CN212756925U

CN212756925U - Control circuit of intelligent fire engine

Info

Publication number: CN212756925U
Application number: CN201922241831.9U
Authority: CN
Inventors: 缪文南; 方粤云; 林朝志; 龚琪峰
Original assignee: Guangzhou College of South China University of Technology
Current assignee: Guangzhou College of South China University of Technology
Priority date: 2019-12-15
Filing date: 2019-12-15
Publication date: 2021-03-23
Anticipated expiration: 2029-12-15

Abstract

The utility model discloses a control circuit of an intelligent fire engine, belonging to the technical field of control circuits, comprising a singlechip, a voice recognition module, an image recognition module, a motor driving module and a power supply module, the singlechip is connected with the voice recognition module through a lead, the OSC _ IN and OSC _ OUT wiring terminals of the singlechip are connected with the first crystal oscillator circuit, the intelligent vehicle of the utility model is added with the image recognition module and the voice control module, thereby achieving the effect of adding vision and hearing to the intelligent vehicle, the system can realize the functions of remotely monitoring the fire scene and commanding the fire extinguishing trolley to deal with the disaster in real time, can send commands to the intelligent fire extinguishing trolley only by using the system compared with remote control, does not need to be controlled in real time, greatly improves the reliability, the high-risk occupations of the firefighters can be replaced by the robot in the future, and the sacrifice of the firefighters is greatly reduced.

Description

Control circuit of intelligent fire engine

Technical Field

The utility model relates to a control circuit especially relates to a control circuit of intelligence fire engine, belongs to control circuit technical field.

Background

The fire truck, also called as a fire truck, is a vehicle designed and manufactured according to requirements, is suitable for firefighters to take and equip various fire-fighting equipment or fire extinguishing agents, is used for fire extinguishing, auxiliary fire extinguishing or fire rescue by fire-fighting troops, can be used for other emergency rescue purposes by most national fire departments including China, and can convey the firefighters to disaster sites and provide various tools for the firefighters to carry out disaster relief tasks.

Modern fire engine can be equipped with steel ladder usually, the squirt, portable fire extinguisher, self-sustaining respirator, protective clothing, the broken instrument of tearing open, equipment such as emergency tool, the part still can carry on large-scale fire extinguishing apparatus such as water tank, water pump, foam extinguishing device, the fire engine outward appearance in most areas is red, but also have the fire engine outward appearance in part areas to be yellow, part special type fire engine is also so, fire engine roof portion is equipped with alarm clock alarm whistle, warning lamp and flashing light usually, common fire engine kind includes water tank fire engine, foam fire engine, pumping fire engine, the platform fire engine of ascending a height, aerial ladder fire engine etc..

At present, we often listen to the incident that the fire fighter is injured or even sacrifices, for this the intelligent fire engine of a large number of types appears on the market and cooperates with the fire fighter to reduce its injured risk, and the intelligent fire engine on the market is single in function, current fire engine generally carries out the definite and the operation control of putting out a fire of scene fire source position through the manual work, can not realize automated operation completely, manual operation makes the fire engine react slowly simultaneously, and it is comprehensive inadequately to fire fighter's protection, for this design the control circuit of intelligent fire engine for more comprehensive multi-functional, the fire engine of intelligence provides the hardware basis.

Disclosure of Invention

The utility model mainly aims at providing a control circuit of intelligence fire engine can realize the operation of speech control fire engine, and circuit structure is simple, and can independently confirm the operation of putting out a fire of source of a fire place position.

The purpose of the utility model can be achieved by adopting the following technical scheme:

a control circuit of an intelligent fire truck comprises a single chip microcomputer, a voice recognition module, an image recognition module, a motor driving module and a power supply module, wherein the single chip microcomputer is connected with the voice recognition module through a lead, OSC _ IN and OSC _ OUT terminals of the single chip microcomputer are connected with a first crystal oscillator circuit, a RESET terminal of the single chip microcomputer is connected with a RESET circuit, VREF + and VDDA terminals of the single chip microcomputer are connected with an analog power supply circuit, JTMS, JTCK, JTDI, JTDO and JNTRST terminals of the single chip microcomputer are connected with a JTAG interface circuit, PC14 and PC15 of the single chip microcomputer are connected with a second crystal oscillator circuit, PB5 and BOOTO terminals of the single chip microcomputer are connected with an expansion piece JP3, PA10 and PA9 terminals of the single chip microcomputer are connected with a data interface J1, an interface J1 is connected with the voice recognition module, PA11, PA12 and PB5 terminals of the single chip microcomputer are connected with a data interface J4, PA0 and PA1, the power supply system comprises a singlechip, a power supply module, a voice recognition module, an image recognition module, a motor driving module and a fan driving module, wherein the PF8 and PF9 wiring terminals of the singlechip are connected with the signal indicating circuit, the PA6 and PA7 of the singlechip are connected with the motor driving module, the PA11 and PA12 of the singlechip are externally connected with the image processing module, the PE2 and PE3 of the singlechip are connected with the fan driving module, the fan driving module is externally connected with a fan, and the singlechip;

the voice recognition module comprises an LD3320 chip, wherein 8, 33, 49, 17 and 24 of the LD3320 chip are all grounded, 7, 1 and 32 of the LD3320 chip are connected with a power VCC, 41 and 40 terminals of the LD3320 chip are respectively connected with terminals of a single chip PC10 and a PC11, 26 and 25 of the LD3320 chip and terminals of LD _ MICP, LD _ MICN, LD _ SPOP and LD _ SPON terminals of a terminal interface PO1, LD _ MICP and LD _ MICN of the terminal interface P01 are respectively connected with a microphone, and LD _ SPOP and LD _ SPON terminals are respectively connected with a loudspeaker;

the LINL and LINR terminals of the LD3320 chip are respectively connected with one end of a capacitor C61 and one end of a capacitor C62, the other ends of the capacitor C61 and the capacitor C62 are respectively connected with the terminals of LD _ LINL and LD _ LINR of an interface PO1, and the terminals of LD _ LINL and LD _ LINR of the interface PO1 are externally connected with an earphone; the MICP and the MICN of the LD3320 chip are connected with one end of capacitors C41 and C42, the other end of the capacitors C41 and C42 are respectively connected with the terminals of LD _ MICP and LD _ MICN of an interface PO1, the other end of the capacitor C41 is also connected with one end of a resistor R41, the other end of the resistor R41 is connected with the MBS terminal of the LD3320 chip, the other end of the resistor R41 is also connected with one end of a capacitor C43 and the anode of an electrode capacitor C44, the other end of the capacitor C43 and the other end of the electrode capacitor C44 are grounded, the other end of the capacitor C42 is connected with one end of a resistor R42, and the other end of the resistor R42 is grounded;

the voice recognition module is used for acquiring voice information, performing recognition operation on the voice information, playing a corresponding MP3 file after the recognition is successful, and simultaneously sending a voice control instruction to the single chip microcomputer;

the single chip microcomputer is used for sending an image acquisition instruction to the image recognition module after receiving the voice control instruction; meanwhile, sending a blower driving instruction to the blower driving module according to the flame area determined by the image recognition module and the voice control instruction; sending a motor driving instruction to the motor driving module according to the voice control instruction;

the image identification module is used for acquiring images according to an image acquisition instruction sent by the single chip microcomputer and identifying flame areas of the acquired images;

the motor driving module is used for driving the motor according to a motor driving instruction sent by the single chip microcomputer;

the fan driving module is used for controlling the fan according to a fan driving instruction sent by the single chip microcomputer to achieve fire extinguishing operation. In the embodiment, the JTAG module is used for burning programs of the single chip microcomputer, and the JTAG module, the analog power supply circuit and the reset circuit are conventional circuits.

Preferably, the fan driving module includes a U3 chip, the 2, 3 wiring ends of the U3 chip are connected with the PE2, PE3 wiring ends of the single chip microcomputer, the external 5V power supply of 4 wiring ends of the U3 chip, the 1 wiring end of the U3 chip is grounded and connected with one end of a resistor R4, the other end of the resistor R4 is connected with the 7 wiring end of the U3 chip, the 8 and 6 wiring ends of the U3 chip are connected with the fan, the 5 wiring end of the U3 chip is connected with one end of a capacitor C5 and the anode of an active capacitor E3, the other end of the capacitor C5 is grounded, the cathode of the active capacitor E3 is grounded, and the anode of the active capacitor E3 is also connected with the external 5V power supply.

