CN109129519A - A kind of separate type overlap joint vehicle - Google Patents
A kind of separate type overlap joint vehicle Download PDFInfo
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- CN109129519A CN109129519A CN201811236133.3A CN201811236133A CN109129519A CN 109129519 A CN109129519 A CN 109129519A CN 201811236133 A CN201811236133 A CN 201811236133A CN 109129519 A CN109129519 A CN 109129519A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Separate type overlap joint vehicle provided in an embodiment of the present invention includes: power communication vehicle and the first power car, and power communication vehicle and the first power car detachably overlap；Power communication vehicle includes: power communication car owner's plate, and core board, first singlechip, first network interchanger and the first battery, core board are provided on power communication car owner's plate and is connect with first singlechip, core board is connect with first network interchanger；First singlechip is connect with the first battery；First power car includes: power car mainboard, and second singlechip and second network switch are provided on power car mainboard, and second singlechip is connect by 485 buses with core board, and second network switch is connect by network-bus with first network interchanger；First battery is used to power for power communication vehicle and the first power car.Separate type overlap joint vehicle is formed by overlapping using independent car body, can overlap different car bodies according to actual needs, have many advantages, such as that applicability is good, and it is wide to be applicable in scene.
Description
Technical field
The invention belongs to electronic technology fields, and in particular to a kind of separate type overlap joint vehicle.
Background technique
City integrated piping lane is also known as common trench, refer to Urban Underground for concentrate laying electric power, communication, radio and television,
The public tunnel of the municipal pipelines such as water supply, draining, heating power, combustion gas is a kind of modernization, scientific, intensive city basis
Facility.The construction of Urban Underground pipe gallery solves repeatedly the problems such as intensive excavated pavement, aerial gauze, pipeline Frequent Accidents, has
Conducive to ensureing urban safety, improving city function, beautifying city landscape, the intensive efficient and Transformation Development in promotion city, be conducive to
Urban carrying capacity and urbanization quality are improved, is conducive to increase public product effective investment, pulls social capital
It puts into, make the new power of economic development.In recent years country constantly issues policy and promotes pipe gallery construction.It is comprehensive for Urban Underground
Research in terms of piping lane is also continuous deeply and progressive.
Due to a variety of pipelines such as piping lane set electric power, combustion gas, urban water supply drainage pipeline, communication and cables, once it manages
Pipeline inside corridor goes wrong, it will life and society to the people bring very big loss.Therefore, to the operation shape of each pipeline
State, which is monitored, to be particularly important, and by being laid with track along the direction of pipeline in current existing piping lane maintenance measure, is passed through
Tool car on that track is hung to detect the operation conditions of each pipeline.Present inventor is during invention the application
It was found that: existing tool car is mostly the integrated vehicle an of monoblock type, so that car body is excessive, applicability is bad, and applicable scene has
Limit.
Summary of the invention
In consideration of it, the purpose of the present invention is to provide a kind of separate types to overlap vehicle, to effectively improve the above problem.
The embodiment of the present invention is achieved in that
The embodiment of the invention provides a kind of separate types to overlap vehicle, comprising: power communication vehicle and the first power car, the electricity
Power communication van and first power car detachably overlap；The power communication vehicle includes: to be set to the intracorporal power communication of vehicle
Car owner's plate is provided with core board, first singlechip, first network interchanger and the first electricity on the power communication car owner plate
Pond, the core board connects by UART bus with the first singlechip, and the core board passes through RGMII interface and described the
The connection of one network switch；The UART serial ports of the first singlechip is connect by 485 conversion chips with first battery；Institute
Stating the first power car includes: to be set to the intracorporal power car mainboard of vehicle, be provided on the power car mainboard second singlechip and
Second network switch, the second singlechip are connect by 485 buses with the core board, and second network switch is logical
Network-bus is crossed to connect with the first network interchanger；First battery is used to be the power communication vehicle and described first
Power car power supply.
