	Behavior
				0	X	X	Stop
1	0	0	Braking device
				1	0	1	Forward
1	1	0	Retreat
				1	1	1	Braking device

The power module adopts a 12V 5000mAh 6 lithium battery pack, can provide continuous 6A current output, provides a 12V power supply for the driving module, ensures stable operation of the equipment by strong load capacity, and has an overcurrent protection effect by a built-in protection chip.

A power supply system: A12V 5000mAh lithium battery pack is adopted, and 6A large current can be continuously output. The large-capacity battery provides ultra-long endurance for the trolley, can directly drive the motor, can output 5V stable voltage after being converted by the motor driving module, supplies power for the main controller, and can greatly prolong the endurance time in the forbidden state of the trolley.

A wireless communication system: the system adopts 2 ATK-ESP8266 wireless modules to directly connect hot spots, the scout trolley needs to transmit image data and state information to the server at the same time and receive an instruction sent by the server, and therefore double wireless modules are adopted to respectively transmit data. The state of the trolley, the camera, the steering engine and other settings which have low requirements on real-time performance are distributed to the wireless module 1 and connected with the MQTT server to ensure the periodic synchronization of data. Image transmission and mobility control are distributed into the wireless module 2 and a TCP server is connected to ensure lower delay and interference.

The main controller is communicated with the wireless module through a serial port, the module can be configured with TCP and UDP transmission protocols and supports three working modes of STA + AP, STA and AP, the STA mode is set in the design, and the STA mode is configured as a TCP client to realize connection with a TCP server.

The physical structure of the trolley is as follows: the double-layer aluminum alloy plate is used as a chassis support, and the adjustable damping suspension is used between the bottom plate and the wheels, so that the more stable passing through of a complex road is ensured. 4 Mecanum wheels are used, so that the in-situ all-directional movement is realized, and the flexibility of the trolley system is improved.

The above is only the preferred embodiment of the present invention, and all the equivalent changes and modifications made according to the claims of the present invention should be covered by the present invention.

Claims

1. An Internet of things reconnaissance trolley based on STM32 is characterized by comprising a main controller, a wireless module, an image acquisition module, a two-degree-of-freedom steering engine holder, a motor control system and a basic physical framework; the main controller is respectively connected with the wireless module, the image acquisition module, the two-degree-of-freedom steering engine holder and the motor drive module, and is also provided with an Internet of things control platform server, a personal server and a mobile terminal; the Internet of things control platform server is used as a trolley state collection and command execution center; the personal server is used as an image transmission processing and control page deployment platform; the mobile terminal is used for remotely controlling the movement of the trolley, the rotation of the holder and the real-time monitoring of image pictures.

2. The STM 32-based Internet of things reconnaissance trolley according to claim 1, wherein the main controller is an STM32F407ZGT6 small system board.

3. The STM 32-based Internet of things reconnaissance trolley according to claim 1, wherein the wireless modules are 2 ATK-ESP8266 wireless modules, and one wireless module is connected with an Internet of things control platform server and used for synchronizing trolley states and state switching; and the other wireless module is connected with the personal server and is used for independently transmitting image data and supporting the downloading and updating of the online firmware package and the trolley movement control.

4. The STM 32-based Internet of things reconnaissance trolley according to claim 1, wherein the two-degree-of-freedom steering engine pan-tilt system comprises a one-dimensional platform and a two-dimensional platform; the one-dimensional platform adopts a DS3115MG double-shaft digital steering engine to realize a horizontal controllable angle of 0-270 degrees, and the two-dimensional platform adopts an RDS3115MG single-shaft digital steering engine to realize a vertical controllable angle of 0-180 degrees.

5. The STM 32-based Internet of things reconnaissance trolley according to claim 1, wherein the motor control system comprises two integrated L298N motor driving modules, 4 direct-current speed reduction motors and Hall speed measuring encoders; the two integrated L298N motor driving modules control 4 direct current speed reduction motors to convert PWM waves output by the main controller into control signals of the motors and regulate the speed of the motors.

6. The STM 32-based Internet of things reconnaissance trolley according to claim 1, wherein the basic physical framework adopts a double-layer aluminum alloy plate as a chassis support, an adjustable damping suspension is used between a bottom plate and wheels, and 4 Mecanum wheels are used.