CN206788649U - A kind of intelligent patrol detection device and intelligent inspection system based on two-wheel running platform - Google Patents

Abstract

The utility model discloses a kind of intelligent patrol detection device and intelligent inspection system based on two-wheel running platform, intelligent patrol detection device includes two-wheel running platform, detection module, control circuit and output module；Two-wheel running platform is by DC motor Driver；Detection module includes Temperature Humidity Sensor, Smoke Sensor, flame sensor, human body sensor, attitude transducer and imaging sensor；Control circuit includes main MCU and from MCU；Output module includes audible-visual annunciator and loudspeaker；Temperature Humidity Sensor, Smoke Sensor, flame sensor, human body sensor, audible-visual annunciator and loudspeaker are connected with from MCU；Attitude transducer and imaging sensor are connected with main MCU；The motor drive module for driving the direct current generator is also associated with from MCU；Main MCU is connected with from MCU by serial communication.The intelligent patrol detection device and intelligent inspection system intelligence degree based on two-wheel running platform are high, and integrated level is high.

Description

A kind of intelligent patrol detection device and intelligent inspection system based on two-wheel running platform

Technical field

It the utility model is related to a kind of intelligent patrol detection device and intelligent inspection system based on two-wheel running platform.

Background technology

Existing manual inspection mode efficiencies are low, and workload is big, and intelligence degree is low, in addition in some special warehouses, Such as warehouse of cold storage warehouse, the gas that has specific characteristics etc., under such circumstances on a patrol duty, the health of inspector is held Easily cause harm.Therefore,

In addition, there are following 2 kinds by the way of monitoring of tools：

(1) warehouse surrounding installation camera, ensures public security and is monitored in real time in Control Room, reach security purpose；

(2) ZigBee wireless radio frequency modules are placed in store interior, builds wireless sensor network, reach security purpose.

This control point position is fixed, and can cause more monitoring dead angle, very flexible.

Therefore, it is necessary to design a kind of new intelligent patrol detection device and intelligent inspection system.

Utility model content

Technical problem to be solved in the utility model is to provide a kind of intelligent patrol detection device based on two-wheel running platform And intelligent inspection system, intelligent patrol detection device and intelligent inspection system intelligence degree that should be based on two-wheel running platform be high, collection It is high into degree.

The technical solution of utility model is as follows：

A kind of intelligent patrol detection device based on two-wheel running platform, including two-wheel running platform, detection module, control

Circuit and output module processed；

Two-wheel running platform is by DC motor Driver；

Detection module includes Temperature Humidity Sensor, Smoke Sensor, flame sensor, human body sensor, posture and passed Sensor and imaging sensor；

Control circuit includes main MCU and from MCU；

Output module includes audible-visual annunciator and loudspeaker；

Temperature Humidity Sensor, Smoke Sensor, flame sensor, human body sensor, audible-visual annunciator and loudspeaker It is connected with from MCU；

Attitude transducer and imaging sensor are connected with main MCU；

The motor drive module for driving the direct current generator is also associated with from MCU；

Main MCU is connected with from MCU by serial communication；Main MCU uses STM32F407ZGT6 modules, is used from MCU STM32F103ZET6 modules.

Intelligent patrol detection device based on two-wheel running platform also includes the WiFi module being connected with main MCU.

Temperature Humidity Sensor uses DHT11 devices；

Smoke Sensor uses MQ-2 aerosol gases sensors；

Flame sensor uses far infrared flame sensor；

Human body sensor uses HC-SR501 devices；

Attitude transducer uses MPU-6050 devices；

Imaging sensor uses OV7670 modules；

Described motor drive module uses TB6612FNG DC motor driver parts；

WiFi module uses ESP8266 chips；

DFPlayer Min sounding modules are integrated with loudspeaker.

