CN105835030B

CN105835030B - Dangerous region multifunctional detection vehicle based on wireless control and video transmission

Info

Publication number: CN105835030B
Application number: CN201610452746.5A
Authority: CN
Inventors: 骆兴芳; 武奇; 武明利
Original assignee: Jiangxi Normal University
Current assignee: Jiangxi Normal University
Priority date: 2016-06-22
Filing date: 2016-06-22
Publication date: 2023-06-09
Anticipated expiration: 2036-06-22
Also published as: CN105835030A

Abstract

A dangerous region multifunctional detection vehicle based on wireless control and video transmission is provided, a lithium battery pack is arranged in the detection vehicle, the lithium battery pack is connected with driving motors of four wheels of the detection vehicle, the driving motors are respectively connected with motor driving circuits, the motor driving circuits are connected with a controller, and the controller is respectively connected with a wireless control module and a video wireless transmission module. The invention has the technical effects that: the radio technology is utilized to realize remote wireless control and data and image transmission, and the three-dimensional electronic gyroscope is utilized to collect arm actions of a controller to realize accurate and simple control of the mechanical arm, so that complex actions are completed; the system can be used for detecting, rescuing and removing dangers in dangerous areas or areas unsuitable for human access.

Description

Dangerous region multifunctional detection vehicle based on wireless control and video transmission

Technical Field

The invention relates to a multifunctional detection vehicle, in particular to a dangerous region multifunctional detection vehicle based on wireless control and video transmission.

Background

Natural disasters and accident scene conditions are complex and have high dangers in general, but rescue and relief work and accident treatment and rescue need to obtain real conditions in the scene in time, such as air quality, temperature, dryness and humidity, casualties, the positions of wounded persons, whether fire disasters exist or not and the like, but the most important is to obtain real-time images of the scene; however, the lack of related detection equipment in China at present causes that the information cannot be obtained in time, so that subsequent rescue work is influenced, even the optimal rescue time is delayed, and unnecessary casualties and property loss are caused. The current measures adopted for the situation are that rescue workers carry relevant detection and rescue equipment to enter a dangerous area to carry out detection and rescue, the mode generally cannot transmit obtained data and images in real time, and meanwhile, huge potential safety hazards exist for workers entering a site to carry out detection and search and rescue work. Moreover, the detection and rescue equipment carried by the rescue workers may malfunction due to the harsh environment.

Disclosure of Invention

The invention aims to provide a multifunctional detection vehicle for dangerous areas based on wireless control and video transmission, which solves the blank and technical defects of the prior equipment, and provides a multifunctional detection, rescue and rescue vehicle which is simple to operate and stable in work and is based on wireless control and wireless video transmission, so that remote wireless control, video transmission and parameter transmission of each sensor are realized.

The invention is realized in such a way that the invention comprises a detection vehicle, a mechanical arm, a detector, a controller, a wireless control module, a lithium battery pack, a video wireless transmission module, a high-definition camera, a camera holder, an electric telescopic rod, a motor driving circuit, an AD/DA circuit and an LED illuminating lamp, and is characterized in that: the lithium battery pack is connected with driving motors of four wheels of the detection vehicle, the driving motors are respectively connected with motor driving circuits, the motor driving circuits are connected with a controller, the controller is respectively connected with a wireless control module and a video wireless transmission module, the video wireless transmission module is connected with a high-definition camera, the high-definition camera is connected with a camera holder through an electric telescopic rod, the camera holder is fixed on a vehicle body of the detection vehicle, a mechanical arm is connected on the vehicle body of the detection vehicle, and the front end of the detection vehicle is provided with an LED illuminating lamp and a plurality of detectors, and the controller is further connected with the mechanical arm, the electric telescopic rod, the camera holder and the detectors.

The vehicle body of the detection vehicle comprises a lower bottom plate and an upper bottom plate, and the lower bottom plate is fixedly and horizontally connected with the upper bottom plate to form the vehicle body.

The detector is a humidity sensor, a liquefied gas detector, an alcohol detector, a methane natural gas detector, a propane detector, a butane detector, a carbon monoxide detector, a hydrogen detector, a gas detector, a harmful gas concentration detector, a flame detector, an infrared human body detector and an ultrasonic ranging detector.

The ultrasonic ranging detector is fixed on the ultrasonic module holder.