In optional embodiment of the present invention, the separate type overlap joint vehicle further includes the second power car, the power communication
Vehicle is detachably overlapped with second power car, and the power communication parking stall is in first power car and second power car
Between, second power car is identical as first power car.
In optional embodiment of the present invention, the separate type overlap joint vehicle further includes that mechanical arm carries vehicle, the mechanical arm
It carries vehicle detachably to overlap with the power communication vehicle, the mechanical arm carries vehicle and includes: mechanical arm, is set to the mechanical arm
On image box for Image Acquisition and be set to the intracorporal tool arm of vehicle and carry car owner's plate, the mechanical arm carries on car owner's plate
It is provided with third single-chip microcontroller, industrial control board, the third network switch and the second battery；The third single-chip microcontroller and the core board are logical
The connection of 485 buses is crossed, the third network switch is connect with the first network interchanger by network-bus, the third
The network switch and the industrial control board are connected to the network, and the third single-chip microcontroller is connect with the industrial control board, the image box and institute
State the connection of the third network switch；Second battery is used to carry vehicle power supply for the mechanical arm；The industrial control board is for controlling
Make the flexible, mobile of the mechanical arm.
In optional embodiment of the present invention, the power communication vehicle, first power car and the mechanical arm are carried
Vehicle includes: to fly control sensor module, and the winged control sensor module in the power communication vehicle is connected by I2C bus and core board
It connects；Winged control sensor module in first power car is connect by I2C bus with second singlechip, and the mechanical arm carries
Winged control sensor module in vehicle is connect by I2C bus with third single-chip microcontroller.
In optional embodiment of the present invention, the winged control sensor module is GY-86-10DOF module.
In optional embodiment of the present invention, the power communication vehicle, first power car and the mechanical arm are carried
Vehicle includes: Temperature Humidity Sensor, and the Temperature Humidity Sensor in the power communication vehicle is connect with core board；First power
Temperature Humidity Sensor in vehicle is connect with second singlechip, and the mechanical arm carries Temperature Humidity Sensor and third monolithic in vehicle
Machine connection.
In optional embodiment of the present invention, the power communication vehicle, first power car and the mechanical arm are carried
Vehicle includes: two 485 conversion chips；A UART serial ports and 485 conversion chips for the core board of the power communication vehicle
Connection, the another UART serial ports of the core board are connect with another 485 conversion chip；Second monolithic of first power car
One UART serial ports of machine is connect with 485 conversion chips, the another UART serial ports of the second singlechip with another 485 turns
Change chip connection；The UART serial ports that the mechanical arm carries the third single-chip microcontroller of vehicle is connect with 485 conversion chips, described
The another UART serial ports of third single-chip microcontroller is connect with another 485 conversion chip.
In optional embodiment of the present invention, first power car further includes brushless motor and push-rod electric machine, described dynamic
Brushless driver, push-rod electric machine driver and push-rod electric machine stroke detection sensor are additionally provided on power car owner's plate；The nothing
Brush driver, the push-rod electric machine driver and the push-rod electric machine stroke detection sensor connect with the second singlechip
It connects, the brushless driver is connect with the brushless motor, and the push-rod electric machine driver is connect with the push-rod electric machine, described
Push-rod electric machine stroke detection sensor is used to detect the stroke of the push rod of the push-rod electric machine.
In optional embodiment of the present invention, it is provided in the front-end and back-end of separate type overlap joint vehicle for obstacle
The optoelectronic switch of analyte detection.
In optional embodiment of the present invention, the image box includes visible light camera and infrared thermal imager.
