GB2621197A

GB2621197A - Pipeline endoscopic detection system

Info

Publication number: GB2621197A
Application number: GB2212981.1A
Authority: GB
Inventors: He Luyao; Zhang Yahan; Liu Bin; Liang Yusen; Lian Zheng; Yang Lijian; Ren Jian; Ma Haoning; Zhang Song; Liang Zheng; Zhang Linqi
Original assignee: Shenyang University of Technology
Current assignee: Shenyang University of Technology
Priority date: 2022-07-22
Filing date: 2022-09-06
Publication date: 2024-02-07
Also published as: GB202212981D0; CN115234748A

Abstract

A system comprising a host computer, and a robot comprising: a controller, an ultrasonic sensor, a camera, a camera adjustment module, and a motor; wherein the ultrasonic sensor is configured to: measure a distance between the robot and an obstacle and transmit the distance to the host computer via the controller; the host computer is configured to: determine a robot motion control signal according to the distance, determine a camera adjustment control signal, and transmit the robot motion and camera adjustment control signals to the controller; the controller is configured to: receive the control signals from the host computer, control a motion state and direction of the robot and camera adjustment module according to the control signals; and the camera is configured to: acquire images after camera adjustment module has been controlled and transmit the images to the host computer.

Description

Intellectual Property Office Application No G132212981 1 RTM Date:3 March 2023 The following terms are registered trade marks and should be read as such wherever they occur in this document: Arduino Lino Bluetooth ESP32-CAM Intellectual Property Office is an operating name of the Patent Office www.gov.uk/ipo

PIPELINE ENDOSCOPIC DETECTION SYSTEM

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of plastic pipeline detection, and in particular relates to a pipeline endoscopic detection system.

BACKGROUND ART

[0002] With the rapid development of global pipeline transportation industry, the use of pipelines has taken its place and has become an important part of urban life. If the defects inside the pipeline cannot be found and repaired in time, it will seriously affect the normal operation of the pipeline and even cause great property losses. Therefore, it is essential to perform periodic non-destructive testing of pipelines. At present, the more advanced and effective international detection means for pipeline condition detection is pipeline CCTV (Closed Circuit Television, closed circuit television) detection, such detection method is an integrated monitoring system that acquires pictures in the form of the CCTV and displays and records videos in the form of wired transmission. However, such detection method mainly relies on cables for communication, the equipment volume is huge, and the corresponding products on the market are also very expensive.

SUMMARY

[0003] An objective of the present disclosure is to provide a pipeline endoscopic detection system to achieve wireless endoscopic detection in a pipeline.

[0004] To achieve the objective, the present disclosure provides the following solutions: [0005] A pipeline endoscopic detection system comprises a host computer, an ESP32-CAM camera development board, a camera steering module, an Arduino UNO development board, an ultrasonic sensor, and a trolley.

[0006] The ESP32-CAM camera development board, the camera steering board and the ultrasonic sensor are all arranged at the front end of the trolley, the ESP32-CAM camera development board is arranged on the camera steering module; the Arduino UNO development board is arranged on the trolley.

[0007] A signal output end of the ultrasonic sensor is connected to an input end of the Arduino UNO development board, an output end of the Arduino UNO development board is in Bluetooth connection with the host computer; the ultrasonic sensor is configured to measure a distance between the trolley and an obstacle ahead and to transmit the distance to the host computer through the Arduino UNO development board.

[0008] The input end of the Arduino UNO development board is in Bluetooth connection with the host computer, the output end of the Arduino UNO development board is connected to a control end of a motion control system of the trolley; the host computer is configured to determine a trolley motion control signal according to the distance and to transmit the trolley motion control signal to the Arduino UNO development board; the Arduino UNO development board is configured to control a motion state and a motion direction of the trolley according to the trolley motion control signal.

[0009] A control end of the camera steering module is connected to the output end of the Arduino UNO development board. the Arduino UNO development board is further configured to receive a steering instruction output by the host computer, and to control the camera steering module according to the steering instruction, thereby adjusting a shooting angle of die ESP32-CAM camera development board.