The core control chip of the controller adopts an STC12C5A60S2 singlechip.

Main chip of the video wireless transmission module adopts STM32F407 chip

The thermistor is additionally arranged on the infrared human body detector, so that the infrared human body detector is prevented from being triggered by mistake in a high-temperature environment.

The humidity detector is additionally provided with an outer protective shell, so that the humidity detector is not directly exposed to air.

The camera is controlled by the video processing module, and the video processing module transmits the image data to the video wireless transmission module and transmits the image data to the upper computer by the video wireless transmission module so as to realize the wireless real-time transmission of the video.

The high definition camera is connected on electric telescopic handle, and electric telescopic handle is connected on the camera cloud platform, can make the camera shoot the image of different angles and height through control camera cloud platform and electric telescopic handle, can make more detailed shooting to the surrounding environment.

The ultrasonic module is arranged on the ultrasonic module holder, and the distance and obstacle detection of no dead angle around the multifunctional detection vehicle can be realized by controlling the ultrasonic holder to rotate to different angles in different directions.

The gas sensor, the flame detector and the humidity sensor circuit are composed of an AD/DA circuit, a humidity sensor, a common combustible gas concentration detector, a harmful gas concentration detector and a flame detector; the high-precision high-speed AD conversion module can accurately convert analog data of various sensors into corresponding digital quantities and transmit the digital quantities back to the controller, and then the controller controls the wireless module to transmit the digital quantities back to the upper computer.

The common combustible gas concentration detector and the harmful gas concentration detector are filtered, clean analog signals are transmitted into the AD/DA conversion module, and the accuracy of data is improved.

The core control chip of the trolley controller adopts the STC12C5A60S2 singlechip, the singlechip is compatible with the instruction set of the 51 singlechip, but the running speed is 12 times of that of the 51 singlechip under the condition of the same crystal oscillator frequency, the WATCH_DOG function is opened during running, and the system stability is improved when the program runs and flies under the severe conditions of strong electromagnetic interference and the like, so the singlechip has the characteristics of low price, high running speed, low energy consumption, stable running and the like.

The main chip of the video processing module adopts an STM32F407 chip, and the chip has the advantages of low power consumption, strong processing capacity, low price and the like.

The wireless video transmission module adopts the specifications of 1.2GHz and 8W, and the radio frequency of 1.2GHz has the characteristics of strong barrier penetrating capability, small transmission interference, long transmission distance and the like, and the transmission distance can be increased by adopting high power of 8W.

The wireless transmission module with the main chip of SI4463-B1B1 is adopted as a wireless control module, and the wireless control module has the characteristics of low power consumption, long transmission distance, high reliability and the like, and can be turned off when video transmission is not needed so as to save electric energy and enhance cruising ability.

Adopt two wireless module transmission, two modules use 1.2GHz and 2.4GHz respectively, make it can not interfere with each other, improved the stability of system, reduced the whole energy consumption of system, improved duration.

The mechanical arm comprises 6 large-torque digital steering engines, a metal steering wheel and a bracket; compared with an analog steering engine, the digital steering engine has the advantages of convenience in control, high positioning accuracy and the like.

The camera tripod head comprises a tripod head support, a shock pad and three high-precision steering engines, the shock pad can enable the camera to shoot stably, and the tripod head can enable the camera to shoot images in different angle directions, so that surrounding observation is more detailed and comprehensive.

The telescopic rod can enable the camera to shoot images with different heights.

The motor driving circuit is composed of two L298N double H-bridge driving chips, can simultaneously control four paths of direct current motors, and has the advantages of simple and stable circuit and high driving capability.

Further, when the ultrasonic module transmits back data, the data of the temperature detector are read, and temperature compensation is provided for the ultrasonic according to different temperatures, so that the temperature drift phenomenon of the ultrasonic is corrected, and the measurement accuracy is improved.

Further improved, the thermistor is additionally arranged on the infrared human body detector, so that the infrared human body detector is prevented from being triggered by mistake in a high-temperature environment.

Further improved, an outer protective shell is additionally arranged for the humidity detector, so that the humidity detector is not directly exposed in the air, and the detection precision and stability are improved.

Further improved, the upper computer of the mechanical arm is controlled by adding 6 electronic gyroscope modules on the arm of the controller to detect the action of the controller, and the action is transmitted to the trolley control mechanical arm through wireless transmission of the upper computer.

