CN103955213A - Multifunctional intelligent probe vehicle based on WIFI - Google Patents

Multifunctional intelligent probe vehicle based on WIFI Download PDF

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Publication number
CN103955213A
CN103955213A CN201410140661.4A CN201410140661A CN103955213A CN 103955213 A CN103955213 A CN 103955213A CN 201410140661 A CN201410140661 A CN 201410140661A CN 103955213 A CN103955213 A CN 103955213A
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CN
China
Prior art keywords
vehicle seat
wifi
plate
module
vehicle
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Pending
Application number
CN201410140661.4A
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Chinese (zh)
Inventor
桂玲
向诚
谢峰粹
李强
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Central South University of Forestry and Technology
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Central South University of Forestry and Technology
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Priority to CN201410140661.4A priority Critical patent/CN103955213A/en
Publication of CN103955213A publication Critical patent/CN103955213A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a multifunctional intelligent probe vehicle based on WIFI. A vehicle body comprises an upper vehicle seat bottom plate, a lower vehicle seat bottom plate, wheels and supporting columns. The wheels are installed below the lower vehicle seat bottom plate, and the supporting columns are installed between the upper vehicle seat bottom plate and the lower vehicle seat bottom plate. The lower vehicle seat bottom plate is provided with a drive module, a power module, a main controller module, a sensor detection system and a wireless router in a vehicle-mounted wireless information transmission module. The upper vehicle seat bottom plate is provided with an LCD display system, a lighting work lamp, a camera and a cradle head, wherein the camera and the cradle head are arranged in the vehicle-mounted wireless information transmission module. A temperature and humidity sensor and a combustible gas concentration sensor are installed on the two sides of the rear end of the lower vehicle seat bottom plate respectively. An infrared distance measurement sensor is installed at the right front end of the vehicle body. According to the multifunctional intelligent probe vehicle, the WIFI technology is applied to underground tunnel probing, rescue, searching and arresting and other special environments, manual probing, rescue, searching and arresting are replaced, and the multifunctional intelligent probe vehicle has good application prospect.