[0010] The ESP32-CAM camera development board is in wireless connection with the host computer, and the ESP32-CAM camera development board is configured to acquire in-pipeline pictures after the shooting angle is adjusted, and then die pictures are displayed on the host computer.

[0011] In accordance with specific embodiments of the present disclosure, the present disclosure has the following technical effects: [0012] In accordance with a pipeline endoscopic detection system disclosed by the present disclosure, a host computer is in Bluetooth connection with an Arduino UNO development board, and is configured to control a motion state and a motion direction of a trolley and a shooting angle of an ESP32-CAM camera development board by the Arduino UNO development board. The ESP32-CAM camera development board is configured to acquire in-pipeline pictures and then to wirelessly transmit the pictures to the host computer for displaying, thus achieving the wireless endoscopic detection inside the pipeline.

BRIEF DESCRIPTION OF THE DRAWINGS

[0013] To describe the technical solutions in the embodiments of the present disclosure or in the prior art more clearly, the following briefly introduces the accompanying drawings required for describing the embodiments. Apparently, the accompanying drawings in the following description show merely some embodiments of the present disclosure, and a person of ordinary skill in the art may still derive other drawings from these accompanying drawings without creative efforts.

[0014] HG. 1 is a structure diagram of a pipeline endoscopic detection system in accordance with the present disclosure; [0015] FIG. 2 is a calling flow chart of a system calling main program module in accordance with the present disclosure; [0016] FIG. 3 is a flow chart of a wireless data transmission module in accordance with the present disclosure; [0017] FIG. 4 is a flow chart of a motion system control main program module in accordance with the present disclosure; [0018] FIG. 5 is a flow chart of a motor wheel control subroutine module in accordance with the present disclosure; [0019] HG. 6 is a flow chart of an ultrasonic ranging subroutine module in accordance with the present disclosure; [0020] HG. 7 is a flow chart of an APP program of a host computer in accordance with the present disclosure; [0021] FIG. 8 is a design flow chart of an APP of a host computer in accordance with

the present disclosure;

[0022] FIG. 9 is a diagram of a PWM speed control signal in accordance with the present disclosure; [0023] HG. 10 is a schematic circuit diagram of a master control chip of an ESP32-CAM development board in accordance with the present disclosure; [0024] FIG. 10 is a schematic circuit diagram of a Wi-Fi transmission part of an ESP32-CAM development board in accordance with the present disclosure; [0025] FIG. 11 is a circuit diagram of an ultrasonic sensor in accordance with the present di sclo sure; [0026] FIG. 13 is a circuit diagram of a HC-05 Bluetooth module in accordance with the present disclosure; [0027] FIG. 14 is a circuit diagram of an Arduino UNO development board in accordance with the present disclosure; [0028] FIG. IS is a diagram of test results of APP in accordance with the present disclosure; FIG. 15A is a diagram of a first test result of the APP; FIG. 15B is a diagram of a second test result of the APP; FIG. 15C is a diagram of a third test result of the APP; FIG. 15D is a diagram of a fourth test result of the APP.

DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] The following clearly and completely describes the technical solutions in the embodiments of the present disclosure with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are merely a part rather than all of the embodiments of the present disclosure. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the protection scope of the present disclosure.

[0030] To make the above objects, features and advantages of the present disclosure more obvious and understandable, the following further describes the present disclosure in detail with reference to the accompanying drawings and specific embodiments.