Smoke Sensor is connect from MCU by amplifying circuit；

Described amplifying circuit includes operational amplifier and adjustable resistance；

MQ-2 aerosol gases sensor is powered by VCC ends；VCC ends are direct current 5V power ends；

MQ-2 aerosol gases sensor output is grounded through first resistor (R2)；MQ-2 aerosol gases sensor output is also Connect the reverse input end of operational amplifier；VCC ends are grounded through adjustable resistance (Rp)；Adjustable resistance slip output end (adjustable end, Or be partial pressure end) connect the input in the same direction of operational amplifier；

The positive feeder ear and negative power-feed section of operational amplifier connect VCC ends and ground respectively；

Anode of the VCC ends through second resistance (R3) sending and receiving optical diode, the negative electrode of light emitting diode connect operational amplifier Output end；

The output end of operational amplifier terminates the A/D conversion ports from MCU as the signal output of smog sensing module.Fortune Calculate amplifier and use LM393, operating voltage is 5 volts of direct current.

A kind of intelligent inspection system, including control terminal, data high in the clouds, router and foregoing intelligent patrol detection device；

Intelligent patrol detection device is connected by the WiFi module carried with router communication；Router and control terminal access Communicated to connect into internet with data high in the clouds.

Control terminal is smart mobile phone, PC, notebook computer, tablet personal computer, and control terminal is as remote terminal access or remote Journey operation control terminal.

Router preferably uses wireless router.

Beneficial effect：

Intelligent patrol detection device and intelligent inspection system of the present utility model based on two-wheel running platform, there is following spy Point：

(1) can be small by PC or mobile terminal remote control in control room by WiFi module and server communication, security personnel Car is gone on patrol to each warehouse, while using the compact and flexible property of dolly, it is conveniently checked warehouse dead angle.

(2) camera module is carried on dolly, by WiFi module by the information transfer that camera captures to server, Even if security personnel not in warehouse, can also be seen situation in warehouse in real time by mobile phone, can also be checked by remote operated vehicle at that time Situation at camera dead angle.

(3) when found the abnormal situation, dolly starts sound and light alarm module, is simultaneously emitted by voice warning.

(4) it can automatically go on patrol, allow dolly to be gone on patrol automatically in warehouse, make the 24 hours safety in warehouse.

(5) signal transmission is carried out using ESP8266WiFi modules, overcomes that ZigBee communication distances are short, and through-wall performance is poor； RFID can only one-way transmission the shortcomings that.

(6) all data solve traditional wire safety-protection system and difficult wiring, cost height be present and deploy troops on garrison duty by being wirelessly transferred The shortcomings that inconvenience of withdrawing a garrison.

Most important meaning of the present utility model can exactly liberate labour, nonseptate for a long time to replace warehouse to work Personnel perform cumbersome, dangerous task.Intelligent repository keeper is applied to various types of warehouses, factory goes on patrol, matching management Member individually completes patrol mission.Due to products characteristics high temperature resistant, low temperature, radioresistance is low in energy consumption to work long hours, therefore Product is applied to the management work in the non-normal temperature warehouses such as cold storage warehouse, high temperature warehouse；And replace managing in some special occasions Employee makees, such as is used in core warehouse, paint stores and some warehouses for being hazardous to the human body object.It so both ensure that work Make the safety of personnel, while save large quantities of labours again for country, be advantageous to the faster and better development of country.In addition this is System also carries WiFi communication module, the letters such as the humiture information in the warehouse collected and image can be sent into high in the clouds, with Just user monitors warehouse by cell phone application.

The system forms an intelligence using intelligent balance car plus camera and WiFi module and multiple sensors module Can warehouse keeper, carry out warehouse patrol security work instead of original staff, and by WiFi communication by warehouse Real time information is sent to high in the clouds, and such staff's can is monitored management to warehouse by online, and a people can be simultaneously Multiple warehouses are managed, can not only increase operating efficiency, and no longer fetter the freedom of staff.The system is for structure It is divided into three parts, is intelligent balance car system, TCP data segment and high in the clouds data division respectively.

Had the advantage that using intelligent warehouse management system compared with traditional use administrative staff：

(1) can long-time non-stop run, can even be worked in various environment under special extreme condition, and milli Loss of emotion can be sayed, willingly be fearless of danger.

(2) warehouse information can be controlled in real time, it is flexibly compact to reach each dead angle in warehouse, it is entirely square according to programme path Position patrol warehouse, accomplishes not omit, and does not repeat to go on patrol.

