CN202947759U - Wireless environment monitoring vehicle - Google Patents
Wireless environment monitoring vehicle Download PDFInfo
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- CN202947759U CN202947759U CN 201220431451 CN201220431451U CN202947759U CN 202947759 U CN202947759 U CN 202947759U CN 201220431451 CN201220431451 CN 201220431451 CN 201220431451 U CN201220431451 U CN 201220431451U CN 202947759 U CN202947759 U CN 202947759U
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Abstract
The utility model relates to a wireless environment monitoring vehicle. The structure of the wireless environment monitoring vehicle is characterized in that a left-path motor drive module (14) and a right-path motor drive module (15) on a monitoring vehicle (16) are respectively connected with a left-side wheel and a right-side wheel; an upper computer (7) and the monitoring vehicle (16) are connected wirelessly by communication modules (1) and (2); the communication module (1) and a wireless receiving module (3) are connected to USB interfaces of the upper computer (7); the communication module (2) connected to a serial port of a single chip microcomputer (5); the wireless receiving module (3) receives a signal from a wireless camera (4); the wireless camera (4) and the single chip microcomputer (5) are arranged on the monitoring vehicle (16); the single chip microcomputer (5) is connected with an infrared sensor (13) and an FPGA control module (6); and the FPGA control module (6) is respectively connected with an ultrasonic distance measuring sensor (11), the left-path motor drive module (14) and the right-path motor drive module (15). According to the utility model, a defect that the monitoring vehicle needs to be driven by a person in a dangerous environment can be overcome. Therefore, the provided wireless environment monitoring vehicle can work automatically in the dangerous environment under the unmanned situation.
Description
Technical field
The utility model belongs to the mobile environment monitoring device, particularly the wireless environment monitoring car.
Background technology
In the zone that the industry toxic gases such as oil, chemical industry, coal leak, perhaps in zone that the Nuclear Biological Chemical disaster occurs, if the place that utilizes robot to replace mankind's entered environment inclement condition, ambient conditions to fail to understand, go to detect field condition, monitoring of environmental condition, process the high-risk event, can avoid operating personnel be directly exposed to poisonous, have in the hazardous environments such as radiation, can greatly reduce casualties, improve guarantee power that rescue waits work enforcement, increase work efficiency.
Before the present utility model, present known environment monitoring device is immovable mostly, also namely can only fixed point monitoring the environmental parameter in certain place, can't complete that burst is on-the-spot, the environmental monitoring task of case of emergency.Chinese patent " a kind of environmental monitoring vehicle " (CN201110848) and " environmental monitoring vehicle " although (CN101387704) can the mobile monitoring ambient conditions, but monitoring car needs the mankind to drive, and is not suitable for completing the monitoring of environmental hazard zone or environment zone of ignorance.
Summary of the invention
The purpose of this utility model just is to overcome defects, develops a kind of wireless environment monitoring car.
The technical solution of the utility model is:
The wireless environment monitoring car, consisted of by host computer (7), monitoring car (16), be provided with various environmental parameter harvesters on monitoring car (16), left road motor drive module (14), right wing motor drive module (15) on monitoring car (16) connect respectively left side wheel, right side wheels, and its technical characteristics is that host computer (7) and monitoring car (16) are by communication module (1), communication module (2) wireless connections; Communication module (1), wireless receiving module (3) access respectively the USB mouth of host computer (7), communication module (2) access single-chip microcomputer (5) serial ports, wireless receiving module (3) receives the wireless video signal of wireless camera (4), and wireless camera (4), single-chip microcomputer (5) are arranged on monitoring car (16); Single-chip microcomputer (5) connects respectively infrared sensor (13), connects FPGA control module (6), and FPGA control module (6) connects respectively ultrasonic distance-measuring sensor (11), left road motor drive module (14), right wing motor drive module (15).
The utility model major advantage: (1) system can the mobile monitoring environmental parameter, is suitable for completing that burst is on-the-spot, the environmental monitoring of case of emergency; (2) system adopts the controlled in wireless scheme, can complete to be not suitable for hazardous location that the mankind enter or the environmental monitoring of situation zone of ignorance; (3) camera that is loaded with on monitoring car and ultrasound barrier module can precisely be controlled the travel direction of monitoring car, the target of travelling, the environmental parameter of Obtaining Accurate target location; (4) monitoring car has the function that automatic tracking travels, and can easily along the pre-determined route automatic running, complete every monitoring task.
