CN210377091U - Intelligent inspection system - Google Patents

Abstract

The utility model provides an intelligence system of patrolling and examining, including camera, controller, ultrasonic probe circuit, label positioning circuit, wireless route, smog detection circuitry, sound collection circuit, temperature sensor, driving motor and brake motor, the controller is signal connection to ultrasonic probe circuit, temperature sensor, smog detection circuitry, camera, driving motor, brake motor, sound collection circuit and label positioning circuit respectively. Intelligence system of patrolling and examining, adopt wireless routing transmission control signal, can remote control commander dolly operation, also can artifical direct control dolly, dolly installation ultrasonic sensor can the automatic control switching-over operation, can regard as various monitored control system's carrier.

Description

Intelligent inspection system

Technical Field

The utility model belongs to the technical field of mining ann's type crossheading belt control, especially, relate to an intelligence system of patrolling and examining.

Background

At present, the coal that the colliery was produced in the pit mostly adopts the belt feeder to transport to the well, because the coal mine production scale is very big, the volume that needs belt conveyor transportation coal is very big, present belt feeder operation's speed is very fast, the belt appears the belt easily in long-term operation and tears, hold in the palm the rod lock, trouble such as belt off tracking, present colliery is generally taken the manual work and is patrolled and examined, in case the belt feeder breaks down, the manual braking is shut down, because the general length of crossheading belt feeder is longer, the work load is very big in artifical whole journey patrolling and examining, it is very long to walk whole journey consuming time, requirement to workman's physical power is very high, consequently, an intelligence inspection.

Disclosure of Invention

In view of this, the utility model aims at providing an intelligence system of patrolling and examining to a high, use manpower sparingly, the detailed and high intelligence system of patrolling and examining of data of patrolling and examining of intelligent degree is provided.

In order to achieve the above purpose, the technical scheme of the utility model is realized like this:

the utility model provides an intelligence system of patrolling and examining, includes camera, controller, ultrasonic probe circuit, label positioning circuit, wireless route, smog detection circuitry, sound acquisition circuit, temperature sensor, driving motor and brake motor, and the controller is signal connection to ultrasonic probe circuit, temperature sensor, smog detection circuitry, camera, driving motor, brake motor, sound acquisition circuit and label positioning circuit respectively.

Further, the controller is a single chip microcomputer U1, and the model of the single chip microcomputer U1 is STM32F103 VE.

Further, the sound collection circuit comprises a sound sensor U2, the model of the sound sensor U2 is HC-SR04, a pin VCC of the sound sensor U2 is connected to a pin DGND through a capacitor C22, the capacitor C22 is connected in parallel with a capacitor C23, and a pin Echo of the sound sensor U2 is connected to a twenty-first pin of the singlechip U1.

Further, the smoke detection circuit comprises a smoke sensor U3, the smoke sensor U3 is MAX30105 in model number, a pin INT of the smoke sensor U3 is connected to a ninety-first pin of the single chip microcomputer U1, a pin SDA is connected to a ninety-sixth pin of the single chip microcomputer U1, a pin SCL is connected to a ninety-fifth pin of the single chip microcomputer U1, a pin GND is connected to a pin D5V through a capacitor C19, and the capacitor C19 is connected with a capacitor C20 in parallel.

Further, the tag positioning circuit comprises an isolator U4 and an RFID module U5, the isolator U4 is of the type ADuM1201, the RFID module U5 is of the type RFID-RC522, a pin GND of the RFID module U5 is connected to a DGND, a pin RXD is connected to a sixth pin of the isolator U4 through a resistor R15, a pin TXD is connected to a seventh pin of the isolator U4 through a resistor R16, a pin VCC is connected to a power supply of F5V, a second pin of the isolator U4 is connected to a third pin of the isolator U4 through a resistor R19 and a resistor R18, a third pin of the isolator U4 is connected to a ninety second pin of the singlechip U1, and a second pin of the isolator U4 is connected to a ninety third pin of the singlechip U1.

Further, the temperature sensor is an infrared thermal imaging sensor, the type of the infrared thermal imaging sensor is FLIR80 × 60, and a pin SPI _ CS of the temperature sensor is connected to a ninety-th pin of the singlechip U1 through a resistor R6; the SPI _ MOSI is connected to an eighty-ninth pin of the singlechip U1 through a resistor R7; the SPI _ MISO is connected to an eighty-eight pin of the singlechip U1 through a resistor R8; the SPI _ CLK is connected to the eighty-seventh pin of the singlechip U1 through a resistor R9.