(3) can network, main control end, high in the clouds, user terminal can be in communication with each other by network, carry out data transmission or under Up to order.One or more warehouse of staff's can remote management, realizes convenient and efficient management.

The system, as carrier, is characterized in two-wheel running, maintains car body balance not fall all the time, take up an area face using balance car Product is small, easily can shuttle in complicated landform, completely quick convenient, unrestricted.The tracking function of system Realization is to use camera tracking, and the tracking method has precision height, model compared to conventional infrared tracking or ultrasonic wave tracking Enclose the characteristics of wide, and tracking function can be also realized in the case where system high-speed is run.It is wirelessly transferred and uses ESP8266WIFI Module, by the use of the high in the clouds of quick-witted cloud as server, it can interconnect system and terminal remote, realize technology of Internet of things, completely Avoid the shortcomings that using NRF24L01 wireless module transmission ranges short.Last the system is using STM32F407ZGT6 as core Heart process chip, the chip feature is that high stability, high sexual valence, internal memory are big, suitable for the processing of complex data.

In a word, device and system of the present utility model, integrated level is high, can realize automatic detecting.

Brief description of the drawings

Fig. 1 is the general structure block diagram of intelligent inspection system；

Fig. 2 is Smoke Sensor and its driver circuit schematic diagram；

Fig. 3 is the schematic diagram of main control MCU (main MCU)；

Fig. 4 is the schematic diagram from MCU；

Fig. 5 is the Smoke Sensor schematic diagram in detection module；

Fig. 6 is the flame sensor schematic diagram in detection module；

Fig. 7 is the human body sensor schematic diagram in detection module；

Fig. 8 is the Temperature Humidity Sensor schematic diagram in detection module；

Fig. 9 is the WiFi communication module principle figure in detection module；

Figure 10 is the attitude detection module principle figure in detection module；

Figure 11 is the camera module schematic diagram in detection module；

Figure 12 is loudspeaker module schematic diagram；

Figure 13 is external socket schematic diagram；

Figure 14 is motor drive module schematic diagram.

Embodiment

The utility model is described in further details below with reference to the drawings and specific embodiments：

Embodiment 1：Such as Fig. 1~4, the system installs MP3 modules, Temperature Humidity Sensor, ultrasonic wave on intelligent balance car The function that the realizations such as sensor, pyroelectric human body infrared sensor, Smoke Sensor, flame sensor, camera module need. The system core forms by main MCU-STM32F4 and from MCU-STM32F1, and each several part module is all connected.Two pieces of MCU of principal and subordinate Control system co-ordination, realizes the environmental information in warehouse number identification and collection warehouse, and the data message handled well is led to Cross WiFi communication module and be sent to high in the clouds, login cell phone application and obtain high in the clouds data while send control command.Whole system is divided into Three major parts：Intelligent balance car part, TCP data segment, high in the clouds data division.

Hop and high in the clouds technological maheup data communication network, the communication network have three equipment end, high in the clouds, client communications Port.

The utility model has been set up with intelligent balance car, camera, sensor technology, WiFi communication module, high in the clouds data Treatment technology is the intelligent repository keeper of core.Power of the intelligent balance car as system, it is responsible for patrol work.Camera master The image information being responsible for around acquisition system, so as to obtain warehouse number and walking path (for existing mature technology).It is arranged on It is various that various sensor assemblies in system are responsible for collection humiture information, smoke condition, burning things which may cause a fire disaster situation, Migrant women situation etc. Warehouse information.WiFi communication module is responsible for entering row data communication with high in the clouds.

System general description

The utility model is applied to the supervision and inspection in warehouse, using self-balancing trolley as carrier, using current main-stream The Golden Triangle communication technology (client, high in the clouds, product facility any two ends realize full-duplex communication), allows user to pass through movement End or PC on-line monitoring, control dolly, so as to ensure depot safety.Basis of the present utility model is built upon intelligent balance car Basis on, control panel is interconnected by wireless module and balance car, and balance car can be allowed to be performed in the case where keeping balancing The orders such as advance, retrogressing, steering.There are these bases can be to functional module is added above balance car, by adding MP3 moulds Block, Temperature Humidity Sensor, ultrasonic sensor, pyroelectric human body infrared sensor, Smoke Sensor, flame sensor, shooting Head module and ESP8266WIFI modules etc. can realize the function of needs.