Other advantages of the present utility model and effect will go on to say below.
Description of drawings
Fig. 1---the utility model systems solutions schematic diagram.
Fig. 2---the utility model hardware system schematic diagram.
In Fig. 1, each label represents that component names is as follows:
Communication module (1), communication module (2), wireless receiving module (3), wireless camera (4), single-chip microcomputer (5), FPGA control module (6), host computer (7), temperature sensor (8), humidity sensor (9), smoke transducer (10), ultrasonic distance-measuring sensor (11), cradle head control circuit (12), infrared sensor (13), left road motor drive module (14); Right wing motor drive module (15), monitoring car (16).
Embodiment
Basic ideas of the present utility model:
environmental monitoring cart system based on controlled in wireless, consisted of by host computer and monitoring car two large divisions, wherein monitoring car is loaded with camera, ultrasonic sensor and temperature, humidity, the environment parameter sensing devices such as smog, complete the video acquisition of field image fact, ultrasound barrier and temperature, humidity, the collection of the environmental parameters such as smog, host computer is equipped with monitoring software, live video image by the passback of wireless channel Real-Time Monitoring dolly, the ultrasonic radar image, accurate according to image fact or radar image, the travel direction of remote operated vehicle and travel speed neatly, or as required monitoring car is arranged to along both driving modes of fixed track Automatic Track Finding, simultaneously the parameters such as the temperature that gathers, humidity, smog are carried out Real-Time Monitoring and every statistical treatment.
The P2 mouth of single-chip microcomputer (5) connects No. 8 infrared sensors (13), and No. 8 infrared sensors (13) are arranged on the chassis of monitoring car (16) position between two front-wheels; P1.3, the P1.4 of single-chip microcomputer (5) connects cradle head control circuit (12) port; P4.4, P4.5, the P4.6 of single-chip microcomputer (5) connects the address coding signal of No. 8 ultrasonic sensors (11) in FPGA control module (6); The PO mouth of single-chip microcomputer (5) connects the ultrasonic ranging data in FPGA control module (6); The P1.7 of single-chip microcomputer (5), P4.7 mouth provide the forward and backward control signal of arranged on left and right sides wheel, 2 I/O mouths of access FPGA control module (6); P3.2～the P3.4 of single-chip microcomputer (5) and P3.5～P3.7 mouth provides the parameter select signal of the PWM ripple of arranged on left and right sides wheel, connects respectively 6 I/O mouths of FPGA control module (6).
The below makes a concrete analysis of as shown in Figure 1:
Left road motor drive module (14), the right wing motor drive module (15) of monitoring car (15) drive respectively left side wheel and right side wheels, the dutycycle that is added to the PWM ripple of two-way motor drive module by adjustment can be controlled the vehicle wheel rotational speed of monitoring car (16), can control the travel direction of monitoring car (16) by the speed discrepancy of adjusting left side wheel and right side wheels.The ware circuit of travel control and the environment measuring of monitoring car (16) mainly is comprised of single-chip microcomputer (5) and FPGA control module (6), and FPGA control module (6) is completed the left road motor drive module (14) to monitoring car (16), the control of right wing motor drive module (15) and the testing of 8 road ultrasonic distance measuring modules (11); Single-chip microcomputer (5) complete with the radio communication of host computer (7), the collection, tracking mode of collection, smoke transducer (10) of collection, humidity sensor (9) of monitoring, temperature sensor (8) to FPGA control module (6) under detection, the control of camera cradle head control circuit (12), the detection of dolly electric weight and the work such as coordination control of whole system of infrared sensor (13).Be provided with various environmental parameter harvesters on monitoring car (16) and comprise temperature sensor (8), humidity sensor (9), smoke transducer (10).
The unmanned driving mode of monitoring car (16) has controlled in wireless and two kinds of driving modes of automatic tracking.
