WO2019214003A1 - Intelligent mobile facility device - Google Patents

Intelligent mobile facility device Download PDF

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Publication number
WO2019214003A1
WO2019214003A1 PCT/CN2018/089925 CN2018089925W WO2019214003A1 WO 2019214003 A1 WO2019214003 A1 WO 2019214003A1 CN 2018089925 W CN2018089925 W CN 2018089925W WO 2019214003 A1 WO2019214003 A1 WO 2019214003A1
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WO
WIPO (PCT)
Prior art keywords
module
circuit
power
control unit
positioning
Prior art date
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PCT/CN2018/089925
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French (fr)
Chinese (zh)
Inventor
李琳
Original Assignee
江苏爱可青实业有限公司
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Application filed by 江苏爱可青实业有限公司 filed Critical 江苏爱可青实业有限公司
Priority to ATA8004/2022A priority Critical patent/AT524294A2/en
Publication of WO2019214003A1 publication Critical patent/WO2019214003A1/en

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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
    • E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
    • E01F9/604—Upright bodies, e.g. marker posts or bollards; Supports for road signs specially adapted for particular signalling purposes, e.g. for indicating curves, road works or pedestrian crossings
    • E01F9/608—Upright bodies, e.g. marker posts or bollards; Supports for road signs specially adapted for particular signalling purposes, e.g. for indicating curves, road works or pedestrian crossings for guiding, warning or controlling traffic, e.g. delineator posts or milestones
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
    • E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
    • E01F9/658—Upright bodies, e.g. marker posts or bollards; Supports for road signs characterised by means for fixing
    • E01F9/662—Upright bodies, e.g. marker posts or bollards; Supports for road signs characterised by means for fixing mounted on vehicles, e.g. service vehicles; Warning vehicles travelling along with road-maintenance, e.g. remotely controlled
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • H02J7/025—

Definitions

  • the invention belongs to the technical field of control and relates to an intelligent mobile facility device.
  • the invention provides an intelligent mobile facility device, which solves the problem that the mobile facility cannot automatically move, and when it is stolen, it cannot be accurately located and cannot be intelligently charged.
  • An intelligent mobile facility device comprising at least two mobile intelligent piles, wherein the mobile intelligent piles are connected by a CAN control device.
  • the mobile intelligent pile includes a positioning device, a trajectory control device, a charging device, a column and a base.
  • the charging device is connected to the trajectory control device for supplying electric energy.
  • the positioning device, the trajectory control device and the charging device are fixed on the column, the column is fixed on the base, and the lower part of the base is fixed with a wheel.
  • the positioning device comprises a positioning power module, a GPS module, a positioning control unit and a GSM module.
  • the positioning power module is connected with the GPS module, the positioning control unit and the GSM module, and provides working voltages for the GPS module, the positioning control unit and the GSM module.
  • the positioning control unit is respectively connected with the GPS module and the GSM module; the positioning control unit can read the current latitude and longitude data through the interface exposed by the GPS module; the positioning control unit periodically sends a query command to the GPS module through the serial communication interface, and obtains the current The latitude and longitude position information, the guardrail number and the user terminal mobile phone number are sent to the GSM module; the positioning control unit transmits the data to the GSM module through the interface disclosed by the GSM module, and transmits the data to the remote wireless receiving terminal through GSM.
  • the position information is sent autonomously to realize remote monitoring of the position of an object.
  • the wireless receiving terminal is a designated user terminal mobile phone.
  • the positioning power module includes a 3.3V voltage regulator module and a 5V voltage regulator module; the 220V AC power supply is regulated by a 5V voltage regulator module, and the output 5V DC power is supplied to the GPS module and the GSM module; and the 5V DC power is input to the 3.3V voltage regulator module.
  • the output 3.3V supplies power to the positioning control unit.
  • the positioning control unit adopts STM32.
  • the GPS module uses NEO-7N.
  • the transmitting end TXD and the receiving end RXD of the GPS module are respectively connected to the PB6 and PB7 pins of the positioning control unit to implement serial communication, and the global positioning coordinates can be sent to the positioning control unit.