Preferably, 43, 47, 48 of the LD3320 chip connect the power VCC through upper resistors R21, R22, R23 respectively, 31 terminals of the LD3320 chip connect 3 terminals of active crystal resonator X1, 2 terminals of active crystal resonator X1 are grounded, 4 terminals of active crystal resonator X1 connect the power VCC and 4 terminals also connect one end of capacitor C10, the other end of capacitor C10 is grounded, 19 and 23 terminals of the LD3320 chip connect one ends of capacitors C35, C36 and inductor L31, the other ends of capacitor C15 and capacitor C36 are grounded, the other end of inductor L31 connects one end of power VCC and capacitor C37, and the other end of capacitor C37 is grounded.

Preferably, the 29 connection end of the LD3320 chip is connected to the cathode of the led D1, the anode of the led D1 is connected to one end of a resistor R1, the other end of the resistor R1 is connected to the VCC, the VREF connection end of the LD3320 chip is connected to the anode of a pole capacitor C33 and one end of a capacitor C34, the cathode of the pole capacitor C33 and the other end of the capacitor C34 are grounded, the EQ1 connection end of the LD3320 chip is connected to one end of a capacitor C31, the other end of the capacitor C31 is connected to one end of a resistor R31, the other end of the resistor R31 is connected to one end of a resistor R32 and one end of a capacitor C32, the other end of the capacitor C32 and the other end of the resistor R32 are connected to the 22 connection end of the LD3320 chip, and the other end of the resistor R31 is connected to the 21 connection end.

Preferably, the motor driving module includes an a4950 chip,

terminals

2 and 3 of the a4950 chip are connected to terminals PA6 and PA7 of the single chip, a terminal 4 of the a4950 chip is externally connected to a 5V power supply, a terminal 1 of the a4950 chip is grounded and connected to one end of a resistor R1, the other end of the resistor R1 is connected to a terminal 7 of the a4950 chip,

terminals

8 and 6 of the a4950 chip are connected to the motor, a terminal 5 of the a4950 chip is connected to one end of a capacitor C2 and the anode of an active capacitor E1, the other end of the capacitor C2 is grounded, the cathode of the active capacitor E1 is grounded, and the anode of the active capacitor E1 is also externally connected to a 12V power supply.

Preferably, the power supply module comprises an LM256S voltage stabilizing module and an AMS1117-3.3 module, the LM256S voltage stabilizing module is externally connected with a 12V power supply, the 12 power supply is also connected to a 5 terminal of an A4950 chip, a1 terminal of the LM256S voltage stabilizing module is connected with the 12V power supply, a 2 terminal of the LM256S voltage stabilizing module is grounded, A4 terminal of the LM256S voltage stabilizing module outputs the 5V power supply, a 3 terminal of the LM256S voltage stabilizing module is grounded, a1 terminal of the AMS1117-3.3 module is connected with the 5V power supply, a 2 terminal of the AMS1117-3.3 module is grounded, A4 terminal of the AMS1117-3.3 module outputs the 3V power supply, and a 3 terminal of the AMS1117-3.3 module is grounded.

Preferably, the 5V power supply output by the LM256S voltage regulator module provides power for the single chip, the motor driver module, the image recognition module, and the voice module, and the 3.3V power supply of the AMS1117-3.3 module also provides power for the voice module.

The utility model has the advantages of:

the utility model provides a control circuit of intelligent fire truck, the image recognition module and the voice control module are added on the intelligent vehicle control, the effect of adding vision and hearing is achieved to the intelligent vehicle, the image recognition module is driven by the voice control instruction to acquire the position of the fire source, then the motor and the fan are controlled to move, the fire extinguishing operation is realized, the fire scene can be remotely monitored, and the function of dealing with the disaster situation of the fire extinguishing trolley is commanded in real time, compared with remote control, the system can only need to issue commands to the intelligent fire extinguishing trolley, real-time control is not needed, the position of the fire source is not needed to be determined, the position of the fire source is determined autonomously, the operation is convenient, and the singlechip is connected with the voice module and the image processing module, capacitors are arranged between the voice recognition module and the microphone and the earphone for filtering, the reliability of voice input and output is increased, the circuit structure is simple, the reliability is greatly improved, the high-risk occupations of firemen in the future can be replaced by the robot, and the sacrifice of the firemen is greatly reduced.