Further, the ultrasonic probe circuit comprises an ultrasonic transmitting circuit and an ultrasonic receiving circuit, the ultrasonic transmitting circuit comprises a common mode filter TP1 and a triode Q1, the model of the triode Q1 is 8050, the model of the common mode filter TP1 is L-WE-CNSW _1, a resistor R25 is connected between the first end and the third end of the common mode filter TP1, the first end and the third end both transmit signals to the outside, the sixth end of the common mode filter TP1 is respectively connected to an A5V power supply and is connected to DGND through a capacitor C26, the fourth end of the common mode filter TP1 is connected to the C pole of the triode Q1, the e pole of the triode Q1 is respectively connected to DGND and the b pole of the triode Q1 through a resistor R28, and the b pole of the triode Q1 is connected to the sixty-nine pin of the singlechip U1 through a resistor R27; the ultrasonic receiving circuit comprises a triode Q2, an operational amplifier U5A, an operational amplifier U5B, an operational amplifier U5C and an operational amplifier U5D, the operational amplifier U5A, the operational amplifier U5B, the operational amplifier U5C and the operational amplifier U5D are both OPA4277UA, the triode Q2 is 9013 in model, the negative input end of the operational amplifier U5A is connected to DGND through a capacitor C30, a resistor R33 and a resistor R40, the negative input end of the operational amplifier U5A is used for signal acquisition through a capacitor C A and a resistor R A, the positive input end of the operational amplifier U5A is connected to DGND through a capacitor C A, the positive input end of the operational amplifier U5A is connected to a 2.52V power supply, the 2.52V power supply is connected to ND through a resistor R A and to the A5A power supply, the 2.52V power supply is also connected to the positive input end of the operational amplifier U5U 72 and the positive input end of the operational amplifier U A, and the operational amplifier U A is connected to the positive input end of the operational amplifier U A, respectively, the output end of the operational amplifier U5A is connected to the negative input end of the operational amplifier U5B through a resistor R34 and a capacitor C31, the negative input end of the operational amplifier U5B is connected to the first end of a resistor R31, the second end of the resistor R31 is connected to the circuit between the resistor R34 and the capacitor C31 through a capacitor C29, the circuit between the resistor R34 and the capacitor C31 is connected to a 2.52V power supply through a resistor R39, the second end of the resistor R31 is connected to the output end of the operational amplifier U5B, the output end of the operational amplifier U5B is connected to the negative input end of the operational amplifier U5C through a resistor R35 and a capacitor C32, the negative input end of the operational amplifier U5C is connected to the output end thereof through a resistor R C, the output end of the operational amplifier U5C is connected to the positive input end of the operational amplifier U5C, the negative input end of the operational amplifier U5C is connected to a 1.75V power supply, and the 1.75V power supply is connected to the, the 1.75V power supply is connected to an A5V power supply through a resistor R41, the output end of an operational amplifier U5D is connected to the b pole of a triode Q2 through a resistor R37, the b pole of the triode Q2 is connected to DGND through a resistor R42, the e pole of the triode Q2 is connected to DGND, the c pole of the triode Q2 is connected to the A5V power supply through a resistor R32, and the c pole of the triode Q2 is connected to the sixteenth pin of the singlechip U1; the A5V power supply is connected to DGND through capacitor C28.

Furthermore, the model of the brake motor is L293DD, a pin ENABLA1 of the brake motor is connected to a sixty-sixth pin of the singlechip U1, and a pin INPUT1 is connected to a sixty-fourth pin of the singlechip U1; a pin INPUT2 of the brake motor is connected to a sixty-third pin of the single chip microcomputer U1; the pin ENABLA2 of the brake motor is connected to the sixty-five pin of the singlechip U1.

Furthermore, the type of the driving motor is A4931, a pin FG1 of the driving motor is connected to the thirty-second pin of the singlechip U1, a pin DIR of the driving motor is connected to the thirty-first pin of the singlechip U1, a pin ENABLE of the driving motor is connected to the thirty-third pin of the singlechip U1, and a pin BRAKEZ of the driving motor is connected to the twenty-ninth pin of the singlechip U1.

Furthermore, the loudspeaker also comprises a loudspeaker, a first wire of the loudspeaker is connected to a pin OUT + of an audio power amplifier U6 through an inductor L1, the type of the audio power amplifier U6 is HT863, a pin OUT-of the audio power amplifier U6 is connected to a second wire of the loudspeaker, and a pin IN + of the audio power amplifier U6 is connected to a fifth pin of the singlechip U1.

Compared with the prior art, intelligence system of patrolling and examining have following advantage:

(1) intelligence system of patrolling and examining, remove in mining light-duty track, have good motion performance, the installation is simple and convenient, low cost.

(2) Intelligence system of patrolling and examining, adopt this ampere of type structure, the dead weight is light, the operation is nimble freely, control is simple, the running cost is extremely low, it adopts the modularized design to patrol and examine the robot, the maintenance is simple, easy, the cost is low.