Separate type provided in an embodiment of the present invention overlaps vehicle, comprising: power communication vehicle and the first power car, the electric power are logical
News vehicle and first power car detachably overlap；The power communication vehicle includes: to be set to the intracorporal power communication car owner of vehicle
Plate is provided with core board, first singlechip, first network interchanger and the first battery, institute on the power communication car owner plate
It states core board to connect by UART bus with the first singlechip, the core board passes through RGMII interface and first net
The connection of network interchanger；The UART serial ports of the first singlechip is connect by 485 conversion chips with first battery；Described
One power car includes: to be set to the intracorporal power car mainboard of vehicle, is provided with second singlechip and second on the power car mainboard
The network switch, the second singlechip are connect by 485 buses with the core board, and second network switch passes through net
Network bus is connect with the first network interchanger；First battery is used to be the power communication vehicle and first power
Vehicle power supply.Separate type overlap joint vehicle is formed by overlapping using independent car body, can overlap different car bodies according to actual needs,
Have many advantages, such as that applicability is good, it is wide to be applicable in scene, in addition, being counted between different car bodies by network-bus and 485 buses
According to transmission, the efficiency of data transmission is improved, then using the core board as control axis, carries out data processing, it is each to guarantee
Normal orderly running between car body.
Other features and advantages of the present invention will be illustrated in subsequent specification, also, partly be become from specification
It is clear that being understood by implementing the embodiment of the present invention.The objectives and other advantages of the invention can be by written
Specifically noted structure is achieved and obtained in specification, claims and attached drawing.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.By the way that shown in attached drawing, above and other purpose of the invention, feature and advantage will be more clear.In whole
Identical appended drawing reference indicates identical part in attached drawing.Attached drawing, emphasis deliberately are not drawn by actual size equal proportion scaling
It is to show the gist of the present invention.
Fig. 1 shows a kind of structural schematic diagram of separate type overlap joint vehicle provided in an embodiment of the present invention.
Fig. 2 shows a kind of structural schematic diagrams of power communication car owner plate provided in an embodiment of the present invention.
Fig. 3 shows a kind of structural schematic diagram of power car mainboard provided in an embodiment of the present invention.
Fig. 4 shows the structural schematic diagram of another separate type overlap joint vehicle provided in an embodiment of the present invention.
Fig. 5 shows the structural schematic diagram of another separate type overlap joint vehicle provided in an embodiment of the present invention.
Fig. 6 shows a kind of structural schematic diagram of separate type overlap joint car owner's plate provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "inner",
The orientation or positional relationship of the instructions such as "outside" be based on the orientation or positional relationship shown in the drawings or the invention product use
When the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion
Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and it should not be understood as instruction or dark
Show relative importance.Furthermore term "and/or" in the application, only it is a kind of describe affiliated partner incidence relation, expression can
With there are three kinds of relationships, for example, A and/or B, can indicate: individualism A exists simultaneously A and B, these three feelings of individualism B
Condition.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
The embodiment of the invention provides a kind of separate types to overlap vehicle, as shown in Figure 1.It includes: electric power that the separate type, which overlaps vehicle,
Communication van and the first power car.Wherein, the power communication vehicle and first power car detachably overlap.Wherein, it needs
Bright, which overlaps vehicle and is used for piping lane and pipe detection.Wherein, when being detected to piping lane and pipeline, the separation
Formula overlap joint vehicle needs to overlap the car body of different purposes.Wherein, which is responsible for power, advances, pusher, and acceleration and deceleration are stopped
Vehicle, climbing, front truck illumination, front truck detection of obstacles etc..Control axis of the power communication vehicle as entire overlap joint vehicle, is responsible for number
According to processing, to guarantee the orderly function between each car body.
The power communication vehicle does a control axis for entire overlap joint vehicle comprising car body and is set to the intracorporal electric power of vehicle
Communication van mainboard.Power communication car owner's plate includes: plate body and the core board being arranged on the plate body, first singlechip, the
One network switch and the first battery.Wherein, the core board is connect by UART bus with the first singlechip, described
Core board is connect by RGMII interface with the first network interchanger；The UART serial ports of the first singlechip passes through 485 turns
Chip (wherein, the model of 485 conversion chip can be MAX485) is changed to connect with first battery.