Drawings

Fig. 1 is a main control circuit diagram of a preferred embodiment of a control circuit of an intelligent fire fighting truck according to the present invention.

Fig. 2 is a circuit diagram of a fan driving module according to a preferred embodiment of the control circuit of the intelligent fire fighting truck.

Fig. 3 is a circuit diagram of the J1 and J4 interface circuits of a preferred embodiment of a control circuit of an intelligent fire engine according to the present invention.

Fig. 4 is a circuit diagram of a voice module according to a preferred embodiment of the control circuit of the intelligent fire fighting truck of the present invention.

Fig. 5 is a circuit diagram of a motor driving module according to a preferred embodiment of the control circuit of the intelligent fire fighting truck of the present invention.

Fig. 6 is a circuit diagram of a power module according to a preferred embodiment of the control circuit of the intelligent fire fighting truck.

Detailed Description

In order to make the technical solutions of the present invention clearer and clearer for those skilled in the art, the present invention will be described in further detail with reference to the following embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

As shown in fig. 1-6, the present embodiment provides a control circuit of an intelligent fire fighting truck,

the system comprises a single chip microcomputer, a voice recognition module, an image recognition module, a motor driving module and a power supply module, wherein the single chip microcomputer is connected with the voice recognition module through a lead, OSC _ IN and OSC _ OUT terminals of the single chip microcomputer are connected with a first crystal oscillator circuit, a RESET terminal of the single chip microcomputer is connected with a RESET circuit, VREF + and VDDA terminals of the single chip microcomputer are connected with a simulation power supply circuit, JTMS, JTCK, JTDI, JTDO and JNTRST terminals of the single chip microcomputer are connected with a JTAG interface circuit, PC14 and PC15 of the single chip microcomputer are connected with a second crystal oscillator circuit, PB2 and BOOTO terminals of the single chip microcomputer are connected with an expansion piece JP3, PA10 and PA9 terminals of the single chip microcomputer are connected with a data interface J1, an interface J1 is connected with the voice recognition module, PA11, PA12 and PB5 terminals of the single chip microcomputer are connected with a data interface J4, PA0 and PA1 of the, The PF9 wiring end is connected with a signal indicating circuit, a PA6 and a PA7 of the single chip microcomputer are connected with a motor driving module, a PA11 and a PA12 of the single chip microcomputer are externally connected with an image processing module, a PE2 and a PE3 of the single chip microcomputer are connected with a fan driving module, the fan driving module is externally connected with a fan, and the single chip microcomputer, the voice recognition module, the image recognition module, the motor driving module and the fan driving module are all connected with a power supply module; in this embodiment, the singlechip adopts STM32F103ZET6 model.

The voice recognition module comprises an LD3320 chip, wherein 8, 33, 49, 17 and 24 of the LD3320 chip are all grounded, 7, 1 and 32 of the LD3320 chip are connected with a power VCC, 41 and 40 terminals of the LD3320 chip are respectively connected with terminals of a single chip PC10 and a PC11, 26 and 25 of the LD3320 chip and terminals of LD _ MICP, LD _ MICN, LD _ SPOP and LD _ SPON of a wiring terminal interface PO1, LD _ MICP and LD _ MICN of an interface P01 are respectively connected with a microphone, and LD _ SPOP and LD _ SPON terminals are respectively connected with a loudspeaker;

the fan driving module is used for controlling the fan according to a fan driving instruction sent by the single chip microcomputer to achieve fire extinguishing operation.

In the circuit, the singlechip provides clock signals through the first crystal oscillator circuit and the second crystal oscillator circuit, then the reset circuit resets, then the analog power supply circuit provides 3.3V voltage, the voice recognition module is connected with the singlechip through an interface J1, the image processing module is connected with the singlechip through PA11 and PA12, a microphone of the voice recognition module receives voice information and then inputs the voice information into an LD3220 chip through P01 for recognition, the voice information is sent to a loudspeaker and an earphone for playing after recognition through an interface P01, meanwhile, the singlechip is connected with the singlechip through a wiring terminal to input corresponding voice signals, then the singlechip outputs an image acquisition instruction to the image recognition module, and sends a motor control instruction and a fan control instruction to the singlechip for controlling a fan and processing a motor when recognizing the corresponding flame position; in this embodiment, the image recognition module employs an OpenMV camera.