(3) Intelligence system of patrolling and examining, adopt motor drive friction pulley as the power supply, drive power can adjust by oneself according to actual conditions, advance to retreat the operation freely, power consumption is low, operating duration is long, load capacity is high, adopts wireless routing transmission control signal, can remote control commander dolly operation, also can artifical direct control dolly, dolly installation ultrasonic sensor can the automatic control switching-over operation, can regard as various monitored control system's carrier.

Drawings

The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:

fig. 1 is a control schematic block diagram according to an embodiment of the present invention;

fig. 2 is a circuit diagram of a controller according to an embodiment of the present invention;

fig. 3 is a first circuit diagram of a sound collection circuit according to an embodiment of the present invention;

fig. 4 is a second circuit diagram of a sound collection circuit according to an embodiment of the present invention;

fig. 5 is a first circuit diagram of a smoke detection circuit according to an embodiment of the present invention;

fig. 6 is a second circuit diagram of the smoke detection circuit according to the embodiment of the present invention;

fig. 7 is a first circuit diagram of a tag positioning circuit according to an embodiment of the present invention;

fig. 8 is a second circuit diagram of a tag positioning circuit according to an embodiment of the present invention;

fig. 9 is an ultrasonic transmitting circuit according to an embodiment of the present invention;

fig. 10 is an auxiliary circuit of an ultrasonic probe circuit according to an embodiment of the present invention;

fig. 11 is an ultrasonic receiving circuit according to an embodiment of the present invention;

fig. 12 is a brake motor circuit according to an embodiment of the present invention;

fig. 13 is a driving motor circuit according to an embodiment of the present invention;

fig. 14 is a temperature acquisition circuit according to an embodiment of the present invention;

fig. 15 is a speaker circuit according to an embodiment of the present invention;

fig. 16 is an indicating lamp circuit according to an embodiment of the present invention.

Description of reference numerals:

Detailed Description

It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Noun interpretation

D3V3, representing a 3.3V power supply network;

F5V, representing a5V power supply network;

DGND represents digital ground.

An intelligent inspection system is disclosed, as shown in fig. 1 to 16, comprising a driving mechanism and a control box, wherein a camera is arranged at the bottom of the control box, a controller, an ultrasonic probe circuit, a label positioning circuit, a wireless route, a smoke detection circuit, a sound collection circuit and a temperature sensor are arranged in the control box, the controller is respectively connected with the ultrasonic probe circuit, the temperature sensor, the smoke detection circuit, the camera, the sound collection circuit and the label positioning circuit through signals, two probes of the ultrasonic probe circuit are respectively arranged at two ends of the control box, the driving mechanism is fixedly arranged above the control box and comprises a bearing support, a bearing bridge, a bearing, a friction wheel, a brake device and a driving motor, a plurality of bearing bearings are fixedly arranged on the bearing bridge, the bearing bearings are contacted with the inner side of the lower edge of a guide rail and bear the weight of a robot through the bearing bridge, one end of the bearing bridge is connected to, the other end of the inspection robot body is connected to the bearing support through a pressing device, so that the inspection robot body is prevented from falling from the guide rail, and safety guarantee is provided for a user; bearing support internally mounted friction pulley, driving motor and brake equipment, the equal signal connection of brake motor and driving motor among the brake equipment to the controller, friction pulley and heavy burden bearing contact with the lower level of guide rail respectively, the heavy burden bearing is located the both sides of friction pulley respectively, make heavy burden bearing and friction pulley form lever effect, driving motor passes through gear drive friction pulley and rotates, controller control brake equipment removes in the bearing support, make the friction pulley braking, closing device is connected with the friction pulley contact, a frictional force size for adjusting the friction pulley.

The emergency switch is installed at the bottom of the control box and electrically connected to the storage battery, when an emergency situation occurs, a worker can directly press the emergency switch to directly cut off a power supply, and therefore the inspection robot stops working. An pilot lamp is installed respectively at the both ends of control box, and pilot lamp electricity is connected to the battery, when patrolling and examining the robot work, and the light just opens, is favorable to the staff to discover to patrol and examine the position of robot, prevents simultaneously that the mistake from hitting the robot. The battery provides the power for patrolling and examining the robot, and the battery electricity is connected to the controller, and the battery is installed respectively in two battery boxes, and two battery boxes are all installed in the control box top, and are located actuating mechanism's both sides respectively for the overall structure symmetry of patrolling and examining the robot, and the atress is even. The length of control box equals the length sum of actuating mechanism's length and two battery casees, make full use of space for it is little to patrol and examine robot occupation space. The inspection robot is of a symmetrical structure, so that the inspection robot can reciprocate on the rail.

And a loudspeaker is arranged at the bottom of the control box, and the loudspeaker is connected to the controller through signals. And a wireless router is arranged in the control box, and the wireless router is connected with the controller and a remote monitoring center through signals. The controller transmits the acquired data to the monitoring center in real time through a wireless router, and can receive the instruction of the monitoring center, so that the inspection robot can be remotely controlled by the staff conveniently.