1, the controlled in wireless driving mode of monitoring car (16): the controlled in wireless driving mode refers to that monitoring car (16) receives the steering order of host computer (7) by wireless mode, adjust direction and the speed of travelling, be also that monitoring car (16) produces forward and backward control signal and the speed controling signal of left road motor drive module (14), right wing motor drive module (15) according to the steering order of host computer (7) in good time.process is as follows: host computer (7) sends the steering order of travel direction and travel speed to monitoring car (16) by communication module (1), communication module (2) on monitoring car (16) receives command information and gives single-chip microcomputer (5) by serial ports, and single-chip microcomputer (5) is converted to monitoring car (16) left side wheel with steering order, right side wheels just, parameter and speed control parameter are controlled in counter-rotating, respectively by P1.7 and P4.7 mouth with left side wheel, the rotating of right side wheels is controlled parameter and is given FPGA control module (6), with left side wheel, 8 kinds of speed control parameter of right side wheels are given FPGA control module (6) by three ports of P3.2～P3.4 and three ports of P3.5～P3.7 respectively, and FPGA control module (6) is with left side wheel, right side wheels just, the counter-rotating parameter just is being converted to two-way, the counter-rotating steering logic is given left road motor drive module (14), the M1 of right wing motor drive module (15) and M2 mouth are simultaneously according to P3.2～P3.4 and left side wheel that P3.5～the P3.7 mouth is sent here, 8 kinds of speed control parameter of right side wheels produce respectively 8 kinds of adjustable PWM ripples of two-way dutycycle, and are sent to left road motor drive module (14), the E1 of right wing motor drive module (15) and E2 port, left road motor drive module (14), right wing motor drive module (15) will be controlled the M1 of left side wheel, the M2 of E1 logical signal and control right side wheels, the E2 logical signal is converted to power signal and drives left side wheel, right side wheels is rotated, and controls flexibly travel speed and the travel direction of monitoring car (16), left side wheel, right side wheels is just respectively having, anti-16 kinds of running speeds.When left side wheel, when right side wheels speed is consistent, monitoring car (16) is kept straight on (advance, retreat), and when left side wheel, when right side wheels speed is inconsistent, monitoring car (16) can be completed the Turning travel of various angles.
8 I/O mouths of FPGA control module (6) are external No. 8 ultrasonic sensors (11) respectively, 8 directions of real-time inspection monitoring car (16) and the distance of peripheral obstacle, the P4.4 of single-chip microcomputer (5) by joining with FPGA control module (6), P4.5, the P4.6 mouth reads the address coding signal of No. 8 ultrasonic sensors (11), read the ranging parameters of the ultrasonic sensor of appropriate address numbering by the PO mouth, when the distance of peripheral obstacle during less than warning value, the speed control parameter that single-chip microcomputer (5) is exported to FPGA control module (6) is adjusted into and stops parameter, monitoring car (16) stops voluntarily, and send alarm prompt, wait for that host computer (7) resends driving instruction, single-chip microcomputer (5) sends to host computer (7) with the ultrasonic ranging parameter by communication module (2) simultaneously, by the synthetic ultrasonic distance measuring radar image of upper computer software.Ultrasonic distance measuring radar image and can be controlled travelling of monitoring car (16) for host computer (7) by the real-time video image that wireless camera (4) is passed to host computer (7) foundation accurately is provided.
2, the automatic tracking driving mode of monitoring car (16): the automatic tracking driving mode refers to that manual intervention that monitoring car (16) need not host computer just can be along both patterns of fixed track automatic running, is that with the difference of aforesaid controlled in wireless driving mode monitoring car (16) produces forward and backward and the speed controling signal of wheel according to the detection signal of infrared sensor.principle is as follows: after host computer (7) sends the tracking steering order by communication module to monitoring car (16), single-chip microcomputer (5) calls the infrared sensor subroutine, begin to detect external No. 8 infrared sensors (13) of P2 mouth, infrared sensor (13) is arranged between two front-wheels on monitoring car (16) chassis, ground can be offered single-chip microcomputer (5) from the different light contrast signal of the black trace that sets in advance, single-chip microcomputer (5) is according to the deviation of 8 road light contrast signal judgement monitoring cars (16) with black trace, and calculate and adjust monitoring car (16) left side wheel, right side wheels just, parameter and speed control parameter are controlled in counter-rotating, FPGA control module (6) produces respectively left side wheel according to these parameters, right side wheels just, the PWM ripple of reverse logic signal and control rate, output to left road motor drive module (14), right wing motor drive module (15), thereby adjust travel speed and the direction of monitoring car (16), all the time riding to realize monitoring car (16) function that predefined black trace Automatic Track Finding travels.