Radio technology: radio technology is a technology that propagates signals through radio waves. The principle of radio technology is that a change in the intensity of a current in a conductor generates radio waves. With this phenomenon, information can be loaded on top of radio waves by modulation. When the wave propagates through space to the receiving end, the electromagnetic field change caused by the wave will generate current in the conductor. The information is extracted from the current change through demodulation, so that the purpose of information transmission is achieved.

Mechanical arm: the mechanical arm is an automatic mechanical device which is most widely and practically applied in the technical field of robots, and can see the figure in the fields of industrial manufacture, medical treatment, entertainment service, military, semiconductor manufacture, space exploration and the like. Although they differ in their morphology, they share a common feature of being able to receive instructions to accurately locate a point in three-dimensional (or two-dimensional) space for a job. At present, the mechanical arm is divided into two kinds, one is to continuously complete the fixed action according to a set program, and the mechanical arm has the advantages of high action accuracy and high speed; the disadvantage is that the set action is only completed and the random strain is not possible. The second is to use the key or handle remote control, the advantage is that can accomplish various random actions, the disadvantage is that the positioning accuracy is not high, the operation needs a certain skill and proficiency.

Ultrasonic ranging: because of the strong directionality of ultrasonic waves, the energy consumption is slow, and the distance traveled in the medium is relatively long, ultrasonic waves are often used for distance measurement, and can be realized by ultrasonic waves, such as a range finder and the like. Ultrasonic detection is usually rapid, convenient, simple in calculation and easy to control in real time; however, since the ultrasonic transmission speed is greatly affected by the ambient temperature, the measurement accuracy is not high.

Infrared human body detector: in the infrared detector, the pyroelectric element detects the presence or movement of a human body, and converts an output signal of the pyroelectric element into a voltage signal. Then, waveform analysis is performed on the voltage signal. Then, only when a waveform generated by a human body is detected by waveform analysis, a detection signal is output. For example, amplifying a voltage signal in two different frequency ranges and using the amplified signal for discriminating a signal caused by a human body has the disadvantage of being susceptible to external temperature interference and being prone to false triggering when the temperature is too high.

Air quality sensor: the MQ-135 sensor is suitable for detecting harmful gases such as ammonia, aromatic compounds, sulfides, benzene series steam, smoke and the like, and outputs a voltage signal according to the concentration of the harmful gases.

Combustible gas sensor: MQ-2, MQ-3, MQ-4, MQ-5, MQ-6, MQ-7, MQ-8, MQ-9 realize high precision detection of liquefied gas, alcohol, methane natural gas, propane, butane, carbon monoxide, hydrogen; the principle is that the gas sensitive material used in the sensor is tin dioxide (SnO 2) with low conductivity in clean air. When the combustible gas is present in the environment in which the sensor is located, the conductivity of the sensor increases with increasing concentration of the combustible gas in the air. The change in conductivity can be converted into an output signal corresponding to the gas concentration using a simple circuit.

Temperature sensor: temperature detection in the range of-55 ℃ to +125 ℃ can be achieved using a DS18B20 high-precision temperature sensor manufactured by dallas corporation.

Humidity sensor: the humidity sensor of the humidity sensitive original is mainly divided into two types, namely a humidity sensitive resistor and a humidity sensitive capacitor; the principle is as follows: the humidity-sensitive resistor is characterized in that a film made of a humidity-sensitive material is covered on a substrate, when water vapor in air is adsorbed on the humidity-sensitive film, the resistivity and the resistance value of the element are changed, and the humidity can be measured by utilizing the characteristic.

The humidity-sensitive capacitor is generally made of polymer film capacitor, and common polymer materials include polystyrene, polyimide, and butyric acid acetate fiber. When the ambient humidity changes, the dielectric constant of the humidity-sensitive capacitor changes, so that the capacitance of the humidity-sensitive capacitor also changes, and the capacitance change amount is in direct proportion to the relative humidity. The disadvantages are: the humidity sensor has poor pollution resistance, and when detecting the humidity of the environment, the humidity sensor needs to be exposed to the environment to be detected for a long time, and is easy to be polluted to influence the measurement precision and the long-term stability.