Power communication car owner's plate uses the major-minor processing mode of core board and first singlechip, improves system operation
Stability realizes the data interaction between other car bodies by first network interchanger, improves the efficiency of data transmission, letter
System structure is changed.Wherein, the power communication vehicle is total by first network interchanger and 485 when overlapping with other car bodies
Line realizes the data interaction between other car bodies, then using the core board as control axis, carries out data processing, each to guarantee
Normal orderly running between a car body.
Wherein, core board is as the overlap joint hinge between different car bodies, for handling data, to guarantee each vehicle
Normal orderly running between body.As an alternative embodiment, the model AM3352 of the core board.
The power communication vehicle is realized between other car bodies when overlapping with other car bodies by first network interchanger
Data interaction, further, the first network interchanger pass through the first network interchanger between network-bus and other car bodies
Carry out data interaction.As an alternative embodiment, the model of the first network interchanger can be IEM615-2D-
2C.In addition, the first network interchanger can also overlap wireless aps, it is wirelessly connected with realizing.
Wherein, the first battery is used for as the electronic component power supply in the power communication vehicle, for example, described core board, institute
State first singlechip and the first network power supply for exchange.In addition, first battery is also the power supply of the first power car.
The first singlechip is used to detect the work information of first battery and is responsible for the first battery of management, described
Detection circuit is integrated in first singlechip.As an alternative embodiment, the first singlechip can be STM32 series
First singlechip, for example, STM32F103C8T6.Wherein, when detecting the not enough power supply of the first battery, then remind this
One battery needs charging station to charge, so that the power communication vehicle reaches corresponding place charging.
As shown in Fig. 2, optionally, the power communication vehicle further include: two close switches, it is each described equal close to switch
It is connect with the first singlechip；This is close to switch for positioning and calibration code device etc..Wherein, this can be used close to switch
Be often used on the market at present for detect barrier close to switch.
Optionally, wireless data transmission module, the wireless data transmission module and first monolithic are additionally provided on the plate body
Machine connection.For being communicated wirelessly between peripheral equipment.As an alternative embodiment, the wireless data transmission module
Model XL7159.
Optionally, be additionally provided at least two 485 conversion chips on the plate body, a UART serial ports of the core board with
485 conversion chip connection at least two 485 conversion chip, the another UART serial ports of the core board and it is described extremely
Another 485 conversion chip connection in few two 485 conversion chips.The two 485 conversion chips are for realizing the core board
Carried out data transmission between other car bodies by 485 buses.Wherein, one of them 485 conversion chip is for realizing low speed biography
It is defeated, be used for transmission the data that content is larger or timeliness demand is not high, another 485 conversion chip for realizing high-speed transfer,
The data that content is smaller or timeliness demand is high are used for transmission, to guarantee the timeliness of data transmission.Wherein, the two 485 turns
The model for changing chip can be ADM2587E.
Optionally, Temperature Humidity Sensor is also integrated on the plate body, the Temperature Humidity Sensor and the core board connect
It connects.As an alternative embodiment, the model of the Temperature Humidity Sensor can be SHT30.
Optionally, the power communication vehicle further include: fly control sensor module, the winged control sensor module passes through I2C
Bus is connect with the core board.This flies control sensor module, for detecting the operating status of the power communication vehicle.Wherein, should
Fly control sensor module and is integrated with gyroscope, baroceptor, acceleration transducer etc..As an alternative embodiment,
This, which flies control sensor module, can be GY-86-10DOF module.
Optionally, the power communication vehicle further include: for spare gyroscope, the gyroscope passes through one 485 conversions
Chip (wherein, the model of 485 conversion chip can be MAX485) is connect with the another UART serial ports of the core board.This is standby
Gyroscope is used to use when flying gyroscope failure or the failure in control sensor module.
Optionally, the power communication vehicle further include: RFID read-write module, the RFID read-write module and the core board
UART serial ports connection.As an alternative embodiment, the model of the RFID read-write module is M2210.