[0031] The embodiment of the present disclosure provides a pipeline endoscopic detection system. As shown in FIG. 1, the system comprises a host computer, an ESP32-CAM camera development board, a camera steering module, an Arduino UNO development board, an ultrasonic sensor, and a trolley. The ESP32-CAM camera development board, the camera steering module and the ultrasonic sensor are arranged at the front end of the trolley. The ESP32-CAM camera development board is fixed to the camera steering module, and the Arduino UNO development board is arranged on the main body of the trolley. The Arduino UNO development board is connected to the ultrasonic sensor, the host computer, the motion control system of the trolley, and the camera steering module. The ultrasonic sensor is configured to measure a distance between the trolley and an obstacle ahead. The host computer is configured to determine a trolley motion control signal according to the distance. The Arduino UNO development board is configured to control a motion state and a motion direction of the trolley according to the trolley motion control signal. The Arduino LINO development board is configured to receive a steering instruction output by the host computer and to control the camera steering module according to the steering instruction, thereby adjusting a shooting angle of the ESP32-CAM camera development board. The ESP32-CAM camera development board is in wireless connection with the host computer, and is configured to acquire in-pipeline pictures; and the pictures are displayed on the host computer.

[0032] The following will specifically introduce the connection relation and function of each structure in the pipeline endoscopic detection system.

[0033] (1) ESP32-CAM development board [0034] The ESP32-CAM development board comprises a system calling main program and a wireless data transmission module. As shown in FIG. 2, the system calling main program is configured to define a camera module, a development board module, and to-be-called calling functions. As shown in FIG. 3, the wireless data transmission subroutine is configured to set an English name and password of a to-be-communicated WiFL during picture transfer, the program needs to be set to split JPEG arrays received by the camera into a number of small arrays and to send the small arrays to a specified IP (Internet Protocol) or host computer port one by one. A static IP address of the ESP32-CAM needs to define an IP address and a gateway and a DNS (Domain Name server) corresponding to the IP address at the initial stage of the subroutine, and then the defined data needs to be allocated to the ESP32-CAM prior to WiFi connection. During the testing of the static IP, the checking is performed at a serial port monitor of Arduino IDE, and whether the WiFi is already in a connected state is checked after waiting for a few seconds, or an error of address not reachable may be promoted.

[0035] As shown in FIG. 10 and FIG. 11, the ESP32-CAM development board is powered by pins of 5V; the GPI033 is connected to a red LED indicating lamp in the board, and (he LED is configured to prompt whether the development board is successfully connected to the WiFi.

[0036] (2) Arduino UNO development board [0037] The Arduino UNO development board comprises a motion system control main program module, a motor wheel control subfunction module, and an ultrasonic ranging subroutine module.

[0038] Refer to FIG. 4, the motion system control main program module is configured to: define pins to be used by the Arduino UNO and an L298N motor driving module, set pin connection and other information in the main program so as to complete the starting of motors and steering gears, read data sent to a serial port by a Bluetooth module so as to complete Bluetooth connection, compile Loop of a steering gear pan tilt, and set corresponding output states for different values input by Bluetooth, as shown in FIG. 1. [0039] Table 1 Correspondence Table of Bluetooth Input Values and Output States [0040] Bluetooth input Output state value 0 Trolley moves forward 1 Trolley moves backward 2 Trolley turns left 3 Trolley turns right 4 Steering gear pan tilt turns rightwards for fifteen degrees Steering gear pan tilt turns leftwards for fifteen degrees 6 Steering gear pan tilt turns upwards for fifteen degrees 7 Steering gear pan tilt turns downwards for fifteen degrees 8 Trolley stops moving [0041] Refer to FIG. 5, the motor wheel control subfunctions are divided into a forward subfunction, a back subfunction, a turnLeft subfunction, a turnRight subfunction, a turn LeftOrigin subfunction and a turnRightOriginal subfunction, which are all called from analogWrite functions, the simulated PWM (pulse width modulation) square wave is output to the pins to drive the motors at different speeds, and the steering of the trolley is achieved by controlling the wheel speed. As shown in FIG. 9, the PWM wave is generated by using analogWrite, a PWM technology is used to perform PWM control on a steering angle of a steering gear. When the PWM control lasts for within 1.5 milliseconds, the steering gear is located in the middle, when the PWM control lasts for more than 1.5 ms, the steering gear rotates clockwise, and when the PWM control lasts for less than 1.5 ms, the steering gear rotates counterclockwise. The PWM signal has a period of 20 ms, has a pulse width modulated signal from 0.5 to 2.5 ms, and has a pulse width of the PWM signal varying linearly between On to 180.