  • the GSM module uses SIM900A.
  • the transmitting end TXD and the receiving end RXD of the GSM module are respectively connected with the PB10 and PB11 pins of the positioning control unit to realize serial communication, and the positioning control unit transmits the global positioning coordinates to the GSM module, and transmits the same to the designated receiving terminal through the GSM module.
  • the ground wires of the GSM module, GPS module, 3.3V voltage regulator module and 5V voltage regulator module are connected together.
  • the CAN control device includes an ARM chip, a CAN control circuit, a CAN communication module, and a power supply circuit.
  • the ARM chip is connected to the CAN communication module through the CAN control circuit to realize mutual interaction of data; the power supply circuit is respectively connected with the ARM chip, the CAN control circuit and the CAN communication module, and provides power thereto, the CAN control
  • the device is fixed to the column.
  • the CAN communication module includes a CAN controller and a CAN transceiver, and the receiving pin RX and the transmitting pin TX of the CAN controller are coupled to the RXD and TXD terminals of the CAN transceiver via high-speed optical coupling to realize electrical of each node of the CAN bus. isolation.
  • the high-speed optocoupler uses 6N137.
  • the CAN transceiver uses TJA1040.
  • a 120 ohm termination matching resistor is connected between the CAN-H and the CAN-L of the CAN transceiver;
  • the power supply circuit is divided into two levels of power supply, 220 volts AC is converted to 12V output through the switching power supply, the first stage power supply circuit is DC 12V through the DC/DC power supply module A output DC 9V, and the second stage power supply circuit is DC 9V Then through the DC / DC power module B output DC 5V, DC 5V and then output 3.3V through the power chip.
  • the DC/DC power module A selects D120909S; the power chip adopts AMS1117-3.3; and the DC/DC power module B selects MP2565.
  • the ARM chip is powered by 3.3V, 220V AC is converted to 12V output by switching power supply, 12V is output DC9V through DC/DC power supply module A D120909S, DC9V is output DC5V through DC/DC power supply module B MP2565, DC5V is passed through power chip The AMS1117-3.3 outputs 3.3V.
  • the ARM chip has a built-in CAN bus protocol controller, an external bus driver chip and an anti-interference circuit to form a CAN bus intelligent measurement and control node.
  • the CAN bus intelligent measurement and control nodes are connected in parallel by a relay control mode to realize signal transmission between multiple mobile intelligent piles.
  • the trajectory control device includes a mechanical control device and an electromagnetic control device.
  • Mechanical controls include motors, mechanical control circuits, and mechanical guidance.
  • the mechanical control circuit is connected to the motor through a drive control circuit, and the motor is connected to the wheel to control the rotation of the wheel and is integrally placed on the mechanical guide.
  • the mechanical guide is a profiled track.
  • the shaped rail adopts a concave shaped rail, and the base is placed on the recess to cooperate with sliding;
  • the shaped rail adopts a triangular prismatic track, and the base is placed on the prism to cooperate with sliding;
  • the shaped rail adopts a convex-shaped track, and the base is placed on the protrusion to cooperate with sliding;
  • the electromagnetic control device comprises two motors, an electromagnetic control circuit and an electromagnetic signal source device; the electromagnetic control circuit is respectively connected to the two motors through a motor drive circuit, and the output ends of the two motors are connected to the wheels.
  • the electromagnetic control circuit includes a sensor, an amplifier, a data acquisition module, a data processing module, and an electromagnetic control unit.
  • the sensor is connected to the amplifier to transmit the induced signal to the amplifier; the amplifier is connected to the data processing module through the data acquisition module, and the amplified signal is transmitted to the data processing module; the data processing module is connected to the driving circuit through the electromagnetic control unit, The electromagnetic control unit controls the speeds of the motor A and the motor B through the drive circuit to realize the movement and turning of the mobile facility.
  • the data acquisition module adopts STM32F103 acquisition circuit and has its own ADC data acquisition function.