The friction wheel is installed inside the bearing support through the main shaft, the friction wheel is fixedly connected with the main shaft, the main shaft extends to the outside of the bearing support and then is fixedly installed on the driven wheel, the driving motor is fixedly connected to the driving wheel through the driving rod, the driving wheel is meshed with the driven wheel, when the driving motor receives a motion signal of the controller, the driving motor drives the driving wheel to rotate, and the driving wheel drives the driven wheel to further drive the friction wheel to rotate. The horizontal guide wheels are respectively arranged on the two sides of the bearing support, so that the robot can be ensured to smoothly rotate and go up and down a slope, and the guarantee is provided for ensuring the safe operation of the inspection robot. The brush is arranged at the front end of the bearing support and is positioned on one side of the horizontal guide wheel, so that the guide rail is effectively cleaned. The number of the load bearing is several, and the load bearing is respectively arranged at two sides of the load bearing bridge frame. The lever-type bridge structure not only provides a robot hoisting structure, effectively ensures that the whole load of the robot is uniformly distributed to each bearing, and provides pressure for the polyurethane friction wheel, thereby being a source of driving force.

Brake equipment includes brake motor, brake rubber, brake motor signal connection is prior art to controller motor and controller signal connection, give no longer consideration to once more, brake motor passes through connecting rod fixed connection to brake rubber, at normal operating condition, be equipped with the clearance between brake rubber and the friction pulley, inertia descends when the downhill path in order to prevent to patrol and examine the robot, when needing to slow down, controller control straight line brake motor drives brake rubber back-and-forth movement, brake rubber and the outer polyurethane rubber looks friction of friction pulley, make the friction pulley braking, independent brake equipment, can make and patrol and examine the robot and stop at any position and remove, the flexibility is stronger, effectively prevent to patrol and examine the robot inertia decline when the downhill path, brake motor is straight line brake motor. The bearing support is of a shell structure. The outer ring of the friction wheel is wrapped with a layer of polyurethane rubber.

The pressing device is assembled by interlocking the locking nut and the bolt, the locking nut is adjacent to the friction wheel, a gap is formed between the locking nut and the friction wheel, and the pressing force of the pressing device on the friction wheel is adjusted by adjusting the interlocking tightness of the bolt and the locking nut, so that the friction force of the friction wheel is adjusted, and the requirement that the friction force is large when the inspection robot ascends a slope is met.

The pressing device comprises a spring, a support frame and a nut, one end of the spring is adjacent to the friction wheel, a gap is formed between the spring and the friction wheel, the other end of the spring is connected to the support frame through a mounting nut, the pretightening force of the spring is adjusted through the position of the adjusting nut, and therefore the friction force of the friction wheel is adjusted.

The controller is a single chip microcomputer U1, and the model number of the single chip microcomputer U1 is STM32F103 VE.

The sound collection circuit comprises a sound sensor U2, the sound sensor U2 is installed on one side of the control box, the model of the sound sensor U2 is HC-SR04, a pin VCC of the sound sensor U2 is connected to a pin DGND through a capacitor C22, the capacitor C22 is connected with a capacitor C23 in parallel, and a pin Echo of the sound sensor U2 is connected to a twenty-first pin of the singlechip U1. The ambient sound is collected in real time using a sound sensor U2. The sound wave vibration is converted into the vibration of the sound sensor U2, the vibration of the sound sensor U2 generates the vibration of a voltage signal, and the voltage analog quantity signal is converted into a digital signal through AD acquisition in the sound sensor U2. And finally sent to the monitoring center through a wireless route.

The smoke detection circuit comprises a smoke sensor U3, the smoke sensor U3 is installed at the bottom of the control box, the model number of the smoke sensor U3 is MAX30105, a pin INT of the smoke sensor U3 is connected to a ninety-first pin of the single chip microcomputer U1, a pin SDA is connected to a ninety-sixth pin of the single chip microcomputer U1, a pin SCL is connected to a ninety-fifth pin of the single chip microcomputer U1, a pin GND is connected to a pin D5V through a capacitor C19, and a capacitor C19 is connected with a capacitor C20 in parallel. When no smoke exists, the infrared light emitted by the infrared light emitting tube cannot reach the receiving tube due to the action of the light shielding plate. Receiving diodeThe tube has no signal output. When smoke is generated, infrared light reaches the receiving diode due to the scattering effect of smoke particles on the light, so that a signal is generated. I for amplifying and outputting signals to a single chip microcomputer U1²The C communication port, the bidirectional data line SDA connects PB9, and the clock line SCL connects PB8 to collect data. The single chip microcomputer U1 collects the signal for processing. The smoke sensor adopts a shading sensor. The sensor is used for achieving the optimal collecting and alarming effect, and other types of sensors such as a gas-sensitive type sensor and the like are not excluded.