Host computer (7) is in (controlled in wireless driving mode, the automatic tracking driving mode) process of travelling of monitoring car (15), can real-time monitored monitoring car (15) video image of collection site of passback, receive simultaneously the environmental parameters such as temperature, humidity, smog of monitoring car (15) passback, and to every environmental parameter show, statistics, preservation, warning value alarm etc., complete the work in every of environmental monitoring.
The hardware configuration of wireless environment monitoring car is as shown in Figure 2:
The model of single-chip microcomputer (5) is STC12C5A60S2, and the model of FPGA control module (6) is EP1k100.
The single-chip microcomputer (5) of monitoring car (16) hardware system, its serial ports RxD2/P1.2 and TxD2/P1.3 connect letter module (2), and P1.1, P1.5, P1.6 mouth connect respectively smoke transducer (10), temperature sensor (8), humidity sensor (9).P1.3, P1.4 connects the cradle head control circuit (12) of camera, the P2 mouth connects No. 8 infrared sensors (13), P4.4, P4.5, P4.6 connects the address coding signal of No. 8 ultrasonic sensors (11) of FPGA control module (6), the PO mouth connects the ultrasonic ranging data of FPGA control module (6), P1.7, the P4.7 mouth connects FPGA control module (6) so that left road motor drive module (14) to be provided, right wing motor drive module (15) just, reverse control signal, P3.2～P3.4 and P3.5～P3.7 mouth connects FPGA control module (6) so that left road motor drive module (14) to be provided, the PWM wave parameter of right wing motor drive module (15) is selected signal.The FPGA control module (6) of monitoring car (16) hardware system is selected EP1k100, abundant I/O mouth is arranged, except 19 I/O mouths adopt above-mentioned the connection with single-chip microcomputer (5), also have 8 I/O mouths to distinguish external No. 8 ultrasonic sensors (11), 4 I/O mouths are distinguished external left road motor drive module (14), right wing motor drive module (15).
The control function of single-chip microcomputer (5) is write by the C51 assembly language and is completed, and the control circuit of FPGA control module (6) is write by the VHDL hardware description language and completed.
The monitoring software of host computer (7) selects VisuaIStudio2008 as development platform, can complete the work such as serial communication, data demonstration, data query, drive and control of electric machine, camera cradle head control, video monitoring.
Claims (7)
1. wireless environment monitoring car, consisted of by host computer (7), monitoring car (16), be provided with various environmental parameter harvesters on monitoring car (16), left road motor drive module (14), right wing motor drive module (15) on monitoring car (16) connect respectively left side wheel, right side wheels, it is characterized in that host computer (7) and monitoring car (16) are by communication module (1), communication module (2) wireless connections; Communication module (1), wireless receiving module (3) access respectively the USB mouth of host computer (7), communication module (2) access single-chip microcomputer (5) serial ports, wireless receiving module (3) receives the wireless video signal of wireless camera (4), and wireless camera (4), single-chip microcomputer (5) are arranged on monitoring car (16); Single-chip microcomputer (5) connects respectively infrared sensor (13), connects FPGA control module (6), and FPGA control module (6) connects respectively ultrasonic distance-measuring sensor (11), left road motor drive module (14), right wing motor drive module (15).
2. wireless environment monitoring car according to claim 1, the P2 mouth that it is characterized in that single-chip microcomputer (5) connects No. 8 infrared sensors (13), and No. 8 infrared sensors (13) are arranged on the chassis of monitoring car (16) position between two front-wheels.
3. wireless environment monitoring car according to claim 1, is characterized in that P1.3, the P1.4 of single-chip microcomputer (5) connects cradle head control circuit (12) port.
4. wireless environment monitoring car according to claim 1, is characterized in that P4.4, P4.5, the P4.6 of single-chip microcomputer (5) connect the address coding signal of No. 8 ultrasonic sensors (11) in FPGA control module (6).