Whole system has been divided into three major parts, and the stable operation of whole system, main MCU are controlled using master and slave two pieces of MCU The mainly processing of responsible data, the generation of timer, it is the core brain of whole system；Mainly it is responsible for the number of sensor from MCU According to collection, and the driving of each module, main MCU is coordinated to work.

(1) intelligent balance car part

Ultrasonic wave module, Temperature Humidity Sensor, pyroelectric human body infrared sensor, sound and light alarm module are used for ring around Border situation carries out data acquisition；WIFI module is used for communicating with terminal, the information that Real-time Feedback detects；MPU6050 postures are examined Module is surveyed, for detecting the inclination angle of balance car, gives angle feed-back to chip processing, it is existing mature technology specifically to handle, purpose It is to maintain dolly balance movement.

(2) TCP data segment

System is wirelessly transferred using ESP8266WIFI modules, can interconnect balance car and terminal remote, realize Internet of Things Network technology, it is entirely avoided using NRF24L01 wireless module transmission ranges it is short the shortcomings that.

(3) cloud server part

Field apparatus is accessed and controlled for control terminal.

Key problem in technology and the key technical indexes are as follows：

1. balanced basis part

Foundation employs MPU6050 sensors, and (MPU-6000 (6050) is the first axle motion process of conformability 6 in the whole world Component, compared to multicompartment scheme, the problem of combination gyroscope is between centers difference during accelerator is eliminated, reduces substantial amounts of bag Fill space.MPU-6000 (6050) incorporates 3 axle gyroscopes, 3 axle accelerators, and contains and can connect it by second I2C port Numerical digit motion process (the DMP of the accelerator of his label, magnetometric sensor or other sensors：Digital Motion Processor) hardware acceleration engine, data control balance cars of the MCU based on collection reach poised state.Specific control is existing Mature technology.

2. Temperature Humidity Sensor DHT11：This module is communicated using single bus data form with MCU.

3.mp3 modules：Additional SD card storage language message, MCU control mp3 by Serial Port Transmission order in mp3 modules Module, it is played the voice messaging stored in SD, reach the purpose of alarm.

4. human body infrared induction module：This module can be by detecting whether front region has personnel activity, output difference Level, MCU by detecting the height of level, reached with this judge dolly front region whether the purpose of someone.

5.WiFi modules：For with router communication.

The system innovative point

(1) compared with traditional four-wheel or tricycle, two-wheeled balance car is a kind of car for fully relying on electric power and starting.It is existing The car seen among the living either motorcycle that grows directly from seeds mostly is burning as power resources using fuel, and balance car is then It is not such, it is using electric power as power, more convenient and environmental protection.Secondly, two-wheeled balance car is small-sized super convenience car, The difference of this balance and common car maximum is that the compact of vehicle body, and user can be allowed easily to shuttle It is completely quick convenient among streets and lanes, it is unrestricted.In order to bear weight and reach certain speed, this project Middle balance car employs the deceleration direct-current motor of big torsion and the tire of model plane level, therefore dolly can adapt to some out-of-flatnesses Landform and the less slope of gradient.

(2) balance car is wirelessly transferred using ESP8266WIFI modules, can by the use of the high in the clouds of quick-witted cloud as server So that balance car and terminal remote interconnection, realize technology of Internet of things, it is entirely avoided use NRF24L01 wireless module transmission distances From it is short the shortcomings that.

The device is applicable various warehouses, factory's patrol, coordinates patroller or individually completes patrol mission.Because product is special Point high temperature resistant, low temperature, radioresistance is low in energy consumption to work long hours, therefore product is applied to cold storage warehouse, high temperature warehouse etc. very The management work in warm warehouse；And worked in some special occasions instead of patroller, such as in core warehouse, paint stores and one A little warehouses for being hazardous to the human body object use.