And (3) a servo motor: the servo motor can control the speed, the position accuracy is very accurate, and the voltage signal can be converted into the torque and the rotating speed to drive a control object. The rotation speed of the rotor of the servo motor is controlled by an input signal, can react quickly, is used as an executive component in an automatic control system, has the characteristics of small electromechanical time constant, high linearity, low starting voltage and the like, and can convert the received electric signal into angular displacement or angular speed on the motor shaft for output.

A gyroscope: the gyroscopic sensor is a simple and easy-to-use positioning and control system based on free space movements and gestures.

The invention has the technical effects that: the radio technology is utilized to realize remote wireless control and data and image transmission, and the three-dimensional electronic gyroscope is utilized to collect arm actions of a controller to realize accurate and simple control of the mechanical arm, so that complex actions are completed; the system can be used for detecting, rescuing and removing dangers in dangerous areas or areas unsuitable for human access.

Drawings

Fig. 1 is a schematic perspective view of the present embodiment;

fig. 2 is a schematic view of the structure of a vehicle body floor according to the present embodiment;

fig. 3 is a schematic view of the structure of an ultrasonic module according to the present embodiment;

fig. 4 is a schematic diagram of a motor driving circuit of the present embodiment;

fig. 5 is a schematic diagram of the connection between the motor driving circuit and the motor in the present embodiment;

FIG. 6 is a schematic circuit diagram of the master chip of the present embodiment;

FIG. 7 is a schematic diagram showing the connection of LCD panels in the present embodiment;

FIG. 8 is a schematic diagram of the AD/DA module circuit of this embodiment;

fig. 9 is a specification diagram of a camera telescopic rod of the present embodiment;

fig. 10 is a schematic diagram of an external circuit of a main chip of the image processing module according to the present embodiment;

FIG. 11 is a diagram showing the distribution and labels of pins outside the main chip of the image processing module according to the present embodiment;

FIG. 12 is a schematic diagram of an image processing module chip LDO (Low dropout Linear regulator) according to the present embodiment;

FIG. 13 is a schematic diagram of an analog power supply circuit of the image processing module according to the present embodiment;

FIG. 14 is a schematic diagram of a 24-bit, 96kHz stereo D/A converter circuit of the image processing module of the present embodiment;

FIG. 15 is a schematic diagram of the JTAG interface circuit of the image processing module according to the present embodiment;

FIG. 16 is a schematic diagram of the image processing module 1117-3.3V LDO circuit of the present embodiment;

FIG. 17 is a schematic diagram of the connection interface between the image processing module and the 0V7670 camera module according to the present embodiment;

FIG. 18 is a schematic circuit diagram of an RS232-USB interface converter chip of the image processing module according to the present embodiment;

FIG. 19 is a schematic circuit diagram of a power decoupling capacitor of an image processing module according to the present embodiment;

FIG. 20 is a schematic diagram of an SD card interface circuit of the image processing module according to the present embodiment;

fig. 21 is a schematic circuit diagram of converting the COM interface of the image processing module of the present embodiment to a USB interface;

FIG. 22 is a block diagram of the processing of a digital camera interface (DCMI);

FIG. 23 is a top-level block diagram of a digital camera interface;

FIG. 24 is a timing diagram of a digital camera interface (DCMI);

FIG. 25 is a schematic diagram of the air quality sensor (MQ-135) circuit of this embodiment.

Detailed Description

The present invention will be described in detail with reference to the following specific examples.

The present invention will be described more fully hereinafter with reference to the accompanying drawings, in which embodiments of the invention are shown. Other embodiments, which are obtained by other skilled persons without making inventive efforts, are within the scope of protection of the present invention based on the embodiments in the present invention.