  • the electromagnetic control unit adopts STM32407ZE chip, STM32F103 and STM32407ZE for serial communication, and the data change collected by the data acquisition module is sent to the electromagnetic control unit through the data processing module in real time, and the electromagnetic control unit sends corresponding command pulse to the motor to realize the speed regulation. .
  • the sensor adopts seven inductors directly on a circuit board, adopts a central symmetrical mode, one in the middle, and three on each side, so that the arrangement of the inductors is symmetrical and stable, and the external inductance is a way of oblique inductance;
  • the middle and the end of the rod are fixed by brackets, which can avoid the instability of data acquisition caused by the electromagnetic rod shaking during the running of the vehicle.
  • the electromagnetic signal source device comprises a wire, a magnetic material and a signal excitation source; the wire is connected to the signal excitation source and wound on the magnetic material.
  • the signal excitation source comprises an RC oscillation circuit, a power output circuit, a constant current electromagnetic control unit and a DC power source.
  • the signal excitation source applies a fixed frequency constant current alternating current to the wire, and an alternating magnetic field of the same frequency is generated around the wire.
  • the charging device includes a wired charging device and a wireless charging device
  • the wireless charging device includes a power storage module, a wireless power transmitting module, a voltage limiting current limiting device, a power supply circuit module, and a wireless power receiving module.
  • the wireless power transmitting module, the wireless power receiving module, the voltage limiting current limiting device and the power storage module are sequentially connected.
  • the wireless power transmitting module couples the input electrical energy to the wireless power receiving module through magnetic induction coupling; and further outputs the constant voltage of the wireless power receiving module to the power storage module through the voltage limiting current limiting device; Protect the wireless power transmitter module.
  • the power storage module stores electrical energy received by the wireless power receiving module and supplies power to the electromagnetic control circuit and the mechanical control circuit and the motor drive circuit.
  • the plurality of wireless power transmitting modules are disposed on a specific trajectory of the mobile intelligent pile operation.
  • the internal circuit of the wireless power transmission module comprises a rectifier circuit, an inverter circuit, a high frequency filter circuit and a resonance circuit; the rectifier circuit, the inverter circuit, the high frequency filter circuit and the resonance circuit are sequentially connected; wherein the resonance circuit is It consists of an inductor and a high-frequency resonant receiving capacitor.
  • the high-frequency resonant receiving capacitor is 4700uF.
  • the power storage module is composed of a plurality of super capacitors in parallel; the super capacitor is 48V/165F.
  • the invention has the advantages that the invention solves the problem that the mobile facility cannot automatically move and manually power on, and the problem that the mobile device cannot be accurately located when stolen, lays a foundation for the subsequent full intelligence.
  • Figure 1 is a block diagram showing the structure of a CAN control device of the present invention.
  • FIG. 2 is a schematic view showing the structure of a mechanical control device system of the present invention.
  • FIG. 3 is a schematic view showing the structure of an electromagnetic control device system of the present invention.
  • Fig. 4 is a schematic view showing the structure of the sensor of the present invention.
  • Figure 5 is a block diagram showing the structure of a wireless charging device of the present invention.
  • FIG. 6 is a schematic diagram of the control of the preset information of the present invention to achieve a motion trajectory.
  • An intelligent mobile facility device comprising at least two mobile intelligent piles, wherein the mobile intelligent piles are connected by a CAN control device.
  • the mobile intelligent pile includes a positioning device, a trajectory control device, a charging device, a column and a base.
  • the charging device is connected to the trajectory control device for supplying electric energy.
  • the positioning device, the trajectory control device and the charging device are fixed on the column, the column is fixed on the base, and the lower part of the base is fixed with a wheel.
  • the positioning device comprises a positioning power module, a GPS module, a positioning control unit and a GSM module.
  • the positioning power module is connected with the GPS module, the positioning control unit and the GSM module, and provides working voltages for the GPS module, the positioning control unit and the GSM module.
  • the positioning control unit is respectively connected with the GPS module and the GSM module; the positioning control unit can read the current latitude and longitude data through the interface exposed by the GPS module; the positioning control unit periodically sends a query command to the GPS module through the serial communication interface, and obtains the current The latitude and longitude position information, the guardrail number and the user terminal mobile phone number are sent to the GSM module; the positioning control unit transmits the data to the GSM module through the interface disclosed by the GSM module, and transmits the data to the remote wireless receiving terminal through GSM.