Optionally, at least two memories are additionally provided on the plate body of the mainboard, for storing data, wherein one is deposited
Reservoir with core board for connecting, for storing the received data of core board；Another connect with first singlechip, for storing
The data of first singlechip.Wherein, which can be the integrated chip for having store function being often used on the market at present,
For example, EEPROM (Electrically Erasable Programmable read only memory).
Optionally, the indicator light connecting with first singlechip is also provided on the plate body of the mainboard and emergency stop is opened
It closes, for example, tongue tube.
Wherein, which is responsible for power, advances, pusher, and acceleration and deceleration are braked, climbing, front truck illumination, front truck barrier
Hinder analyte detection etc..First power car includes car body and is set to the intracorporal power car mainboard of the vehicle, as shown in figure 3, the power
Second singlechip and second network switch are provided on car owner's plate, the second singlechip passes through 485 buses and the core
Plate connection, second network switch are connect by network-bus with the first network interchanger.
Wherein, core of the second singlechip as the first power car, the control that can be sent according to core board through 485 buses
Instruction controls corresponding component and is acted, for example, advancing, pusher, acceleration and deceleration are braked, climbing, front truck illumination etc..It is optional
Ground, which can be the first singlechip of STM32 series, for example, STM32F103C8T6.
The data interaction between other car bodies is realized by second network switch, and further, which hands over
It changes planes and data interaction is carried out by the network switch between network-bus and other car bodies.As a kind of optional embodiment party
The model of formula, second network switch can be IEM615-2D-2C.In addition, second network switch can also overlap
High-definition tripod.
Optionally, at least two 485 conversion chips, a UART of the second singlechip are additionally provided on power car mainboard
Serial ports is connect with 485 conversion chips at least two 485 conversion chip, the another UART string of the second singlechip
Mouth is connect with another 485 conversion chip at least two 485 conversion chip.The two 485 conversion chips are for making this
Second singlechip, which is realized, to be carried out data transmission between other car bodies by 485 buses.Wherein, one of them 485 conversion chip
For realizing low speed transmissions, the data that content is larger or timeliness demand is not high are used for transmission, another 485 conversion chip is used for
It realizes high-speed transfer, is used for transmission the data that content is smaller or timeliness demand is high, to guarantee the timeliness of data transmission.Its
In, the model of the two 485 conversion chips can be ADM2587E.
Optionally, it is also integrated with Temperature Humidity Sensor on the power car mainboard, the Temperature Humidity Sensor and described the
The connection of two single-chip microcontrollers.As an alternative embodiment, the model of the Temperature Humidity Sensor can be SHT30.
Optionally, first power car further include: fly control sensor module, the winged control sensor module passes through I2C
Bus is connect with the second singlechip plate.This flies control sensor module, for detecting the operating status of first power car.Its
In, this flies control sensor module and is integrated with gyroscope, baroceptor, acceleration transducer etc..As a kind of optional implementation
Mode, this, which flies control sensor module, can be GY-86-10DOF module.
Optionally, first power car further includes brushless motor and push-rod electric machine, is also set up on the power car mainboard
There are brushless driver, push-rod electric machine driver and push-rod electric machine stroke detection sensor；The brushless driver, the push rod
Motor driver and the push-rod electric machine stroke detection sensor are connect with the second singlechip, the brushless driver
It is connect with the brushless motor, the push-rod electric machine driver is connect with the push-rod electric machine, the push-rod electric machine stroke detection
Sensor is used to detect the stroke of the push rod of the push-rod electric machine.
Wherein, for brushless driver for driving brushless motor, which is used to drive the wheel of first power car
Rotation.
Wherein, push-rod electric machine driver is used for driving push rod motor, which is used to control the pressure of track and wheel
Power, to increase or decrease wheel frictional force in orbit, for example, first power car in climbing, passes through control push rod electricity
Machine increases the frictional force of wheel and track, is gone up a slope with realizing.
Wherein, push-rod electric machine stroke detection sensor is used to detect the stroke of the push rod of the push-rod electric machine, and will inspection
Control of the data transmission of survey to second singlechip, so as to second singlechip according to data realization to push-rod electric machine.