The hardware components of the system are described in detail below：

Control chip

Main control MCU (STM32F407ZGT6)

Main control module brief introduction：The design is as main control MCU, STM32F4 series using STM32F407ZGT6 family chips Based on high performance32 RISC cores, working frequency is up to 168MHz's.STM32F407ZG systems Row use high speed in-line memory, up to 1MB flash memories, up to 192KB SRAM, the backup SRAM, Yi Jiguang of most 4 bytes General enhancing I/O's is connected to two APB buses and peripheral hardware, two ahb bus and more ahb bus matrixes of one 32.

Main control module function：Main control chip is the core of system, mainly be responsible for data processing, timer timing, it is defeated Go out co-ordination between PWM, control modules, ensure the normal operation of system.The system uses STM32F407 minimum plates.

From MUC (STM32F103ZET6)

From control module brief introduction：The design uses Cortex-M3 to be used as the STM32F1 series enhancing cake cores of kernel from control MCU, Cortex-M3 are kernel based on ARMv7-M framework of the ARM companies in release in 2004, and Cortex-M3 is 32 Risc processor, working frequency 72MHz, internal high-speed memories (the up to flash memory of 128K bytes and the SRAM of 20K bytes), Abundant enhancing I/O ports and the peripheral hardware for being connected to two APB buses.The device of all models is all comprising the ADC of 2 12,3 Individual general 16 bit timing device and a PWM timer, also comprising standard and advanced communication interface：Up to 2 I2C and SPI, 3 Individual USART, USB and CAN.

From control functions of modules：Mainly it is responsible for the normal work of each sensor assembly from control chip, by sensor collection Data are sent to main control chip, assist main control chip control whole system operation.The system is minimum using STM32F103ZET6 Plate.

Camera module

Module brief introduction：OV7670 imaging sensors, operating voltage is low, small volume, there is provided at monolithic VGA cameras and image The institute for managing device is functional.By SCCB bus marcos, whole frame, sub-sampling, the various resolution ratio 8 for taking the modes such as window can be inputted Position image data.VGA images are up to 30 frames/second.User can control picture quality, data format and transmission side completely Formula.All image processing function processes, which include gamma curve, white balance, saturation degree, colourity etc., to be compiled by SCCB interfaces.

Functions of modules：Camera is responsible for image collecting function in the present system, and the warehouse number in warehouse is identified and gone Enter the tracking of route.

Motion process component (attitude transducer)

Module brief introduction：MPU-6050 is the first axle motion process component of conformability 6 in the whole world, compared to multicompartment scheme, is exempted from The problem of except the difference of combination gyroscope and accelerator time shaft, reduce substantial amounts of encapsulated space.It is integrated with 3 axle MEMS tops Spiral shell instrument, 3 axle mems accelerometers, and an expansible digital moving processor DMP (Digital Motion Processor), a third-party digital sensor, such as magnetometer can be connected with I2C interface.Can is led to after extension Cross its I2C or SPI interface exports the signal of 9 axles (SPI interface only can use in MPU-6000).MPU-6050 can also pass through Its I2C interface connects non-inertial digital sensor, such as pressure sensor.

Functions of modules：MPU-6050 is responsible for posture detection function, the acceleration of the axle of acquisition system three in the present system And angular speed, and data are subjected to attitude algorithm by IIC communications to main control chip.

Operation principle：MPU-6050 includes gyroscope and accelerometer is adopted to the angular speed and acceleration information of system respectively Collection, and communicated by IIC agreements with main control chip, the attitude data collected is sent into control terminal carries out attitude algorithm. Gyroscope and accelerometer have used the ADC of three 16 respectively in MPU-6050, and the analog quantity measured is converted into exportable Digital quantity.For the motion of accurate tracking quickly and at a slow speed, the measurement range of sensor is all that user is controllable, and gyroscope can It is ± 250, ± 500, ± 1000, ± 2000 °s/sec (dps) to survey scope, and it is ± 2, ± 4, ± 8 that accelerometer, which can survey scope, ± 16g.Specific resolve is existing mature technology.

It is by IIC interface communications between MPU-6050 and main control chip.