Referring to fig. 1, 2 and 3, the multifunctional probe car for dangerous areas based on wireless control and video transmission comprises: a lower base plate 1, an upper base plate 2, the lithium battery pack 3 arranged at the rear part of the lower base plate 1, the controller 4 arranged in the middle of the lower base plate 1, the video wireless transmission module 5 and the wireless control module 6 arranged at the left side of the rear part of the lower base plate 1, the high-definition camera 7 arranged on the electric telescopic rod 8, the camera holder 9 arranged at the front part of the upper base plate 2, the electric telescopic rod 8 arranged at the upper part of the camera holder 9, the motor driving circuit 10 arranged at the left side of the controller 4 on the lower base plate 1, the AD/DA circuit 11 arranged at the front part of the controller 4, the humidity sensor 12 arranged at the right side of the front part of the lower base plate 1, the common flammable gas concentration detector (the liquefied gas detector 13, the alcohol detector 14, the methane natural gas detector 15, the propane detector 16, the butane detector 17, the carbon monoxide detector 18, the hydrogen detector 19 gas detector 20), harmful gas concentration detector 21 mounted on the front of lower plate 1, flame detector 22 mounted on the front part of lower plate 1 with the detector head extending out of the front middle of the trolley, infrared human detector 23 mounted on the front middle of upper plate 2 with the detector head, ultrasonic ranging module 24 mounted on ultrasonic cradle head 25, ultrasonic module cradle head 25 mounted on the front middle of upper plate 2, mechanical arm 26 mounted on the middle of upper plate 2, LED lighting lamp 28 mounted on high definition camera 7, DC voltage reducing circuit 27 mounted on the rear of upper plate 2, left front wheel 29 mounted on the left front of lower plate 1, left rear wheel 30 mounted on the left rear of lower plate 1, right front wheel 31 mounted on the right front of lower plate 1, right rear wheel 32 mounted on the right rear of lower plate 1, A right front wheel drive motor 33 mounted on the right front wheel 31, a right rear wheel drive motor 34 mounted on the right rear wheel 32, a left front wheel drive motor 35 mounted on the left front wheel 29, a left rear wheel drive motor 36 mounted on the left rear wheel 30, a support copper pillar 37 connecting the lower chassis 1 and the upper chassis 2, an LCD (12864B) display 38 mounted in the middle of the rear of the upper chassis 2.

In this embodiment, the P0-0 port to P0-2 port of the IO port of the main chip STC12C5a60S2 of the controller is connected to three input pins of the 74HC138 chip, eight output pins of the 74HC138 chip are respectively connected to different input ends of the motor driving circuit to control forward and reverse rotation of the four wheels, and the speed of rotation can be controlled through the PWM output mode, so that the IO port resource can be saved by using the 74HC138 chip.

In this embodiment, the port P1-0 and the port P1-1 of the IO port of the main chip STC12C5a60S2 of the controller are respectively connected to the clock signal line SCL and the data signal line SDA of the IIC bus, the device with the communication protocol being the IIC protocol can be connected to the clock signal line SCL and the data signal line SDA, at most 8 chips of the same IIC bus can be mounted, in this embodiment, 3 PCF8591 chips can be connected to the IIC bus, and different addresses can be set for the chips by connecting 3 address pins of the chips to VCC or GND, so that a certain PCF8591 chip can be uniquely accessed on the same IIC bus, meanwhile, each PCF8591 chip can be connected to 4 detectors with analog output, the analog output by the detectors can be converted into a digital input controller, and then be transmitted back to the host through the wireless control module.

In this embodiment, the port P1-2 and port P3-2 of the IO port of the main chip STC12C5a60S2 of the controller are connected to the Echo (receiving end) port of the ultrasonic module, the port P1-3 is connected to the Trig (control end) port of the ultrasonic module, the port P1-3 of the STC12C5a60S2 sends a high level of more than 10us to the ultrasonic Trig (control end), the ultrasonic module automatically sends 8 square waves of 40khz, automatically detects whether a signal returns, and outputs a high level through the Echo port, the high level duration time is the time when the ultrasonic wave is transmitted to return, the port P1-2 of the STC12C5a60S2 chip connected to the Echo port detects the high level, the timer of the singlechip is immediately opened, the high level time starts to be recorded, the external interrupt trigger port of the singlechip is set to be a falling edge trigger mode, the port P3-2 is the falling time, the temperature of the ultrasonic module is accurately read, and the temperature of the ultrasonic module is accurately read from the temperature sensor, and the temperature sensor is accurately read when the temperature of the ultrasonic chip is returned.

In this embodiment, the P1-4 port of the IO port of the main chip STC12C5a60S2 of the controller is connected to the data interface of the temperature detector, the DS18B20 temperature chip communicates in a single bus manner, and the main chip STC12C5a60S2 of the controller can read the accurate temperature value appearing in the environment through the P1-4 port of the IO port.