Optionally, which further includes the functions such as front truck illumination and detection of obstacles.Wherein, front truck headlamp
Open and close be to be controlled by the second singlechip.The detection of obstacles can be detected using optoelectronic switch.Optoelectronic switch utilizes
Detected material is blocked or is reflected to light beam, thus the presence or absence of detection object.When an obstacle is detected, the optoelectronic switch just to
Second singlechip sends signal, just knows and reaches specified position, so that controlling trolley stops or execute other movements.
When detecting to piping lane and pipeline, separate type overlap joint vehicle needs to overlap the car body of different purposes.For example, again
Overlap a power car, i.e. the second power car (also referred to as vehicle using motor), as shown in Figure 4.The power communication vehicle is dynamic with described second
Power vehicle detachably overlaps, and the power communication parking stall is between first power car and second power car.Wherein, it needs
Illustrate, at this point, the battery in power communication vehicle is also the second power car (also referred to as vehicle using motor) power supply, in addition, described second
Power car is identical as the first power bassinet structure, effect is identical, and in order to avoid burden, the part of the second power car be may refer to
First power car above-mentioned.
When detecting to piping lane and pipeline, separate type overlap joint vehicle needs to overlap the car body of different purposes.For example, taking
It connects mechanical arm and carries vehicle, as shown in Figure 5.Wherein, mechanical arm carries vehicle and is responsible for taking pictures, and is examined with realizing to pipeline and pipeline
It surveys.
The mechanical arm carries vehicle and detachably overlaps with the power communication vehicle, and it includes: machinery that the mechanical arm, which carries vehicle,
Arm, be set on the mechanical arm for Image Acquisition image box and be set to the intracorporal tool arm of vehicle and carry car owner's plate.Such as
Shown in Fig. 6, the mechanical arm, which carries, is provided with third single-chip microcontroller, industrial control board, the third network switch and the second electricity on car owner's plate
Pond.The third single-chip microcontroller is connect with the core board by 485 buses, the third network switch and the first network
Interchanger is connected by network-bus, and the third network switch and the industrial control board are connected to the network, the third single-chip microcontroller
It is connect with the industrial control board, the image box is connect with the third network switch.
Second battery be used for for the mechanical arm carry vehicle power supply, for example the third network switch, third single-chip microcontroller,
The power supply such as industrial control board.Wherein, the voltage of second battery output is 48V, therefore, needs further decompression to handle in power supply,
For example, the voltage that the second battery exports is converted to 12V voltage output by the power module that 48V turns 12V.Due to this implementation
The supply voltage of third single-chip microcontroller in example is 3.3V, and therefore, the mechanical arm, which carries, is additionally provided with TPS5430 drop on car owner's plate
Volt circuit and LM1117 reduction voltage circuit, the TPS5430 reduction voltage circuit are depressured with the power module and the LM1117 respectively
Circuit connection, the TPS5430 reduction voltage circuit are used to convert 5V voltage output, the LM1117 reduction voltage circuit for 12V voltage
For 5V voltage to be converted to 3.3V voltage output.
The third single-chip microcontroller is used to detect the work information of second battery and is responsible for the second battery of management, described
Detection circuit is integrated in third single-chip microcontroller.As an alternative embodiment, the first singlechip can be STM32 series
First singlechip, for example, STM32F103C8T6.The third single-chip microcontroller carries the control axis of vehicle as mechanical arm, can be with
For controlling the open and close machine of industrial control board.
The data interaction between other car bodies is realized by the third network switch, and further, which hands over
It changes planes and data interaction is carried out by the network switch between network-bus and other car bodies.As a kind of optional embodiment party
The model of formula, the third network switch can be IEM615-2D-2C.
The industrial control board and the third network switch, third single-chip microcontroller, mechanical arm have connection, for controlling the machinery
Flexible, mobile, the angle taken pictures with adjustment and position etc. of arm.As an alternative embodiment, the industrial control board is
ECM-BYT embedded main board.