WiFi module

Module brief introduction：The WiFi module of the system is using the ESP8266 chips of Le Xin Information technologies company production, and it collects Into TCP/IP network protocol stacks, 32 low-power consumption MCU, 10 bit accuracy ADC, with HSPI, UART, PWM, I2C and I2S etc. Interface, ESP8266 are a WI-FI network solutions that is complete and establishing one's own system, conveniently realize that product interconnects.

Functions of modules：WiFi module is responsible for the data-transformation facility between system and high in the clouds in the present system, receives simultaneously User command from client end AP P.

WiFi module is communicated by UART serial ports with main control chip.

Motor drive module

Module brief introduction：The motor drive module of the system is TB6612FNG DC motor driver parts, and it has big electricity MOSFET-H bridge structures are flowed, two-channel circuit output, 2 motors can be driven simultaneously.TB6612FNG output highest 1A per passage Continuous Drive electric current,；4 kinds of motor control patterns：Forward/reverse/braking/stopping, PWM support frequency to be up to 100kHz, completely It is adapted to the requirement of the system.

Functions of modules：TB6612FNG is responsible for driving direct current generator function in the present system.

Operation principle：TB6612FNG main pin function：AIN1/AIN2, BIN1/BIN2, PWMA/PWMB are control Signal input part；A01/A02, B01/B02 are 2 tunnel motor control output ends；Main control chip is by changing the height of corresponding pin Automatic level control motor operates.

Smoke Sensor module

As shown in Fig. 2 module brief introduction：The system works as biography using MQ-2 aerosol gases sensor detection warehouse air ambient When fuel gas be present in sensor local environment, the electrical conductivity of sensor increases with the increase of combustable gas concentration in air. The change of electrical conductivity can be converted to the output signal corresponding with the gas concentration using simple circuit.MQ-2 gases pass Sensor to liquefied gas, propane, hydrogen high sensitivity, the detection to natural gas and other combustible vapors is also highly desirable.

Functions of modules：MQ-2 is responsible for detecting warehouse smog function in the present system.

Operation principle：Smoke Sensor output signal it is general fainter, it is necessary to it is amplified by front end circuit, Filtering, level adjustment, meet requirement of the single-chip microcomputer to input signal.Because system is powered using unipolarity, so using In-phase proportion amplifying circuit, it is possible to reduce hardware spending.

Flame sensor module

Module brief introduction：The system is existed using flame sensor module detection warehouse burning things which may cause a fire disaster when in sensor local environment During burning things which may cause a fire disaster, sensor assembly can send high level signal to main control chip.Flame sensor module has following characteristic：It can examine The light source of fire detecting flame or wavelength in 760 nanometers~1100 nanometer ranges, lighter test flame distance is 80cm, to flame Bigger, measuring distance is more remote；60 degree or so of detection angle is especially sensitive to flame spectrum；Sensitivity is adjustable；Comparator exports, Signal is clean, and waveform is good, and driving force is strong, more than 15mA.

Functions of modules：Flame sensor is responsible for detecting warehouse flame function in the present system,

Operation principle：It is red in 700 nanometers~1000 nanometer ranges that far infrared flame sensor can detect wavelength Outer light, in 880 nm, its sensitivity reaches maximum for detection angle 60, wherein infrared light wavelength.Far infrared flame is visited The strong and weak change of extraneous infrared light is converted into the change of electric current by head, and numerical value in the range of 0~255 is reflected as by A/D converters Change.Extraneous infrared light is stronger, and numerical value is smaller；Infrared light is weaker, and numerical value is bigger.

MP3 modules

Module brief introduction：The system using DFPlayer Min as sounding module, DFPlayer Mini be it is a compact and Cheap MP3 modules, can directly plug into loudspeaker.Module cooperated power supply battery, loudspeaker, button can individually make With can also be controlled by serial ports, module itself perfect integration MP3, WAV, WMA hard decoder.Pass through simple serial ports Instruction can be completed to play the music specified, and how play the functions such as music, without cumbersome bottom operation, user Just, it is reliable and stable.

Functions of modules：The modules of MP 3 are responsible for warehouse broadcast capability in the present system

Human body induction module

Module brief introduction：The system whether there is not clear personnel, HC- using human body induction module HC-SR501 detections warehouse SR501 is the automatic control module based on infrared technology, and using LHI778 probe designs, high sensitivity is highly reliable, ultralow Voltage operation mode, be widely used in all kinds of automatic sensing electric equipments, especially dry cell power supply automatically controls product.