Description

Multifunctional intellectual probe vehicles based on WIFI
Technical field
The present invention relates to tunnel and survey, rescue, track down and arrest technical field, relate in particular to a kind of multifunctional intellectual probe vehicles based on WIFI.
Background technology
China is the country that the disasteies such as an earthquake, rubble flow and underground work safety accident take place frequently, due to natural conditions or scene of the accident circumstance complication, cause in and hazardous environment harmful in tunnel detection, rescue, arrest etc., can not obtain in time the multiple parameters such as the realtime graphic, ambient temperature and humidity, inflammable gas concentration in tunnel, and then affect the enforcement of follow-up rescue step, or even incur loss through delay best gold rescue time.After occurring for the disaster such as earthquake, rubble flow at present, common way is that rescue personnel carries life-detection instrument tunnel and the scene of the accident are surveyed, report to a higher body again with the particular location of determining rescue object, this detection mode is just surveyed for vital sign, and cannot photograph in real time the multiple parameters such as the image, ambient temperature and humidity, inflammable gas concentration of the scene of the accident, carry out the work such as detection, rescue, arrest and also have major safety risks entering the rescue personnel in tunnel simultaneously; Particularly after underground production development security incident, the parameter such as humiture, inflammable gas concentration that ground rescue personnel is badly in need of knowing the underground scene of the accident is to take corresponding rescue measure, even if now the underground scene of the accident is provided with watch-dog, also likely quit work along with the generation of accident, or because of the timeliness that causes Monitoring Data, accuracy and the reliability of accident not high.
WIFI(wireless fidelity) abbreviation Wireless Fidelity, its principal feature is that transfer rate is high, reliability is high, networking rapid and convenient, mobility are good, network structure elastification, networking flexibility, networking price are cheaper, nowadays WIFI has been widely used on the mobile terminals such as notebook computer, mobile phone palm PC, digital camera, and its electric wave covers model circle can reach l00m; Do not need netting twine can link network based on WIFI, and networking facilitates, is easy to the advantage of expansion and high-speed transfer, how WIFI technology is applied in the particular surroundingss such as tunnel detection, rescue, arrest to those skilled in the art's major issue urgently to be resolved hurrily.
Summary of the invention
Technical matters solved by the invention is to provide a kind of multifunctional intellectual probe vehicles based on WIFI, to solve the shortcoming in above-mentioned background technology.
Technical matters solved by the invention realizes by the following technical solutions:
Multifunctional intellectual probe vehicles based on WIFI, comprises car body, driver module, power module, main controller module, sensor detecting system, onboard wireless information transmission modular, LCD display system and lighting working light; Wherein, described car body comprises vehicle seat upper plate, vehicle seat lower shoe, wheel and pillar, described wheel is arranged on vehicle seat lower shoe below, described pillar is arranged between vehicle seat upper plate and vehicle seat lower shoe, is provided with the wireless router in driver module, power module, main controller module, sensor detecting system, onboard wireless information transmission modular on described vehicle seat lower shoe; On described vehicle seat upper plate, be provided with camera and The Cloud Terrace in LCD display system, lighting working light and onboard wireless information transmission modular; Described sensor detecting system comprises Temperature Humidity Sensor, inflammable gas concentration sensor and infrared distance sensor, described Temperature Humidity Sensor, inflammable gas concentration sensor are arranged on respectively both sides, vehicle seat lower shoe rear end, and described infrared distance sensor is arranged on the positive front end of vehicle seat upper plate.
In the present invention, on described wheel, direct-drive motor is installed.
In the present invention, on described car body, chargeable lithium cell group is also installed.
In the present invention, described driver module is made up of driven by servomotor circuit, direct current motor drive circuit and illumination work lamp drive circuit, described servomotor itself possesses driving circuit, provide PWM to drive signal by single-chip microcomputer in the course of the work, because SCM PWM is exported the cycle within the specific limits, turning to the dutycycle of PWM of servomotor is directly proportional, therefore, the dutycycle of PWM can be set by single-chip microcomputer, and then regulate the anglec of rotation of servomotor; Described direct current generator driver module comprises and includes the high voltage of two H bridges, large electric current full-bridge type motor drive ic, by photoelectricity Isolation device, rectifying protective circuit output and then drive direct current generator; For reducing controlled quentity controlled variable, increase the dirigibility of probe vehicles operation simultaneously, adopt No. two driving circuits to drive No. four direct current generators, car body homonymy Er road direct current generator is connected with parallel way, You Yi road direct current generator drives.
In the present invention, described lighting working light adopts the high-powered LED lamp that constant-current driven chip drives.
In the present invention, described power module comprises direct current generator working power, servomotor working power and ic power; Described direct current generator working power directly provides for 12~15V chargeable lithium cell; Described servomotor working power, by chargeable lithium cell power supply, exports servomotor to after stabilivolt, low-and high-frequency filter filtering; Described ic power is exported after filtering, stabilivolt, afterflow, inductive energy storage and filtering by chargeable lithium cell power supply, provides to each functional module integrated chip used or circuit in driver module, power module, main controller module, sensor detecting system, onboard wireless information transmission modular, LCD display system and lighting working light.