Optionally, mechanical arm carries and is additionally provided at least two 485 conversion chips on car owner's plate, the third single-chip microcontroller
One UART serial ports is connect with 485 conversion chips at least two 485 conversion chip, the third single-chip microcontroller it is another
UART serial ports is connect with another 485 conversion chip at least two 485 conversion chip.The two 485 conversion chips are used
In making to carry out data transmission between the third chip microcontroller and other car bodies by 485 buses.Wherein, one of them 485 turns
Chip is changed for realizing low speed transmissions, is used for transmission the data that content is larger or timeliness demand is not high, another 485 conversion core
Piece is used for transmission the data that content is smaller or timeliness demand is high for realizing high-speed transfer, to guarantee the timely of data transmission
Property.Wherein, the model of the two 485 conversion chips can be ADM2587E.
Optionally, the mechanical arm carries and is also integrated with Temperature Humidity Sensor on car owner's plate, the Temperature Humidity Sensor with
The third single-chip microcontroller connection.As an alternative embodiment, the model of the Temperature Humidity Sensor can be SHT30.
Optionally, the mechanical arm carries vehicle further include: flies control sensor module, the winged control sensor module passes through
I2C bus is connect with the third single-chip microcontroller plate.This flies control sensor module, and the operation shape of vehicle is carried for detecting the mechanical arm
State.Wherein, which is integrated with gyroscope, baroceptor, acceleration transducer etc..As a kind of optional
Embodiment, this, which flies control sensor module, can be GY-86-10DOF module.
Optionally, it further includes driving chip and LED lamp source that the mechanical arm, which carries car owner's plate, and the LED lamp source passes through institute
It states driving chip to connect with the third single-chip microcontroller, the driving chip is for driving the LED lamp source to shine.Wherein, the drive
Dynamic chip can be PT4115.
Wherein, the plug-in device that box carries vehicle as mechanical arm is influenced, for acquiring image, which includes visible light
Video camera and infrared thermal imager.
Wherein, it should be noted that the term in text, first, second, third, etc. is only used for distinguishing description.In addition,
Can be cross-referenced between each figure, for drawing simplicity, subelement is only listed in some figures, place is not shown, mutually
Referring to.
It should be noted that all the embodiments in this specification are described in a progressive manner, each embodiment weight
Point explanation is the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of separate type overlaps vehicle characterized by comprising power communication vehicle and the first power car, the power communication vehicle
It is detachably overlapped with first power car；The power communication vehicle includes: to be set to the intracorporal power communication car owner plate of vehicle, institute
It states and is provided with core board, first singlechip, first network interchanger and the first battery, the core on power communication car owner's plate
Plate is connect by UART bus with the first singlechip, and the core board is exchanged by RGMII interface with the first network
Machine connection；The UART serial ports of the first singlechip is connect by 485 conversion chips with first battery；
First power car includes: to be set to the intracorporal power car mainboard of vehicle, and it is single that second is provided on the power car mainboard
Piece machine and second network switch, the second singlechip are connect by 485 buses with the core board, and second network is handed over
It changes planes and is connect by network-bus with the first network interchanger；
First battery is used to power for the power communication vehicle and first power car.
2. separate type according to claim 1 overlaps vehicle, which is characterized in that the separate type overlap joint vehicle further includes second dynamic
Power vehicle, the power communication vehicle are detachably overlapped with second power car, and the power communication parking stall is in first power
Between vehicle and second power car, second power car is identical as first power car.