Fan drive module includes the U3 chip, the 2, 3 wiring ends of U3 chip with the PE2 of singlechip, PE3 wiring end are connected, the external 5V power of 4 wiring ends of U3 chip, the one end of 1 wiring end ground connection parallel resistance R4 of U3 chip, the 7 wiring end of another termination U3 chip of resistance R4, the 8 and 6 wiring end termination fan of U3 chip, the 5 wiring end termination electric capacity C5's of U3 chip one end and the positive pole of having pole electric capacity E3, the other end ground connection of electric capacity C5, the negative pole ground connection of having pole electric capacity E5, the positive pole of having pole electric capacity E5 still external 12V power. In the embodiment, the U3 chip adopts model A4950.

The 2 and 3 terminals of the fan driving module receive a fan control command sent by the single chip microcomputer, the fan control command is processed by the U3 chip and then control command signals are output to the fan through the 6 and 8 terminals for operation, and the 5 terminal carries out filtering processing on an input 5V power supply through the capacitors C5 and E3.

In this embodiment, 43, 47, 48 of the LD3320 chip are respectively connected to the power VCC through upper resistors R21, R22, R23, the terminal 31 of the LD3320 chip is connected to the terminal 3 of the active crystal oscillator X1, the terminal 2 of the active crystal oscillator X1 is grounded, the terminal 4 of the active crystal oscillator X1 is connected to the power VCC and the terminal 4 is further connected to one end of a capacitor C10, the other end of the capacitor C10 is grounded, the

terminals

19 and 23 of the LD3320 chip are connected to one ends of capacitors C35, C36 and an inductor L31, the other ends of the capacitor C15 and the capacitor C36 are grounded, the other end of the inductor L31 is connected to one end of the power VCC and one end of the capacitor C37, and the other end of the capacitor C37 is grounded.

In the above, the active crystal oscillator X1 provides a clock signal to the LD3320 chip, and then the terminals of the

chips

19 and 23 are externally connected with an input voltage, which is input after being filtered by a capacitor and an inductor through VCC, to ensure the accuracy of the input voltage,

the 29 termination of LD3320 chip emitting diode D1's cathode, emitting diode D1's positive pole termination resistance R1's one end, resistance R1's another termination power VCC, the VREF wiring termination of LD3320 chip has connected the positive pole of pole capacitance C33 and the one end of electric capacity C34, there are negative pole and the other end ground of electric capacity C34 of pole capacitance C33, the EQ1 wiring termination electric capacity C31's of LD3320 chip one end, the other termination resistance R31's of electric capacity C31 one end, the other termination resistance R32's of resistance R31 one end and the one end of electric capacity C32, the other end of electric capacity C32 and the other end of electric capacity R32 with the terminal 22 of LD3320 chip is connected, the other termination of resistance R31 the 21 terminal of LD3320 chip.

In this embodiment, the motor driving module includes an a4950 chip,

terminals

In the above, the

terminals

2 and 3 of the motor driving module receive the motor control command sent by the single chip, the control command signal is output to the motor through the

terminals

6 and 8 after being processed by the A4950 chip to carry out operations such as shutdown, speed regulation and the like, and the terminal 5 carries out filtering processing on the input 5V power supply through the capacitors C2 and E1.

In this implementation, the power module includes an LM256S regulator module and an AMS1117-3.3 module, the LM256S regulator module is externally connected to a 12V power supply, and the 12 power supply is further connected to a 5 terminal of an a4950 chip, a1 terminal of the LM256S regulator module is connected to the 12V power supply, a 2 terminal of the LM256S regulator module is grounded, A4 terminal of the LM256S regulator module outputs the 5V power supply, a 3 terminal of the LM256S regulator module is grounded, a1 terminal of the AMS1117-3.3 module is connected to the 5V power supply, a 2 terminal of the AMS1117-3.3 module is grounded, A4 terminal of the AMS1117-3.3 module outputs the 3V power supply, and a 3 terminal of the AMS1117-3.3 module is grounded.