The tag positioning circuit comprises an isolator U4 and an RFID module U5, the isolator U4 is ADuM1201, the RFID module U5 is RFID-RC522, a pin GND of the RFID module U5 is connected to DGND, a pin RXD is connected to a sixth pin of the isolator U4 through a resistor R15, a pin TXD is connected to a seventh pin of the isolator U4 through a resistor R16, a pin VCC is connected to a F5V power supply, a second pin of the isolator U4 is connected to a third pin of the isolator U4 through a resistor R19 and a resistor R18, a third pin of the isolator U4 is connected to a ninety-two pin of the singlechip U1, and a second pin of the isolator U4 is connected to a ninety-three pin of the singlechip U1. A reader/writer for RFID card is installed in the control box 16. Because of the limitation of the reading distance of the RFID, the data in the card can be read only when the card is in the range. This range does not exceed about 60 mm. The RFID tag location uses 13.56MHz for higher accuracy. This is mainly used for positioning.

The ultrasonic probe circuit comprises an ultrasonic transmitting circuit and an ultrasonic receiving circuit, the ultrasonic transmitting circuit comprises a common mode filter TP1 and a triode Q1, the model of the triode Q1 is 8050, the model of the common mode filter TP1 is L-WE-CNSW _1, a resistor R25 is connected between the first end and the third end of the common mode filter TP1, the first end and the third end both transmit signals to the outside, the sixth end of the common mode filter TP1 is respectively connected to an A5V power supply and is connected to DGND through a capacitor C26, the fourth end of the common mode filter TP1 is connected to the C pole of a triode Q1, the e pole of the triode Q1 is respectively connected to DGND and is connected to the b pole of a triode Q1 through a resistor R28, and the b pole of the triode Q1 is connected to the sixty-nine pin of a singlechip U1 through a resistor; the ultrasonic receiving circuit comprises a triode Q2, an operational amplifier U5A, an operational amplifier U5B, an operational amplifier U5C and an operational amplifier U5D, the operational amplifier U5A, the operational amplifier U5B, the operational amplifier U5C and the operational amplifier U5D are both OPA4277UA, the triode Q2 is 9013 in model, the negative input end of the operational amplifier U5A is connected to DGND through a capacitor C30, a resistor R33 and a resistor R40, the negative input end of the operational amplifier U5A is used for signal acquisition through a capacitor C A and a resistor R A, the positive input end of the operational amplifier U5A is connected to DGND through a capacitor C A, the positive input end of the operational amplifier U5A is connected to a 2.52V power supply, the 2.52V power supply is connected to ND through a resistor R A and to the A5A power supply, the 2.52V power supply is also connected to the positive input end of the operational amplifier U5U 72 and the positive input end of the operational amplifier U A, and the operational amplifier U A is connected to the positive input end of the operational amplifier U A, respectively, the output end of the operational amplifier U5A is connected to the negative input end of the operational amplifier U5B through a resistor R34 and a capacitor C31, the negative input end of the operational amplifier U5B is connected to the first end of a resistor R31, the second end of the resistor R31 is connected to the circuit between the resistor R34 and the capacitor C31 through a capacitor C29, the circuit between the resistor R34 and the capacitor C31 is connected to a 2.52V power supply through a resistor R39, the second end of the resistor R31 is connected to the output end of the operational amplifier U5B, the output end of the operational amplifier U5B is connected to the negative input end of the operational amplifier U5C through a resistor R35 and a capacitor C32, the negative input end of the operational amplifier U5C is connected to the output end thereof through a resistor R C, the output end of the operational amplifier U5C is connected to the positive input end of the operational amplifier U5C, the negative input end of the operational amplifier U5C is connected to a 1.75V power supply, and the 1.75V power supply is connected to the, the 1.75V power supply is connected to an A5V power supply through a resistor R41, the output end of an operational amplifier U5D is connected to the b pole of a triode Q2 through a resistor R37, the b pole of the triode Q2 is connected to DGND through a resistor R42, the e pole of the triode Q2 is connected to DGND, the c pole of the triode Q2 is connected to the A5V power supply through a resistor R32, and the c pole of the triode Q2 is connected to the sixteenth pin of the singlechip U1; the A5V power supply is connected to DGND through capacitor C28. The ultrasonic probe circuit is an ultrasonic radar, and two ends of the inspection robot are respectively provided with an ultrasonic radar probe to detect whether an object exists in the walking direction. The ultrasonic radar transmitting end (the first end and the third end of a common mode filter TP1 in the ultrasonic transmitting circuit both transmit signals to the outside) sends an ultrasonic pulse group at fixed time, when a barrier exists in the front side, the barrier reflects the ultrasonic waves, and after a receiving end (in the ultrasonic receiving circuit, a negative input end of an operational amplifier U5A is used for collecting signals after passing through a capacitor C30 and a resistor R33) receives the ultrasonic pulse group, the signals are transmitted to a singlechip U1 in real time, and the singlechip U1 calculates the time interval between transmitting and receiving. And multiplying the used time by the sound velocity of the sound wave in the air, and dividing by 2 to obtain the distance between the obstacle and the inspection robot. Although the propagation speed of sound waves in air is related to the conditions of air such as density, dust, humidity, etc., the above-listed factors are negligible in the so-called cm-scale distance measurement. And when the obstacle is detected to exist in the set avoidance distance, the inspection robot stops in situ. Thereby achieving the function of avoiding obstacles. The ultrasonic probe circuit transmits detected data to the single chip microcomputer U1 in real time, the single chip microcomputer U1 calculates according to an internal set program and received data, the sound velocity of sound waves in the air is multiplied by the used time, the sound velocity is divided by 2 to obtain the distance between an obstacle and the inspection robot, when the calculated distance is larger than a set value, the single chip microcomputer U1 controls the inspection robot to continue to walk by controlling a walking motor, and when the calculated distance is smaller than the set value, the single chip microcomputer U1 controls the inspection robot to stop in place by controlling the walking motor, so that the function of avoiding the obstacle is achieved.