3. separate type according to claim 1 or 2 overlaps vehicle, which is characterized in that the separate type overlap joint vehicle further includes machine
Tool arm carries vehicle, and the mechanical arm carries vehicle and detachably overlaps with the power communication vehicle, and it includes: machine that the mechanical arm, which carries vehicle,
Tool arm, be set on the mechanical arm for Image Acquisition image box and be set to the intracorporal tool arm of vehicle and carry car owner's plate,
The mechanical arm carries and is provided with third single-chip microcontroller, industrial control board, the third network switch and the second battery on car owner's plate；Described
Three single-chip microcontrollers are connect with the core board by 485 buses, and the third network switch and the first network interchanger are logical
Network-bus connection is crossed, the third network switch and the industrial control board are connected to the network, the third single-chip microcontroller and the work
Plate connection is controlled, the image box is connect with the third network switch；
Second battery is used to carry vehicle power supply for the mechanical arm；
The industrial control board is used to control the flexible, mobile of the mechanical arm.
4. separate type according to claim 3 overlaps vehicle, which is characterized in that the power communication vehicle, first power
It includes: to fly control sensor module that vehicle and the mechanical arm, which carry vehicle, and the winged control sensor module in the power communication vehicle is logical
I2C bus is crossed to connect with core board；Winged control sensor module in first power car passes through I2C bus and second singlechip
Connection, the mechanical arm carry the winged control sensor module in vehicle and are connect by I2C bus with third single-chip microcontroller.
5. separate type according to claim 4 overlaps vehicle, which is characterized in that the winged control sensor module is GY-86-
10DOF module.
6. separate type according to claim 3 overlaps vehicle, which is characterized in that the power communication vehicle, first power
It includes: Temperature Humidity Sensor that vehicle and the mechanical arm, which carry vehicle, Temperature Humidity Sensor and core in the power communication vehicle
Plate connection；Temperature Humidity Sensor in first power car is connect with second singlechip, and the mechanical arm carries the temperature in vehicle
Humidity sensor is connect with third single-chip microcontroller.
7. separate type according to claim 3 overlaps vehicle, which is characterized in that the power communication vehicle, first power
It includes: two 485 conversion chips that vehicle and the mechanical arm, which carry vehicle,；One UART serial ports of the core board of the power communication vehicle
It is connect with 485 conversion chips, the another UART serial ports of the core board is connect with another 485 conversion chip；Described
One UART serial ports of the second singlechip of one power car is connect with 485 conversion chips, the second singlechip it is another
UART serial ports is connect with another 485 conversion chip；The mechanical arm carries a UART serial ports and one for the third single-chip microcontroller of vehicle
A 485 conversion chip connection, the another UART serial ports of the third single-chip microcontroller are connect with another 485 conversion chip.
8. separate type according to claim 3 overlaps vehicle, which is characterized in that first power car further includes brushless motor
And push-rod electric machine, brushless driver, push-rod electric machine driver and push-rod electric machine stroke are additionally provided on the power car mainboard
Detection sensor；The brushless driver, the push-rod electric machine driver and the push-rod electric machine stroke detection sensor are equal
It is connect with the second singlechip, the brushless driver is connect with the brushless motor, the push-rod electric machine driver and institute
Push-rod electric machine connection is stated, the push-rod electric machine stroke detection sensor is used to detect the stroke of the push rod of the push-rod electric machine.
9. separate type according to claim 3 overlaps vehicle, which is characterized in that in the front end of separate type overlap joint vehicle with after
End is provided with the optoelectronic switch for detection of obstacles.
10. separate type according to claim 3 overlaps vehicle, which is characterized in that the image box includes visible light camera
And infrared thermal imager.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811236133.3A CN109129519A (en) | 2018-10-23 | 2018-10-23 | A kind of separate type overlap joint vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811236133.3A CN109129519A (en) | 2018-10-23 | 2018-10-23 | A kind of separate type overlap joint vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109129519A true CN109129519A (en) | 2019-01-04 |
Family
ID=64809061
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811236133.3A Pending CN109129519A (en) | 2018-10-23 | 2018-10-23 | A kind of separate type overlap joint vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109129519A (en) |
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| WO2015019184A2 (en) * | 2013-08-06 | 2015-02-12 | Systemex-Energies International Inc. | Method and apparatus for controlling the power supply from an electric vehicle to a dwelling or to an ac power distribution network |
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