In this embodiment, the ports P1-5, P1-6, and P1-7 of the IO ports of the main chip STC12C5a60S2 of the controller are connected to three input pins of the 74HC138 chip, eight output pins of the 74HC138 chip are connected to eight bit data lines of the LCD (12864B), and the ports P3-0, P3-1, and P3-4 of the IO ports of the main chip STC12C5a60S2 of the controller are connected to RSs, RWs, and es of the LCD (12864B), respectively, to control the display screen LCD (12864B).

In the embodiment, the P2-0, P2-1, P2-2, P2-3, P2-4 and P2-5 ports of the main chip STC12C5A60S2 of the controller are respectively connected with the control lines of six digital steering engines of the mechanical arm, so that the rotation angles of the steering engines can be controlled by only outputting PWM square waves with different duty ratios through the six IO ports, and the PWM square waves can be generated by a singlechip timer, so that the accurate positioning of the mechanical arm can be realized; the main chip STC12C5A60S2 of the controller obtains the parameters of the gyroscope on the arm of the operator from the upper computer by the wireless transmission module, so as to control the steering engine of the mechanical arm, make the motion completely consistent with the arm of the operator, and achieve accurate positioning and simple and convenient operation.

In the embodiment, a P2-6 port of an IO port of a main chip STC12C5A60S2 of the controller controls a relay, so as to control whether a video screen transmission module, a camera holder, a video processing module and a high-definition camera work or not; after the image shot by the high-definition camera is processed by the video processing module, the image is transmitted back to the upper computer by the video wireless transmission module.

In the example, the P3-5, P3-6 and P3-7 of the IO port of the main chip STC12C5A60S2 of the controller respectively control three steering engines of the camera holder, and the three steering engines are controlled to rotate in directions and angles by outputting PWM square waves with different duty ratios, so that accurate control is realized, and the camera can shoot images with different angles and directions.

In the embodiment, a P2-6 port of an IO port of a main chip STC12C5A60S2 of the controller is connected with the electromagnetic relay, so that the movement of the telescopic rod of the camera is controlled, and the movement of the telescopic rod can be accurately controlled in a mode of outputting PWM square waves.

In the embodiment, the LED illuminating lamp of the camera is connected with the DO pin of the photoresistor sensor, when the ambient light intensity does not reach the set threshold value, DO outputs high level, and the LED illuminating lamp is lightened, so that the method can automatically control the on-off of the LED illuminating lamp, and electric energy is saved.

In this embodiment, the P2-7 port of the IO port of the main chip STC12C5a60S2 of the controller is connected to the output pin of the infrared human body detector, when the infrared human body detector senses a living body, the output pin outputs a high level, and when the P2-7 port receives the high level, the wireless control module can send information to the upper computer to request corresponding rescue.

In this embodiment, the P0-3 port of the IO port of the main chip STC12C5a60S2 of the controller is connected with the control line of the ultrasonic holder, and the rotation of the ultrasonic holder in different directions and at different angles is realized by outputting PWM square waves with different duty ratios, so that the surrounding environment of the probe car can be scanned by the ultrasonic module.

Fig. 4 and fig. 5 are schematic circuit diagrams of a motor driving circuit and schematic connection diagrams of the motor driving circuit and a motor, wherein the motor driving circuit comprises two L298N driving chips, each L298N module can drive 2 direct current motors, the motor driving circuit is built according to the method of fig. 4, and the circuit of the motor driving circuit and the motor are connected according to the method of fig. 5.

Fig. 6 is a schematic circuit diagram of a master chip, and a master chip circuit is built according to the schematic diagram.

Fig. 7 is a schematic diagram showing connection of an LCD (12864B) liquid crystal display, and an LCD (12864B) liquid crystal display circuit is constructed according to the method shown in fig. 7.

Fig. 8 is a schematic diagram of an AD/DA module circuit, which is constructed according to the schematic diagram shown in fig. 8.

Fig. 9 is a view of the camera telescopic rod, and attention is paid to the specification and the stroke during installation.

Fig. 10 to 21 are schematic diagrams of the circuit of the image processing module, and the main chip circuit of the image processing module is built according to the schematic diagram of the circuit shown in fig. 10.

Fig. 10 is a schematic circuit diagram of a peripheral circuit of the main chip of the image processing module, and the peripheral circuit of the main chip of the image processing module is built by connecting the main chip of the image processing module with circuit parts such as an external crystal oscillator, a decoupling capacitor and the like shown in fig. 10.