[0042] Refer to FIG. 6, the ultrasonic ranging subroutine is nested in the motion system control main program, and is configured to: define the required pins Echo and Trig, that is, the ultrasonic input and output pins; add a Bluetooth input value 9 at the end of the Loop to perform the Distance_test; and finally display a distance value on the host computer in the centimeter.

[0043] As shown in FIG. 14, the Arduino UNO development board is based on the ATmega328P, a Vin pin is powered by an external power supply, an Analog In pin is configured to read an external analog signal, a pin marked with "-" in the Digital pin is configured to generate PWM output, TX and RX pins are connected to a Bluctooth module, a 13 pin may assist in detecting whether the development board is normal by detecting whether the LED lights blink normally.

[0044] (3) Host computer [0045] Refer to FIG. 7 and FIG. 8, the APP program of the host computer has the principle as follows: pushing a message to a server for this subject when a button is pressed; performing initialization at first to define and specify a Bluetooth client 1, clicking a button "Search for Bluetooth", enabling an activity launcher to perform "android.settings.BLUETOOTH SETTINGS "; displaying, by a list box 1, addresses and names of the searched Bluetooth clients, and performing connection by clicking the corresponding Bluetooth; when the selection is finished in the list box 1, if the selected Bluetooth is the Bluetooth client 1, changing the background color of the button in front of the client name to red; if the selected Bluetooth is not the Bluetooth client 1, displaying warning information; then setting various buttons to control the trolley to move, when forward is pressed, calling an instruction 101; when back is pressed, calling an instruction 102; when left is pressed, calling an instruction 103; when right is pressed, calling an instruction 104; when the four direction key are respectively loosened, calling an instruction 111, namely, stopping; when a ceju button is clicked, calling an instruction 105, and when a stop button is clicked, calling thc instruction 111.

[0046] The host computer needs to be connected to the same wireless local area network as the ESP32-CAM.

[0047] (4) Bluetooth module I00481 The HC-05 Bluetooth module enters an AT state through the communication mode of TX and RX pins to realize the function of remote control system of the host computer. As shown in FIG. 13, a connection relationship of the Bluetooth module and the Arduino UNO development board is that the pin TX of the Bluetooth module is connected to a pin 0 of the Arduino UNO, the pin RX of the Bluetooth module is connected to a pin 1 of the Arduino UNO, a VCC of the Bluetooth module is connected to a VCC of the Arduino UNO, and a GND of the Bluctooth module is connected to a GND of the Arduino UNO.

[0049] The HC-05 Bluetooth module takes Bluetooth V2.0 as the protocol standard, and has an input voltage of 3.6 V-6 V. A regulated power supply provides an operating voltage of 5V to the HC-05 Bluetooth module. The VCC of HC-05 Bluetooth module is connected to a VCC positive terminal of the Arduino UNO, with a voltage ranging from 3.3 v to 5.0 v; a GND ground wire is provided; the TX is a module serial port transmit pin, and is connected to the RX pin of the Arduino UNO; the RX is connected to the TX pin of the Arduino UNO; KEY is used to enter the AT state. Specific wiring is as shown in Table 2.

[0050] Table 2 Wiring of HC-05 Bluetooth Module and Arduino UNO Development Board [0051] Pin number of Arduino UNO Pin number of HC-05

RX TX

TX RX

VCC VCC

GND GND

[0052] (5) Motion control system of trolley [0053] The motion control system of the trolley employs an L298N motor driving module to drive four motors. If the L298N motor driving module needs to perform PWM speed control on a direct current motor. IN1 and IN2 need to be set to determine a rotating direction of each motor, and then a PWM pulse is output to an enabling end to achieve speed control. It should be noted that when an enabling signal is 0, the motors are in a free stopping state; when the enabling signal is 1, and IN1 and IN2 are 00 or 11, the motors are in a braking state to prevent the motors from rotating.