The model of the brake motor 8 is L293DD, a pin ENABLA1 of the brake motor is connected to a sixty-sixth pin of the singlechip U1, and a pin INPUT1 is connected to a sixty-fourth pin of the singlechip U1; a pin INPUT2 of the brake motor is connected to a sixty-third pin of the single chip microcomputer U1; the pin ENABLA2 of the brake motor is connected to the sixty-five pin of the singlechip U1.

The type of the driving motor 14 is A4931, a pin FG1 of the driving motor is connected to the thirty-second pin of the single chip microcomputer U1, and the single chip microcomputer U1 is enabled to measure the speed of the driving motor; a pin DIR of the driving motor is connected to a thirty-first pin of the single chip microcomputer U1, and the single chip microcomputer U1 controls the direction of the driving motor 14; the pin ENABLE of the driving motor is connected to the thirtieth pin of the singlechip U1, and the singlechip U1 regulates the speed of the driving motor; and a pin BRAKEZ of the driving motor is connected to a twenty-ninth pin of the single-chip microcomputer U1 and used for the single-chip microcomputer U1 to control braking of the driving motor. The driving motor 14 and the friction wheel 6 rotate simultaneously, and the friction wheel 6 rotates for 1 week through a reducer with a speed ratio of 36:1, namely, the driving motor 14 rotates for 36 weeks. The diameter of the friction wheel 6 is 60mm, and the circumference of the friction wheel 6 is 3.14 × 60-188.4 mm. Every time the driving motor 14 rotates one circle, the self-contained encoder on the driving motor 14 sends out three pulses. Namely, the inspection robot outputs 36 × 3-108 pulses on the shaft of the driving motor 14 every time the inspection robot walks 188.4 mm. And mounting a label on the track at each known distance for position calibration. Distance measurements are made between the two tags using an encoder carried by the drive motor 14. The position of the inspection unit on the track is calculated by positioning in the mode. The single chip microcomputer U1 controls the walking of the driving motor 14 into acceleration control, deceleration control, constant speed control and brake control. The speed control is to control the rotation speed of the driving motor by taking PWM as a speed control signal to the motor driving plate. Thereby controlling the traveling speed of the inspection robot on the track. The rotation speed of the driving motor is controlled by adjusting the duty ratio of the PWM. The higher the duty cycle, the lower the rotational speed of the drive motor. When the duty cycle reaches 100%. The driving motor stops rotating. And the acceleration, deceleration and brake control of the inspection robot are changed by changing the given duty ratio of the speed.

The storage battery is a conventional storage battery. The pilot lamps are respectively installed at two ends of the control box 16, one end of the pilot lamp LDE1 is connected to the fifty-first pin of the singlechip U1, and the other end is connected to the power supply D3V3 through a resistor R1.

The temperature sensor is an infrared thermal imaging sensor, the type of the temperature sensor is FLIR80 x 60, and a pin SPI _ CS of the temperature sensor is connected to a ninety-th pin of the singlechip U1 through a resistor R6; the SPI _ MOSI is connected to an eighty-ninth pin of the singlechip U1 through a resistor R7; the SPI _ MISO is connected to an eighty-eight pin of the singlechip U1 through a resistor R8; the SPI _ CLK is connected to an eighty-seventh pin of the singlechip U1 through a resistor R9; the infrared thermal imaging sensor can provide 80 x 60 pixel points per image. Each pixel point corresponds to a temperature value. The temperature resolution between each pixel can reach 0.05 °. The temperature collection range of each pixel point is-40-500 degrees, and the surface temperature of the object is collected through different infrared rays radiated by different temperatures. The surface temperature distribution of the measured object can be observed by looking at the presented image.