Fig. 11 is a diagram of an external row of IO ports of the main chip of the image processing module.

FIG. 12 is a schematic diagram of the peripheral circuit connection of an LDO-1.8V chip of the image processing module, which is a low dropout linear regulator with the function of stabilizing the voltage at 1.8V, and an external circuit of the LDO-1.8V chip is built according to the schematic diagram.

Fig. 13 is a schematic diagram of an analog power supply circuit of an image processing module, in which

capacitors

105 and 104 are used for filtering, filtering is performed for multiple times, and an inductance device is connected in the circuit, so that the output direct current ripple wave is small, the purity is high, the operation is stable, and the analog power supply circuit of the image processing module is built according to the illustration.

Fig. 14 is a schematic diagram of the external circuitry of a 24-bit, 96kHz stereo D/a converter of an image processing module, a perfect stereo digital-to-analog output system for processing sound, with its external circuitry built as shown.

FIG. 15 is a schematic diagram of the peripheral circuitry of the JTAG interface of the image processing module, JTAG is a joint test workgroup, JTAG interface can be used for programming FLASH and other devices, JTAG programming mode greatly speeds up engineering progress, and external circuitry of JTAG interface is built as shown.

Fig. 16 is a schematic diagram of a 1A low dropout voltage regulator of an image processing module that can provide a standard voltage of 3.3V, according to the present invention.

Fig. 17 is a schematic diagram of a circuit for connecting an image processing module with an OV7670 high-definition camera, which can realize connection between the image processing module and the OV7670 high-definition camera, so that the image processing module receives and processes data returned by the OV7670 high-definition camera, and the circuit is connected as shown in the figure.

FIG. 18 is a schematic circuit diagram of an RS232-USB interface converter chip of an image processing module, a highly integrated RS232-USB interface converter of a PL2303 chip, which can provide a simple connection between an RS232 full duplex asynchronous serial communication device and a USB function interface, and can realize automatic conversion of RS232 signals and USB signals, thereby realizing communication between a computer and an image transmission module, and the device is used for programming programs, transmitting data and the like for the image processing module, and constructing PL2303 peripheral circuits according to the diagram

Fig. 19 shows a decoupling circuit for a digital power supply that removes ripple and outputs a relatively pure dc power, coupled to the circuit as shown.

Fig. 20 is a schematic circuit diagram of connection between an SD card and a main chip of an image processing module, through which the main chip of the image processing module can read data from the SD card and write data into the SD card, and because the image file is large, the image can be stored in the SD card when interference is received and the image cannot be returned or the return effect is poor, and the video in the SD card can be read after the trolley returns, and the data detected by the detector can also be stored in the SD card.

Fig. 21 is a schematic circuit diagram of converting the COM interface of the image processing module to the USB interface, which can convert serial format data and USB format data, and connects the circuits as shown in the figure.

Fig. 22, 23 and 24 are control block diagrams and timing diagrams of a DCMI interface of a main chip of the image processing module, where the DCMI digital camera interface is a synchronous parallel interface capable of receiving high-speed data streams sent by external 8-bit, 10-bit, 12-bit or 14-bit CMOS camera modules. Different data formats may be supported: YCbCr 4:2/RGB 565 progressive video and compressed data (JPEG). Its high-speed data stream can reach 54MB/s. The interface comprises up to 14 data lines (D13-D0) and one pixel clock line (PIXCLK). The polarity of the pixel clock may be programmable so that data may be captured on either the rising or falling edge of the pixel clock. These data are placed in a 32-bit data register (DCMI DR) and then transferred by general DMA. The image buffer is managed by the DMA, not by the camera interface. The data received from the camera may be organized in rows/frames (raw YUB/RGB/bayer pattern) or may be a series of JPEG images. The data streams may be hardware synchronized by an optional HSYNC (horizontal synchronization) signal and VSYNC (vertical synchronization) signal, or by a synchronization code embedded in the data stream. The processed image data is transmitted to the video wireless transmission module by the image processing module, and then transmitted back to the upper computer.

The camera module of this embodiment is connected with the image processing module through the DCMI interface, processes the received camera data by the image processing module main chip, and sends to the wireless video transmission module, and is returned to the host computer by the wireless video transmission module.

FIG. 25 is a schematic diagram of an air quality sensor (MQ-135) circuit constructed in accordance with FIG. 11, with other gas sensor circuits similar to the circuit except for the inductive head, and with the inductive head portion replaced by the circuit, other gas sensor circuits can be constructed.