In the above, 12V input is converted into 5V output by the voltage stabilizing module, and then 5V input is converted into 3.3V output by the AMS1117-3.3 module.

In this embodiment, the 5V power supply output by the LM256S voltage regulator module provides power for the single chip, the motor driver module, the image recognition module, and the voice module, and the 3.3V power supply of the AMS1117-3.3 module also provides power for the voice module.

The utility model discloses corresponding control method does: step 1: acquiring a voice signal and recognizing the voice signal;

step 2: playing the corresponding MP3 file after the identification is successful, and simultaneously sending a control instruction to the master control;

and step 3: judging a control instruction, and if the control instruction is a fire extinguishing instruction, receiving the control instruction by a master controller and sending a detection instruction to OpenMv;

and 4, step 4: starting OpenMv to search flames meeting the flame pixel threshold; determining the position of the flame and controlling the fire fighting truck to move towards the position of the flame;

and 5: in the moving process of the fire fighting truck, when flame pixels in the OpenMv visual field reach a first threshold value, starting a high-speed fan to extinguish fire; finishing the fire extinguishing operation; and if the flame pixel in the OpenMv field of view is smaller than a second threshold value, performing parking processing.

The voltage of 12.6V is provided by the lithium battery of the model airplane, the voltage is converted from 12.6V to 5V by the voltage stabilizing module LM2596S for the main control module, the voice recognition module and the image recognition module, and the voltage 5V is converted to 3.3V by the voltage stabilizing module AMS1117-3-3 to provide working voltage for the voice module.

In summary, the intelligent vehicle control is added with the image recognition module and the voice control module, so that the effect of adding vision and hearing to the intelligent vehicle is achieved, the image recognition module is driven by the voice control instruction to obtain the position of the fire source, then the motor and the fan are controlled to move, the fire extinguishing operation is realized, the functions of remotely monitoring the fire scene and commanding the fire extinguishing trolley to deal with the disaster in real time can be realized, compared with remote control, the system can only issue commands to the intelligent fire extinguishing trolley, real-time control is not needed, the position of the fire source is not needed to be determined, the position of the fire source is automatically determined, the operation is convenient, the singlechip is connected with the voice module and the image processing module, capacitors are arranged between the voice recognition module and the microphone and the earphone for filtering, the reliability of voice input and output is increased, and the circuit structure is simple, the reliability is greatly improved, the high-risk occupations of firemen in the future can be replaced by the robot, and the sacrifice of the firemen is greatly reduced.

The above description is only a further embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, and any person skilled in the art can replace or change the technical solution and the concept of the present invention within the scope of the present invention.

Claims

1. The utility model provides a control circuit of intelligence fire engine which characterized in that: the system comprises a single chip microcomputer, a voice recognition module, an image recognition module, a motor driving module and a power supply module, wherein the single chip microcomputer is connected with the voice recognition module through a lead, OSC _ IN and OSC _ OUT terminals of the single chip microcomputer are connected with a first crystal oscillator circuit, a RESET terminal of the single chip microcomputer is connected with a RESET circuit, VREF + and VDDA terminals of the single chip microcomputer are connected with a simulation power supply circuit, JTMS, JTCK, JTDI, JTDO and JNTRST terminals of the single chip microcomputer are connected with a JTAG interface circuit, PC14 and PC15 of the single chip microcomputer are connected with a second crystal oscillator circuit, PB2 and BOOTO terminals of the single chip microcomputer are connected with an expansion piece JP3, PA10 and PA9 terminals of the single chip microcomputer are connected with a data interface J1, an interface J1 is connected with the voice recognition module, PA11, PA12 and PB5 terminals of the single chip microcomputer are connected with a data interface J4, PA0 and PA1 of the, The PF9 wiring end is connected with a signal indicating circuit, a PA6 and a PA7 of the single chip microcomputer are connected with a motor driving module, a PA11 and a PA12 of the single chip microcomputer are externally connected with an image processing module, a PE2 and a PE3 of the single chip microcomputer are connected with a fan driving module, the fan driving module is externally connected with a fan, and the single chip microcomputer, the voice recognition module, the image recognition module, the motor driving module and the fan driving module are all connected with a power supply module;