In the present invention, described onboard wireless information transmission modular is made up of camera, wireless router and The Cloud Terrace, wherein, the built-in WIFI module of wireless router, camera is arranged on The Cloud Terrace, and The Cloud Terrace is made up of two-way servomotor, and camera is driven and realized horizontal direction rotation and vertical direction luffing by the servomotor on The Cloud Terrace, wireless router and camera pass through usb communication, and communicate by letter with main controller module by UART serial ports.
In the present invention, the simulating signal of described inflammable gas concentration sensor output is directly inputted single-chip microcomputer after filtering, is converted to digital signal through the inner A/D converter of single-chip microcomputer; Infrared distance sensor is collection transmitting and the photoelectric sensor that is received in one, and utilizing emitted light sends after ovennodulation, and Receiver carries out demodulation output to reflected light.
In the present invention, described main controller module comprises single-chip microcomputer and peripheral auxiliary circuits, described single-chip microcomputer provides and drives the required pwm signal of servomotor work, sensor detecting system gathers environmental parameter and transfers to single-chip microcomputer and calculates and process, LCD display system shows the environmental parameter information that gathers in real time, and environmental parameter information is sent to mobile phone terminal demonstration; Meanwhile, the infrared distance sensor of the positive front end of Micro Controller Unit (MCU) driving car body detects barrier in real time, and in the time being less than setting safe distance, automatic stopping is kept away barrier.
In the present invention, described LCD display system comprises giant-screen Chinesizing chromatic liquid crystal screen, status indicator lamp, keyboard and storer; By operation keyboard, data in storer are read and write, to realize the checking of current and history parameters, be conducive to carry out data analysis and contrast; Simultaneously by can keyboard realization carrying out self-defined setting to parameter threshold.
In the present invention, can carry WIFI by mobile phone terminal and realize the control to intelligent detection vehicle car body running status, and car body running status is presented to mobile phone terminal in real time, build data transfer platform convenient, extensibility is good, being conducive to extended mobile phone terminal becomes the remote control table of intelligent detection vehicle, and intelligent detection vehicle substitutes dangerous situations such as manually entering tunnel enforcement detection, rescue, arrest, effectively prevents the generation of secondary injury.
Beneficial effect: the present invention is applied in WIFI technology in the particular surroundingss such as tunnel detection, rescue, arrest, enter tunnel enforcement detection, rescue, track down and arrest to substitute rescue personnel, effectively eliminate the potential safety hazard existing, also improve timeliness, accuracy and the reliability of Monitoring Data simultaneously, obtain clear, smooth real-time video information, being conducive to extended mobile phone terminal becomes the remote control table of intelligent detection vehicle, for Post disaster relief provides safeguard, has a good application prospect.
Brief description of the drawings
Fig. 1 is the structural representation of the embodiment of the present invention.
Fig. 2 is the vehicle seat upper plate structural representation of the embodiment of the present invention.
Fig. 3 is the vehicle seat lower shoe structural representation of the embodiment of the present invention.
Fig. 4 is power module circuitry figure in the embodiment of the present invention.
Fig. 5 is main controller module circuit diagram in the embodiment of the present invention.
Fig. 6 is direct current motor drive circuit figure in the embodiment of the present invention.
Fig. 7 is high power LED lamp circuit figure in the embodiment of the present invention.
Embodiment
Describe the present invention below by following specific embodiment.
Referring to the multifunctional intellectual probe vehicles based on WIFI of Fig. 1 ~ Fig. 3, comprise vehicle seat upper plate 1a, vehicle seat lower shoe 1b, chargeable lithium cell 2, main controller module 3, driver module 4, inflammable gas concentration sensor 5, wireless router 6, Temperature Humidity Sensor 7, pillar 8, power module 9, wheel 10, direct-drive motor 11, camera 12, The Cloud Terrace 13, servomotor 14, LCD display system 15, infrared distance sensor 16, high-powered LED lamp 17.
In the present embodiment, car body comprises vehicle seat upper plate 1a, vehicle seat lower shoe 1b, wheel 10 and pillar 8, wheel 10 is arranged on both sides, vehicle seat lower shoe 1b below, direct-drive motor 11 is installed on wheel 10, pillar 8 is arranged between vehicle seat upper plate 1a and vehicle seat lower shoe 1b, is provided with the wireless router 6 in driver module 4, chargeable lithium cell 2, power module 9, main controller module 3, onboard wireless information transmission modular on vehicle seat lower shoe 1b; On vehicle seat upper plate 1a, be provided with camera 12 and The Cloud Terrace 13 in LCD display system 15, high-powered LED lamp 17 and onboard wireless information transmission modular; The Cloud Terrace 13 is made up of two-way servomotor 14, and Temperature Humidity Sensor 7, inflammable gas concentration sensor 5 are arranged on respectively both sides, vehicle seat lower shoe 1b rear end, and infrared distance sensor 16 is arranged on the positive front end of vehicle seat upper plate 1a.