The first wire of the loudspeaker is connected to a pin OUT + of an audio power amplifier U6 through an inductor L1, the type of the audio power amplifier U6 is HT863, a pin OUT-of the audio power amplifier U6 is connected to the second wire of the loudspeaker, and a pin IN + of the audio power amplifier U6 is connected to a fifth pin of a singlechip U1. The camera is a CCD industrial camera. The RJ45 interface of the camera is directly connected to the network port of the wireless route, and the power supply of the wireless route is connected to the communication interface of the single chip microcomputer U1.

The working principle of the intelligent inspection system is as follows:

the camera, the smoke sensor, the sound acquisition circuit and the temperature sensor transmit acquired data information to the controller in real time, the controller transmits the data to the monitoring center in real time through a wireless route, the ultrasonic probe transmits the acquired information to the controller, the controller judges whether an accessory of the inspection robot has an obstacle or not according to an internally set program, when the controller judges that the obstacle is close to the inspection robot and the obstacle is within a safe distance, the controller controls the driving motor and the brake motor to act simultaneously, so that the inspection robot stops working, and when the controller judges that the obstacle is within a dangerous distance, the controller controls the driving motor to rotate reversely, so that the inspection robot moves to one side far away from the obstacle; the label positioning circuit performs data interaction with an externally arranged base station, transmits acquired data information to the controller in real time, and the controller judges the specific position of the inspection robot and transmits the position information to the monitoring center; when the monitoring center needs to communicate or broadcast to workers in a mine, workers in the monitoring center send related instructions through the controller, and the controller plays the related instructions through the loudspeaker, so that the workers can receive related information in time conveniently.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides an intelligence system of patrolling and examining which characterized in that: the intelligent control system comprises a camera, a controller, an ultrasonic probe circuit, a label positioning circuit, a wireless router, a smoke detection circuit, a sound acquisition circuit, a temperature sensor, a driving motor and a brake motor, wherein the controller is respectively connected to the ultrasonic probe circuit, the temperature sensor, the smoke detection circuit, the camera, the driving motor, the brake motor, the sound acquisition circuit and the label positioning circuit in a signal mode.

2. The intelligent inspection system according to claim 1, wherein: the controller is a single chip microcomputer U1, and the model number of the single chip microcomputer U1 is STM32F103 VE.

3. The intelligent inspection system according to claim 2, wherein: the sound collection circuit comprises a sound sensor U2, the model of the sound sensor U2 is HC-SR04, a pin VCC of the sound sensor U2 is connected to a pin DGND through a capacitor C22, a capacitor C22 is connected in parallel with a capacitor C23, and a pin Echo of the sound sensor U2 is connected to a twenty-first pin of a singlechip U1.

4. The intelligent inspection system according to claim 2, wherein: the smoke detection circuit comprises a smoke sensor U3, the smoke sensor U3 is MAX30105, a pin INT of the smoke sensor U3 is connected to a ninety-first pin of a single chip microcomputer U1, a pin SDA is connected to a ninety-sixth pin of the single chip microcomputer U1, a pin SCL is connected to a ninety-fifth pin of the single chip microcomputer U1, a pin GND is connected to a pin D5V through a capacitor C19, and the capacitor C19 is connected with a capacitor C20 in parallel.

5. The intelligent inspection system according to claim 2, wherein: the tag positioning circuit comprises an isolator U4 and an RFID module U5, the isolator U4 is ADuM1201, the RFID module U5 is RFID-RC522, a pin GND of the RFID module U5 is connected to DGND, a pin RXD is connected to a sixth pin of the isolator U4 through a resistor R15, a pin TXD is connected to a seventh pin of the isolator U4 through a resistor R16, a pin VCC is connected to a F5V power supply, a second pin of the isolator U4 is connected to a third pin of the isolator U4 through a resistor R19 and a resistor R18, a third pin of the isolator U4 is connected to a ninety-two pin of the singlechip U1, and a second pin of the isolator U4 is connected to a ninety-three pin of the singlechip U1.

6. The intelligent inspection system according to claim 2, wherein: the temperature sensor is an infrared thermal imaging sensor, the type of the temperature sensor is FLIR80 x 60, and a pin SPI _ CS of the temperature sensor is connected to a ninety-th pin of the singlechip U1 through a resistor R6; the SPI _ MOSI is connected to an eighty-ninth pin of the singlechip U1 through a resistor R7; the SPI _ MISO is connected to an eighty-eight pin of the singlechip U1 through a resistor R8; the SPI _ CLK is connected to the eighty-seventh pin of the singlechip U1 through a resistor R9.