5. wireless environment monitoring car according to claim 1, the PO mouth that it is characterized in that single-chip microcomputer (5) connects the ultrasonic ranging data in FPGA control module (6).
6. wireless environment monitoring car according to claim 1, is characterized in that the P1.7 of single-chip microcomputer (5), the forward and backward control signal that the P4.7 mouth provides the arranged on left and right sides wheel, 2 I/O mouths of access FPGA control module (6).
7. wireless environment monitoring car according to claim 1, it is characterized in that the P3.2～P3.4 of single-chip microcomputer (5) and the parameter select signal that P3.5～P3.7 mouth provides the PWM ripple of arranged on left and right sides wheel, connect respectively 6 I/O mouths of FPGA control module (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220431451 CN202947759U (en) | 2012-08-24 | 2012-08-24 | Wireless environment monitoring vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220431451 CN202947759U (en) | 2012-08-24 | 2012-08-24 | Wireless environment monitoring vehicle |
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| CN202947759U true CN202947759U (en) | 2013-05-22 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103955213A (en) * | 2014-04-10 | 2014-07-30 | 中南林业科技大学 | Multifunctional intelligent probe vehicle based on WIFI |
| CN104385272A (en) * | 2014-09-23 | 2015-03-04 | 四川师范大学 | Multifunctional education robot system |
| CN106092206A (en) * | 2016-08-03 | 2016-11-09 | 安徽中涣防务装备技术股份有限公司 | A kind of road environment comprehensive monitoring car |
| CN106483907A (en) * | 2016-12-15 | 2017-03-08 | 西安科技大学 | Multifunctional environment gathers remote operated vehicle |
| CN107193281A (en) * | 2017-06-02 | 2017-09-22 | 吉林大学珠海学院 | A kind of intelligent vehicle-carried label A GV control systems and its control method |
| CN108225410A (en) * | 2017-11-27 | 2018-06-29 | 上海裕达实业有限公司 | Smart motion environmental parameter monitoring device and method |
| CN109407060A (en) * | 2017-08-18 | 2019-03-01 | 郑州宇通客车股份有限公司 | Radar Automatic Test System |
| CN109855683A (en) * | 2019-01-18 | 2019-06-07 | 西南石油大学 | Integrated form indoor environment monitoring system and monitoring method |
| CN111752283A (en) * | 2020-07-29 | 2020-10-09 | 上海海洋大学 | Thermal imaging body temperature monitoring, alarming and tracking trolley |
-
2012
- 2012-08-24 CN CN 201220431451 patent/CN202947759U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103955213A (en) * | 2014-04-10 | 2014-07-30 | 中南林业科技大学 | Multifunctional intelligent probe vehicle based on WIFI |
| CN104385272A (en) * | 2014-09-23 | 2015-03-04 | 四川师范大学 | Multifunctional education robot system |
| CN106092206A (en) * | 2016-08-03 | 2016-11-09 | 安徽中涣防务装备技术股份有限公司 | A kind of road environment comprehensive monitoring car |
| CN106092206B (en) * | 2016-08-03 | 2019-01-11 | 安徽中科中涣防务装备技术有限公司 | A kind of road environment comprehensive monitoring vehicle |
| CN106483907A (en) * | 2016-12-15 | 2017-03-08 | 西安科技大学 | Multifunctional environment gathers remote operated vehicle |
| CN107193281A (en) * | 2017-06-02 | 2017-09-22 | 吉林大学珠海学院 | A kind of intelligent vehicle-carried label A GV control systems and its control method |
| CN109407060A (en) * | 2017-08-18 | 2019-03-01 | 郑州宇通客车股份有限公司 | Radar Automatic Test System |
| CN108225410A (en) * | 2017-11-27 | 2018-06-29 | 上海裕达实业有限公司 | Smart motion environmental parameter monitoring device and method |
| CN109855683A (en) * | 2019-01-18 | 2019-06-07 | 西南石油大学 | Integrated form indoor environment monitoring system and monitoring method |
| CN111752283A (en) * | 2020-07-29 | 2020-10-09 | 上海海洋大学 | Thermal imaging body temperature monitoring, alarming and tracking trolley |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130522 Termination date: 20160824 |