Claims

1. The utility model provides a multi-functional probe car in dangerous region based on wireless control and video transmission, it includes probe car, arm, detector, controller, wireless control module, lithium cell group, video wireless transmission module, high definition digtal camera, camera cloud platform, electric telescopic handle, motor drive circuit, AD/DA circuit, LED light, its characterized in that: the lithium battery pack is distributed in the detection vehicle, the lithium battery pack is connected with driving motors of four wheels of the detection vehicle, the driving motors are respectively connected with motor driving circuits, the motor driving circuits are connected with a controller, the controller is respectively connected with a wireless control module and a video wireless transmission module, the video wireless transmission module is connected with a high-definition camera, the high-definition camera is connected with a camera holder through an electric telescopic rod, the camera holder is fixed on a vehicle body of the detection vehicle, a mechanical arm is connected on the vehicle body of the detection vehicle, and the front end of the detection vehicle is provided with an LED illuminating lamp and a plurality of detectors, and the controller is also connected with the mechanical arm, the electric telescopic rod, the camera holder and the detectors;

the vehicle body of the detection vehicle comprises a lower bottom plate and an upper bottom plate, and the lower bottom plate is fixedly and horizontally connected with the upper bottom plate to form the vehicle body; the detector is a humidity sensor, a liquefied gas detector, an alcohol detector, a methane natural gas detector, a propane detector, a butane detector, a carbon monoxide detector, a hydrogen detector, a gas detector, a harmful gas concentration detector, a flame detector, an infrared human body detector and an ultrasonic ranging detector; the ultrasonic ranging detector is fixed on the ultrasonic module holder; the core control chip of the controller adopts an STC12C5A60S2 singlechip; the main chip of the video wireless transmission module adopts an STM32F407 chip; the thermistor is additionally arranged on the infrared human body detector, so that the infrared human body detector is prevented from being triggered by mistake in a high-temperature environment; the humidity sensor is additionally provided with an outer protective shell, so that the humidity sensor is not directly exposed to the air;

the mechanical arm comprises 6 large-torque digital steering engines, a metal steering wheel and a bracket; the upper computer control of the mechanical arm adopts the steps that 6 electronic gyroscope modules are additionally arranged on a controller arm so as to detect the action of the controller, and the actions are transmitted to the trolley control mechanical arm through the wireless transmission of the upper computer;

the camera tripod head comprises a tripod head bracket, a shock pad and three high-precision steering engines, the shock pad can enable the camera to shoot stably, and the tripod head can enable the camera to shoot images in different angle directions, so that the surrounding observation is more detailed and comprehensive;

the motor driving circuit is composed of two L298N double H bridge driving chips, can control four paths of direct current motors at the same time, and has the advantages of simple and stable circuit and high driving capability;

the temperature sensor is a DS18B20 high-precision temperature sensor, temperature detection in the range of-55 ℃ to +125 ℃ can be achieved, the P1-4 port of the IO port of the main chip STC12C5A60S2 of the controller is connected with the data interface of the temperature sensor, the DS18B20 temperature chip is communicated in a single bus mode, and the main chip STC12C5A60S2 of the controller can read an accurate temperature value appearing in the environment through the P1-4 port of the IO port;

the method comprises the steps that a P1-2 port and a P3-2 port of an IO port of a main chip STC12C5A60S2 of a controller are connected to a receiving end Echo port of an ultrasonic module, the P1-3 port is connected to a control end Trig port of ultrasonic waves, the P1-3 port of the STC12C5A60S2 transmits a high level of more than 10us to the ultrasonic control end Trig, the ultrasonic module automatically transmits 8 square waves of 40khz, whether signals return or not is automatically detected, a high level is output through the Echo port, the duration of the high level is the time from the transmission to the return of ultrasonic waves, the P1-2 port of the STC12C5A60S2 chip connected with the Echo port is detected to immediately open a timer of the single chip, the high level time starts to be recorded, the P3-2 port is an external interrupt trigger port of the single chip, the single chip is set to be in a falling edge trigger mode, the P3-2 port is immediately cooled down, the timer is closed, the time is accurately read from the timer, and the temperature drift value is accurately read according to the temperature drift value of the ultrasonic waves.