[0054] A connection relationship of the L298N motor driving module and the Arduino UNO development hoard is that the INTI of the L298N motor driving module is connected to a pin 8 of the Arduino UNO development board, the INT2 of the L298N motor driving module is connected to a pin 9 of the Arduino UNO development board, an 1NT3 of the L298N motor driving module is connected to a pin 10 of the Arduino UNO development board, and an INT4 of the L298N motor driving module is connected to a pin II of the Arduino UNO development board. The specific wiring is as shown in Table 3.

[0055] Table 3 Wiring of L298N motor driving module and Arduino UNO development board [0056] Pin number of Arduino L298N Input L298N Output

UNO

8 INT1 + 9 INT2 INT3 + II INT4 [0057] (6) Ultrasonic sensor [0058] As shown in FIG. 12, the ultrasonic sensor employs a HY-SRFO5 ultrasonic module. The ultrasonic sensor is connected to the Arduino UNO development board. where a VCC of the ultrasonic module is connected to a pin V of the Arduino UNO development board, a GND of the ultrasonic module is connected to a pin G of the Arduino UNO development board. a Trig of the ultrasonic module is connected to a pin AO of the Arduino UNO development board, and an Echo of the ultrasonic module is connected to a pin Al of the Arduino UNO development board.

[0059] (7) Camera steering module [0060] A steering motion of a camera is achieved by placing a 3D printing camera placement frame on a steering gear pan tilt formed by nesting two SG90 steering gears one above the other, and then installing ESP32-CAM into the camera frame.

[0061] Gray lines of the two steering gears are connected to a pin G of the Arduino UNO development board, red lines of the two steering gears are connected to a pin V of the Arduino UNO development board, and yellow lines of the two steering gears are connected to a pin D2 of the Arduino UNO development board, such that the Arduino UNO development board may control the steering gears to move after receiving the instruction from the host computer. The specific wiring is as shown in Table 4.

[0062] Table 4 Wiring of Ultrasonic Sensor, steering gear and Arduino UNO Development Board [0063] Pin number of Arduino UNO Pin number of ultrasonic, Pin number of steering gear

V VCC

G GND

AO Trig Al Echo G Gray line of steering gear V Red line of steering gear D2 Yellow line of steering gear [0064] (8) Stabilized voltage supply [0065] The Arduino UNO development board and the E5P32-CAM development board are both connected to the regulated power supply, the regulated power supply provides a stable 5V voltage, and employs the 5V voltage as a starling voltage, and has a rated voltage of 6V.

[0066] (9) SD card [0067] During motion, images may be saved into the SD card at any time by clicking an image save button in an APP interface, the SD card has a storage capacity of 32 G, and each of the saved images has a resolution of 320x240 and a size of about 90 kb, which may meet the later demand of data processing.

[0068] In the application environment of pipelines in real life, before the pipeline endoscopic detection system based on E5P32-CAM enters a pipeline for detection, if there is water accumulation or obstacles, the water in the pipeline should be drained by means of a water airbag shut-off method, and then the mud and garbage in the pipeline can be flushed into a well with a high-pressure water gun of a dredge truck, and then the workers can go down to the well to clean the mud and garbage up.

[0069] The present disclosure has the beneficial effects as follows: [0070] A master control of the present disclosure is composed of an E5P32-CAM development board and a motion control module, and is configured to control various work flows of the whole system. The Arduino UNO may control the motors to drive the trolley to move after receiving a forward or backward command transmitted from the host computer. The two-degree of freedom steering gear pan tilt may complete the up/down/left/right steering of the camera module. Meanwhile, the problem of the wireless of the pipeline endoscopic detection system is solved based on completing WiFi connection between the ESP32-CAM development board and the host computer and achieving wireless image transmission on the host computer APP.

[0071] Wireless image transmission with the pipeline robot is achieved by means of wireless transmission, the wireless visual detection in the pipeline is performed, and optimization is performed based on the CCTV detection, such that a detection result shown in FIG. 15 is more intuitive and accurate, and the detection mode is more intelligent.