Functions of modules：Human body induction module is responsible for warehouse anti-theft feature in the present system, when module has sensed a not person of good sense Member can give one alarm signal of main control end when warehouse occurs.

Operation principle：When human body moves in the induction range of module, the terminal " 1 " of module just exports high level delay Signal, the high level time delayed signal promote T1 base stage, because the output level of module is sufficient so that T1 saturation conductions, now " A " point is connected with power supply, so, warning circuit work sends alarm.

Temperature humidity sensor module

Module brief introduction：The system is using the temperature and humidity in DHT11 digital hygro sensors collection warehouse, DHT11 numbers Word Temperature Humidity Sensor is a humiture compound sensor containing the output of calibrated data signal.The numeral of its application specific Module acquisition technique and temperature and humidity sensing technology, it is ensured that product has high reliability and remarkable long-time stability.Sensing Device includes a resistance-type humidity sensing element and a NTC temperature element.Functions of modules：Born in the system temperature humidity sensor module Duty collection warehouse humiture function.

Claims (5)

1. a kind of intelligent patrol detection device based on two-wheel running platform, it is characterised in that including two-wheel running platform, detection mould Block, control circuit and output module；

Two-wheel running platform is by DC motor Driver；

Detection module includes Temperature Humidity Sensor, Smoke Sensor, flame sensor, human body sensor, attitude transducer And imaging sensor；

Control circuit includes main MCU and from MCU；

Output module includes audible-visual annunciator and loudspeaker；

Temperature Humidity Sensor, Smoke Sensor, flame sensor, human body sensor, audible-visual annunciator and loudspeaker with From MCU connections；

Attitude transducer and imaging sensor are connected with main MCU；

The motor drive module for driving the direct current generator is also associated with from MCU；

Main MCU is connected with from MCU by serial communication；Main MCU uses STM32F407ZGT6 modules, is used from MCU STM32F103ZET6 modules.

2. the intelligent patrol detection device according to claim 1 based on two-wheel running platform, it is characterised in that based on two wheel rows Walk the WiFi module that the intelligent patrol detection device of platform also includes being connected with main MCU.

3. the intelligent patrol detection device according to claim 2 based on two-wheel running platform, it is characterised in that temperature and humidity sensing Device uses DHT11 devices；

Smoke Sensor uses MQ-2 aerosol gases sensors；

Flame sensor uses far infrared flame sensor；

Human body sensor uses HC-SR501 devices；

Attitude transducer uses MPU-6050 devices；

Imaging sensor uses OV7670 modules；

Described motor drive module uses TB6612FNG DC motor driver parts；

WiFi module uses ESP8266 chips；

DFPlayer Min sounding modules are integrated with loudspeaker.

4. the intelligent patrol detection device according to claim 3 based on two-wheel running platform, it is characterised in that Smoke Sensor Connect by amplifying circuit from MCU；

Described amplifying circuit includes operational amplifier and adjustable resistance；

MQ-2 aerosol gases sensor is powered by VCC ends；VCC ends are direct current 5V power ends；

MQ-2 aerosol gases sensor output is grounded through first resistor (R2)；MQ-2 aerosol gases sensor output also connects fortune Calculate the reverse input end of amplifier；VCC ends are grounded through adjustable resistance (Rp)；The slip output termination operational amplifier of adjustable resistance Input in the same direction；

The positive feeder ear and negative power-feed section of operational amplifier connect VCC ends and ground respectively；

Anode of the VCC ends through second resistance (R3) sending and receiving optical diode, the negative electrode of light emitting diode connect the output of operational amplifier End；

The output end of operational amplifier terminates the A/D conversion ports from MCU as the signal output of smog sensing module.

5. a kind of intelligent inspection system, it is characterised in that any including control terminal, data high in the clouds, router and claim 2-4 Intelligent patrol detection device described in；

Intelligent patrol detection device is connected by the WiFi module carried with router communication；Router and control terminal are linked into interconnection Communicated to connect in net with data high in the clouds.