In the present embodiment, in single-chip processor i/o interface, P1.0, P1.1 connection terminal and P2.2, P2.3 connection terminal are for controlling the duty of direct current generator module, and P2.0 connection terminal is for controlling the duty of lighting working light; P1.7 connection terminal is communicated by letter with inflammable gas concentration sensor, and P1.6 connection terminal is communicated by letter with Temperature Humidity Sensor, and P3.4 connection terminal is communicated by letter with infrared distance sensor, and above-mentioned three kinds of communication modes are unibus; In LCD display system, single-chip microcomputer P2.1 connection terminal is connected with RST, and P2.4-P2.7 is connected with CE, DC, DIN, the CLK of Liquid Crystal Module respectively.For realizing high speed, low-power consumption, strong anti-interference, select built-in E 2the STC12C5608AD series monolithic of PROM and A/D converter; Single-chip microcomputer on the one hand by serial ports control sensor detecting system to the environmental parameters such as ambient temperature and humidity, inflammable gas concentration gather, processing and computing, and be presented in real time on giant-screen Chinesizing chromatic liquid crystal screen, environmental parameter is stored in the built-in E of single-chip microcomputer 2in PROM, analyze so that follow-up.
In the present embodiment, carry WIFI to realize the control to intelligent detection vehicle car body running status by mobile phone terminal, and car body running status is presented to mobile phone terminal in real time, build data transfer platform convenient, extensibility is good, being conducive to extended mobile phone terminal becomes the remote control table of intelligent detection vehicle, on mobile phone terminal, be provided with UI (User Interface) operation interface: the upper left corner is for showing humiture, the text data viewing area of inflammable gas concentration, the lower left corner is for controlling car body operation and high-powered LED lamp switch region, thereby the lower right corner is to control servomotor operation to drive camera operational area and reset district up and down, mobile phone terminal is communicated by letter with the wireless router on intelligent detection vehicle by WIFI, camera is arranged on The Cloud Terrace, camera is communicated by letter with wireless router by USB interface, camera is realized horizontal direction left and right and upper and lower 0~180 DEG C of rotation of vertical direction under servomotor drives, and can open or close at a distance simultaneously, the environmental parameter that the environmental parameter detection system that wireless router forms by vision signal captured camera and by humiture, inflammable gas concentration sensor on the one hand detects transfers to mobile phone terminal by Socket network communication interface with the form of image and text, by the operation information of beaming back by WIFI on mobile phone terminal, be transmitted to single-chip microcomputer by UART serial ports on the other hand, send the each functional module of instruction control by single-chip microcomputer and work.
Power module circuitry figure shown in Figure 4, power module comprises direct current generator working power, servomotor working power and ic power, wherein, direct current generator working power provides for 12-15V chargeable lithium cell, servomotor adopts MG995 type 55g servomotor, its power supply voltage range is 3-7.2V, therefore selecting 5V voltage is servomotor power supply, and the output voltage of lithium battery is 12V, therefore select that peripheral cell is few, there is overcurrent inside, the three-terminal voltage-stabilizing chip of overheating protection circuit (LM7805) is 5V by 12V step-down; Because starting, servomotor causes interference to the integrated circuit in each functional module for preventing simultaneously, input end large capacity (2000uF) polar capacitor in parallel and a large capacity (0.1 uF) ceramic condenser at three-terminal voltage-stabilizing chip disturb for filter out power low-and high-frequency, an output terminal larger capacity (10uF) polar capacitor in parallel is used for cushioning filtering, can obtain stable positive 5V Voltage-output.Ic power adopts step-down switching type integrated voltage-stabilized chip; include fixed oscillator (150KHZ); with benchmark voltage stabilizer (1.23V); and there is current limit, holding circuit such as heat shutoff etc.; also can provide the external control pin of duty, and the error range of its output voltage can ensure in ± 4% scope.
Main controller module circuit diagram shown in Figure 5, main controller module comprises power circuit, reset circuit and clock circuit.
Direct current motor drive circuit figure shown in Figure 6, direct current generator driver module includes the high voltage of two H bridges, large electric current full-bridge type motor drive ic (L298N) for core, is jointly made up of photoelectricity Isolation device, rectifying protective circuit.This example adopts No. two driving circuits to drive No. four direct current generators, by the two-way direct current generator parallel connection of car body homonymy, drives by a road driving circuit.The input end of driving circuit adopts photoelectricity isolation, causes interference in order to reduce in the time that direct current generator starts to the circuit such as single-chip microcomputer, wireless router, ensures the stability of whole system.Use 4 LED lamps to indicate four roads to drive the state of input simultaneously.+ 5V and+12V power supply accesses respectively electrochemical capacitor and ceramic condenser and eliminates low-and high-frequency for filtering and disturb, output terminal connects 8 commutation diodes, is used for protecting the output terminal of motor drive ic, prevent because of reverse voltage too high and breakdown.
Lighting working light circuit diagram shown in Figure 7, illumination work lamp drive circuit adopts constant-current driven chip (AMC7135) to drive high-powered LED lamp 17, because the rated current of lamp is 600-700mA, and voltage-dropping type constant-current driven chip (AMC7135), its continuous current is 350mA, need to adopt 2 constant-current driven chip parallel connections for meeting its normal work, to obtain the steady current output of 700mA.High-powered LED lamp 17 opens and closes, and by accessing Darlington reverse driving circuit (ULN2003) for driving relay between Single-chip Controlling I/O interface and relay, is realized by WIFI pilot relay by mobile phone terminal.