7. The intelligent inspection system according to claim 2, wherein: the ultrasonic probe circuit comprises an ultrasonic transmitting circuit and an ultrasonic receiving circuit, the ultrasonic transmitting circuit comprises a common mode filter TP1 and a triode Q1, the model of the triode Q1 is 8050, the model of the common mode filter TP1 is L-WE-CNSW _1, a resistor R25 is connected between the first end and the third end of the common mode filter TP1, the first end and the third end both transmit signals to the outside, the sixth end of the common mode filter TP1 is respectively connected to an A5V power supply and is connected to DGND through a capacitor C26, the fourth end of the common mode filter TP1 is connected to the C pole of a triode Q1, the e pole of the triode Q1 is respectively connected to DGND and is connected to the b pole of a triode Q1 through a resistor R28, and the b pole of the triode Q1 is connected to the sixty-nine pin of a singlechip U1 through a resistor; the ultrasonic receiving circuit comprises a triode Q2, an operational amplifier U5A, an operational amplifier U5B, an operational amplifier U5C and an operational amplifier U5D, the operational amplifier U5A, the operational amplifier U5B, the operational amplifier U5C and the operational amplifier U5D are both OPA4277UA, the triode Q2 is 9013 in model, the negative input end of the operational amplifier U5A is connected to DGND through a capacitor C30, a resistor R33 and a resistor R40, the negative input end of the operational amplifier U5A is used for signal acquisition through a capacitor C A and a resistor R A, the positive input end of the operational amplifier U5A is connected to DGND through a capacitor C A, the positive input end of the operational amplifier U5A is connected to a 2.52V power supply, the 2.52V power supply is connected to ND through a resistor R A and to the A5A power supply, the 2.52V power supply is also connected to the positive input end of the operational amplifier U5U 72 and the positive input end of the operational amplifier U A, and the operational amplifier U A is connected to the positive input end of the operational amplifier U A, respectively, the output end of the operational amplifier U5A is connected to the negative input end of the operational amplifier U5B through a resistor R34 and a capacitor C31, the negative input end of the operational amplifier U5B is connected to the first end of a resistor R31, the second end of the resistor R31 is connected to the circuit between the resistor R34 and the capacitor C31 through a capacitor C29, the circuit between the resistor R34 and the capacitor C31 is connected to a 2.52V power supply through a resistor R39, the second end of the resistor R31 is connected to the output end of the operational amplifier U5B, the output end of the operational amplifier U5B is connected to the negative input end of the operational amplifier U5C through a resistor R35 and a capacitor C32, the negative input end of the operational amplifier U5C is connected to the output end thereof through a resistor R C, the output end of the operational amplifier U5C is connected to the positive input end of the operational amplifier U5C, the negative input end of the operational amplifier U5C is connected to a 1.75V power supply, and the 1.75V power supply is connected to the, the 1.75V power supply is connected to an A5V power supply through a resistor R41, the output end of an operational amplifier U5D is connected to the b pole of a triode Q2 through a resistor R37, the b pole of the triode Q2 is connected to DGND through a resistor R42, the e pole of the triode Q2 is connected to DGND, the c pole of the triode Q2 is connected to the A5V power supply through a resistor R32, and the c pole of the triode Q2 is connected to the sixteenth pin of the singlechip U1; the A5V power supply is connected to DGND through capacitor C28.

8. The intelligent inspection system according to claim 2, wherein: the model of the brake motor is L293DD, a pin ENABLA1 of the brake motor is connected to a sixty-sixth pin of the singlechip U1, and a pin INPUT1 is connected to a sixty-fourth pin of the singlechip U1; a pin INPUT2 of the brake motor is connected to a sixty-third pin of the single chip microcomputer U1; the pin ENABLA2 of the brake motor is connected to the sixty-five pin of the singlechip U1.

9. The intelligent inspection system according to claim 2, wherein: the type of the driving motor is A4931, a pin FG1 of the driving motor is connected to the thirty-second pin of the singlechip U1, a pin DIR of the driving motor is connected to the thirty-first pin of the singlechip U1, a pin ENABLE of the driving motor is connected to the thirty-third pin of the singlechip U1, and a pin BRAKEZ of the driving motor is connected to the twenty-ninth pin of the singlechip U1.

10. The intelligent inspection system according to claim 2, wherein: the loudspeaker further comprises a loudspeaker, a first wire of the loudspeaker is connected to a pin OUT + of an audio power amplifier U6 through an inductor L1, the type of the audio power amplifier U6 is HT863, a pin OUT-of the audio power amplifier U6 is connected to a second wire of the loudspeaker, and a pin IN + of the audio power amplifier U6 is connected to a fifth pin of the single chip microcomputer U1.

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