[0072] The APP of the host computer is configured to display a real-time picture, has the function of the SD card to store images, and is supplemented by a multi-angle steering camera pan tilt to ensure comprehensive detection and to facilitate multi-directional comparison after saving pictures.

[0073] By using the coordinated control of a plurality of modules, the functions of each part are programmed based on C language, which makes the volume and cost of system equipment smaller and lower than those of CCTV detection equipment.

[0074] A motor wheel speed control subroutine is compiled by using assembly languages, and the trolley may turn left and right through PWM square wave speed control, such that the position of the trolley may be adjusted more conveniently, and the mobility performance is enhanced.

[0075] Due to instability of the wireless network, when a router is in a fixed state, the maximum range of the trolley may reach 20 meters. If a longer distance traveling needs to the achieved, an antenna must be installed on the ESP32-CAM to better receive WiFi signals; or the trolley performance can be improved by achieving connection of a plurality of WiFi by means of intranet penetration and transmitting data to the cloud. [0076] The embodiments in the present disclosure are all described in a progressive manner, with each embodiment focusing on the differences from the other embodiments, and the same and similar parts between various embodiment may be referred to each other.

[0077] Several examples are used for illustration of the principles and implementation methods of the present disclosure. The description of the embodiments is merely used to help illustrate the method and its core principles of the present disclosure. In addition, a person of ordinary skill in the art can make various modifications in terms of specific embodiments and scope of application in accordance with the teachings of the present disclosure. In conclusion, the content of this specification shall not be construed as a limitation to the present disclosure.