2. The control circuit of the intelligent fire engine as claimed in claim 1, wherein: fan drive module includes the U3 chip, the 2, 3 wiring ends of U3 chip with the PE2 of singlechip, PE3 wiring end are connected, the external 5V power of 4 wiring ends of U3 chip, the one end of 1 wiring end ground connection parallel resistance R4 of U3 chip, the 7 wiring end of another termination U3 chip of resistance R4, the 8 and 6 wiring end termination fan of U3 chip, the 5 wiring end termination electric capacity C5's of U3 chip one end and the positive pole of having pole electric capacity E3, the other end ground connection of electric capacity C5, the negative pole ground connection of having pole electric capacity E3, the positive pole of having pole electric capacity E3 still external 5V power.

3. The control circuit of the intelligent fire engine as claimed in claim 1, wherein: 43, 47, 48 of LD3320 chip connect the power VCC through upper resistance R21, R22, R23 respectively, 31 termination of LD3320 chip has active crystal oscillator X1's 3 wiring end, active crystal oscillator X1's 2 wiring end ground, active crystal oscillator X1's 4 wiring end power VCC and 4 wiring end still connect the one end of electric capacity C10, electric capacity C10's other end ground, 19 and 23 termination electric capacity C35, C36 and inductor L31's one end of LD3320 chip, electric capacity C15 and electric capacity C36's other end ground, the other end power VCC of inductor L31 and the one end of electric capacity C37, the other end ground of electric capacity C37.

4. The control circuit of the intelligent fire engine as claimed in claim 1, wherein: the 29 termination of LD3320 chip emitting diode D1's cathode, emitting diode D1's positive pole termination resistance R1's one end, resistance R1's another termination power VCC, the VREF wiring termination of LD3320 chip has connected the positive pole of pole capacitance C33 and the one end of electric capacity C34, there are negative pole and the other end ground of electric capacity C34 of pole capacitance C33, the EQ1 wiring termination electric capacity C31's of LD3320 chip one end, the other termination resistance R31's of electric capacity C31 one end, the other termination resistance R32's of resistance R31 one end and the one end of electric capacity C32, the other end of electric capacity C32 and the other end of electric capacity R32 with the terminal 22 of LD3320 chip is connected, the other termination of resistance R31 the 21 terminal of LD3320 chip.

5. The control circuit of the intelligent fire engine as claimed in claim 1, wherein: the motor driving module comprises an A4950 chip, terminals 2 and 3 of the A4950 chip are connected with terminals PA6 and PA7 of the single chip microcomputer, a 5V power supply is externally connected to a terminal 4 of the A4950 chip, a terminal 1 of the A4950 chip is grounded and connected with one end of a resistor R1, the other end of the resistor R1 is connected with a terminal 7 of the A4950 chip, terminals 8 and 6 of the A4950 chip are connected with a motor, a terminal 5 of the A4950 chip is connected with one end of a capacitor C2 and the anode of an active capacitor E1, the other end of the capacitor C2 is grounded, the cathode of the active capacitor E1 is grounded, and the anode of the active capacitor E1 is also externally connected with a 12V power supply.

6. The control circuit of the intelligent fire engine as claimed in claim 1, wherein: the power supply module comprises an LM256S voltage stabilizing module and an AMS1117-3.3 module, wherein the LM256S voltage stabilizing module is externally connected with a 12V power supply, the 12 power supply is also connected to a 5 terminal of an A4950 chip, a1 terminal of the LM256S voltage stabilizing module is connected with the 12V power supply, a 2 terminal of the LM256S voltage stabilizing module is grounded, A4 terminal of the LM256S voltage stabilizing module outputs the 5V power supply, a 3 terminal of the LM256S voltage stabilizing module is grounded, a1 terminal of the AMS1117-3.3 module is connected with the 5V power supply, a 2 terminal of the AMS1117-3.3 module is grounded, A4 terminal of the AMS1117-3.3 module outputs the 3V power supply, and a 3 terminal of the AMS1117-3.3 module is grounded.

7. The control circuit of claim 6, wherein: the 5V power supply output by the LM256S voltage stabilizing module supplies power to the single chip microcomputer, the motor driving module, the image recognition module and the voice module, and the 3.3V power supply of the AMS1117-3.3 module also supplies power to the voice module.