Claims (8)

1. the multifunctional intellectual probe vehicles based on WIFI, comprises car body, driver module, power module, main controller module, sensor detecting system, onboard wireless information transmission modular, LCD display system and lighting working light; It is characterized in that, described car body comprises vehicle seat upper plate, vehicle seat lower shoe, wheel and pillar, described wheel is arranged on vehicle seat lower shoe below, described pillar is arranged between vehicle seat upper plate and vehicle seat lower shoe, is provided with the wireless router in driver module, power module, main controller module, sensor detecting system, onboard wireless information transmission modular on described vehicle seat lower shoe; On described vehicle seat upper plate, be provided with camera and The Cloud Terrace in LCD display system, lighting working light and onboard wireless information transmission modular; Described sensor detecting system comprises Temperature Humidity Sensor, inflammable gas concentration sensor and infrared distance sensor, described Temperature Humidity Sensor, inflammable gas concentration sensor are arranged on respectively both sides, vehicle seat lower shoe rear end, and described infrared distance sensor is arranged on the positive front end of vehicle seat upper plate.
2. the multifunctional intellectual probe vehicles based on WIFI according to claim 1, is characterized in that, on described wheel, direct-drive motor is installed.
3. the multifunctional intellectual probe vehicles based on WIFI according to claim 1, is characterized in that, chargeable lithium cell group is also installed on described car body.
4. the multifunctional intellectual probe vehicles based on WIFI according to claim 1, is characterized in that, described driver module is made up of driven by servomotor circuit, direct current motor drive circuit and illumination work lamp drive circuit.
5. the multifunctional intellectual probe vehicles based on WIFI according to claim 1, it is characterized in that, described driver module Wei Er road driving circuit drives No. four direct current generators, and car body homonymy Er road direct current generator is connected with parallel way, and You Yi road direct current generator drives.
6. the multifunctional intellectual probe vehicles based on WIFI according to claim 1, is characterized in that, described power module comprises direct current generator working power, servomotor working power and ic power.
7. the multifunctional intellectual probe vehicles based on WIFI according to claim 6, it is characterized in that, in described servomotor working power, three-terminal voltage-stabilizing chip input end is parallel with jumbo polar capacitor and ceramic condenser, and output terminal is parallel with large capacity polar capacitor.
8. the multifunctional intellectual probe vehicles based on WIFI according to claim 1, it is characterized in that, the built-in WIFI module of wireless router, camera is arranged on The Cloud Terrace, The Cloud Terrace is made up of two-way servomotor, wireless router and camera pass through usb communication, and communicate by letter with main controller module by UART serial ports.
CN201410140661.4A 2014-04-10 2014-04-10 Multifunctional intelligent probe vehicle based on WIFI Pending CN103955213A (en)

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Publication number Priority date Publication date Assignee Title
CN104571104A (en) * 2014-11-19 2015-04-29 广西大学 Intelligent roving vehicle and intelligent roving method
CN105467905A (en) * 2016-01-29 2016-04-06 黑龙江科技大学 Intelligent agriculture monitoring system device
CN106932435A (en) * 2017-03-02 2017-07-07 辽宁科技学院 Mechanical worm combustible gas probe
CN107861410A (en) * 2017-09-20 2018-03-30 天津理工大学 A kind of long distance wireless movement sniffing robot detection system and its detection method
CN107976517A (en) * 2017-11-23 2018-05-01 上海胜战科技发展有限公司 A kind of enclosed environment harmful gas concentration detector

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CN107976517A (en) * 2017-11-23 2018-05-01 上海胜战科技发展有限公司 A kind of enclosed environment harmful gas concentration detector

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Application publication date: 20140730