Claims

CLAIMS1. A pipeline endoscopic detection system, comprising a host computer, an ESP32-CAM camera development board, a camera steering module. an Arduino UNO development board, an ultrasonic sensor, and a trolley; the ESP32-CAM camera development board, the camera steering board and the ultrasonic sensor are all arranged at the front end of the trolley, the ESP32-CAM camera development board is arranged on the camera steering module; the Arduino UNO development board is arranged on the trolley; a signal output end of the ultrasonic sensor is connected to an input end of the Arduino UNO development board, an output end of the Arduino UNO development board is in Bluetooth connection with the host computer; the ultrasonic sensor is configured to measure a distance between the trolley and an obstacle ahead and to transmit the distance to the host computer through the Arduino UNO development board; the input end of the Arduino UNO development board is in Bluetooth connection with the host computer, the output end of the Arduino UNO development board is connected to a control end of a motion control system of the trolley; the host computer is configured to determine a trolley motion control signal according to the distance and to transmit the trolley motion control signal to the Arduino UNO development board; the Arduino UNO development board is configured to control a motion state and a motion direction of the trolley according to the trolley motion control signal; a control end of the camera steering module is connected to the output end of the Arduino UNO development board, the Arduino UNO development board is further configured to receive a steering instruction output by the host computer, and to control the camera steering module according to the steering instruction, thereby adjusting a shooting angle of the ESP32-CAM camera development board; the ESP32-CAM camera development board is in wireless connection with the host computer, and the ESP32-CAM camera development board is configured to acquire in-pipeline pictures after the shooting angle is adjusted, and then the pictures are displayed on the host computer.
2. The system according to claim 1, wherein the ESP32-CAM camera development board comprises a wireless data transmission module; the wireless data transmission module is connected to the host computer; the wireless data transmission module is configured to: set a name and password of a to-be-connected WiFi by calling const char functions, specify an IP of a to-be-connected host computer, set a static IP address and a gateway and DNS corresponding to the IP address, allocate the set static IP address and the gateway and DNS corresponding to the IP address to the ESP32-CAM development board, be connected to the WiFi, and prompt the error of address not reachable when the WiFi connection fails; the wireless data transmission module is further configured to: split JPEG arrays of the in-pipeline pictures to be wirelessly transmitted into a number of small arrays, and transmit the small arrays to the specified host computer IP.
3. The system according to claim 1, wherein the motion control system of the trolley comprises a L298N motor driving module and four motors; TNT 1. INT2, INT3 and INT4 of the L298N motor driving module are respectively connected to a pin 8, a pin 9. a pin 10 and a pin 11 of the Arduino UNO development board in a one-to-one correspondence manner; output ends of the motor driving modules arc respectively connected to the control ends of the four motors, and driving ends of the four motors are respectively connected to four wheels of the trolley in a one-to-one correspondence manner.
4. The system according to claim 3, wherein the camera steering module comprises two steering gears and a pan tilt; the two steeling gears are both connected to the pan tilt, and the ESP32-CAM camera development board is arranged on the pan tilt; gray lines of the two steering gears are connected to a pin G of the Arduino UNO development board, red lines of the two steering gears are connected to a pin V of the Arduino UNO development board, and yellow lines of the two steering gears are connected to a pin D2 of the Arduino UNO development board; the two steering gears are configured to complete up/down/left/right steering of the ESP32-CAM camera.
5. The system according to claim 4, wherein the system further comprises a HC-05 Bluetooth module; the 14C-05 Bluetooth module is arranged on the trolley; a pin TX of the HC-05 Bluetooth module is connected to a pin 0 of the Arduino UNO development board, a pin RX of the HC-05 Bluetooth module is connected to a pin 1 of the Arduino UNO development board, a pin VCC of the HC-05 Bluetooth module is connected to a pin VCC of the Arduino UNO development board, and a pin GND of the HC-05 Bluetooth module is connected to a pin GND of the Arduino UNO development board.
6. The system according to claim 5, wherein the Arduino UNO development board comprises a motion system control main program module, a motor wheel control subfunction module, and an ultrasonic ranging subroutine module; the motion system control main program module is respectively connected to the motor wheel control subfunction module and the HC-05 Bluetooth module; the motion system control main program module is configured to: define a pin-pin connection relationship to be used by the Arduino UNO development board and the L298N motor driving module, read data sent to a serial port by the HC-05 Bluetooth module so as to complete Bluetooth connection, set corresponding motor or steering gear output state signals according to different values input by means of Bluetooth, and transmit the motor or steering gear output state signals to the motor wheel control subfunction module; the motor wheel control sub-function module is respectively connected to the L298N motor driving module and two steering gears; the motor wheel control sub-function module is configured to simulate PWM square wave according to the motor or steering gear output state signal, to output the simulated PWM square wave to the pin to drive the motor or steering gear at different speeds, thereby achieving the steering of the trolley or ESP32-CAM camera development board; the ultrasonic ranging subroutine module is respectively connected to the ultrasonic sensor and the host computer, and the ultrasonic ranging subroutine module is configured to read a distance between the trolley and the obstacle ahead measured by the ultrasonic sensor, and to transmit the distance to the host computer.
7. The system according to claim 6, wherein a control signal of each steering gear is a PWM signal with a period of 20 ms; the PWM signal is a pulse width modulated signal from 0.5 ms to 2.5 ms, and a pulse width of the PWM signal varies linearly from 00 to 1800.
8. The system according to claim I. wherein the ultrasonic sensor employs a HY-SRFO5 ultrasonic module; a VCC of the 1-IY-SRFO5 ultrasonic module is connected to the pin V of the Arduino UNO development board, a GND of the HY-SRFO5 ultrasonic module is connected to the pin G of the Arduino UNO development board, a Trig of the HY-SRFO5 ultrasonic module is connected to the pin AO of the Arduino UNO development board, and an Echo of the HY-SRFO5 ultrasonic module is connected to a pin Al of the Arduino UNO development board.
9. The system according to claim 1, wherein the system further comprises a regulated power supply; the regulated power supply is arranged at the tail of the trolley, employs a 5V voltage as a starting voltage, and has a rated voltage of 6V; and the regulated power supply is respectively connected to the Arduino UNO development board and the ESP32-CAM camera development board.
10. The system according to claim I, wherein the system further comprises: an SD card; and the SD card is configured to store in-pipeline pictures sent by the host computer.