  • the position information is sent autonomously to realize remote monitoring of the position of an object.
  • the wireless receiving terminal is a designated user terminal mobile phone.
  • the positioning power module includes a 3.3V voltage regulator module and a 5V voltage regulator module; the 220V AC power supply is regulated by a 5V voltage regulator module, and the output 5V DC power is supplied to the GPS module and the GSM module; and the 5V DC power is input to the 3.3V voltage regulator module.
  • the output 3.3V supplies power to the positioning control unit.
  • the positioning control unit adopts STM32.
  • the GPS module uses NEO-7N.
  • the transmitting end TXD and the receiving end RXD of the GPS module are respectively connected to the PB6 and PB7 pins of the positioning control unit to implement serial communication, and the global positioning coordinates can be sent to the positioning control unit.
  • the GSM module uses SIM900A.
  • the transmitting end TXD and the receiving end RXD of the GSM module are respectively connected with the PB10 and PB11 pins of the positioning control unit to realize serial communication, and the positioning control unit transmits the global positioning coordinates to the GSM module, and transmits the same to the designated receiving terminal through the GSM module.
  • the ground wires of the GSM module, GPS module, 3.3V voltage regulator module and 5V voltage regulator module are connected together.
  • the CAN control device includes an ARM chip, a CAN control circuit, a CAN communication module, and a power supply circuit.
  • the ARM chip is connected to the CAN communication module through the CAN control circuit to realize mutual interaction of data; the power supply circuit is respectively connected with the ARM chip, the CAN control circuit and the CAN communication module, and provides power thereto, the CAN control
  • the device is fixed to the column.
  • the CAN communication module includes a CAN controller and a CAN transceiver, and the receiving pin RX and the transmitting pin TX of the CAN controller are coupled to the RXD and TXD terminals of the CAN transceiver via high-speed optical coupling to realize electrical of each node of the CAN bus. isolation.
  • the high-speed optocoupler uses 6N137.
  • the CAN transceiver uses TJA1040.
  • a 120 ohm termination matching resistor is connected between the CAN-H and the CAN-L of the CAN transceiver;
  • the power supply circuit is divided into two levels of power supply, 220 volts AC is converted to 12V output through the switching power supply, the first stage power supply circuit is DC 12V through the DC/DC power supply module A output DC 9V, and the second stage power supply circuit is DC 9V Then through the DC / DC power module B output DC 5V, DC 5V and then output 3.3V through the power chip.
  • the DC/DC power module A selects D120909S; the power chip adopts AMS1117-3.3; and the DC/DC power module B selects MP2565.
  • the ARM chip is powered by 3.3V, 220V AC is converted to 12V output by switching power supply, 12V is output DC9V through DC/DC power supply module A D120909S, DC9V is output DC5V through DC/DC power supply module B MP2565, DC5V is passed through power chip The AMS1117-3.3 outputs 3.3V.
  • the ARM chip has a built-in CAN bus protocol controller, an external bus driver chip and an anti-interference circuit to form a CAN bus intelligent measurement and control node.
  • the CAN bus intelligent measurement and control nodes are connected in parallel by a relay control mode to realize signal transmission between multiple mobile intelligent piles.
  • the trajectory control device includes a mechanical control device and an electromagnetic control device.
  • Mechanical controls include motors, mechanical control circuits, and mechanical guidance.
  • the mechanical control circuit is connected to the motor through a drive control circuit, and the motor is connected to the wheel to control the rotation of the wheel and is integrally placed on the mechanical guide.
  • the mechanical guide adopts a profiled track.
  • the shaped rail adopts a concave shaped rail, and the base is placed on the recess to cooperate with sliding;
  • the shaped rail adopts a triangular prismatic track, and the base is placed on the prism to cooperate with sliding;
  • the shaped rail adopts a convex-shaped track, and the base is placed on the protrusion to cooperate with sliding;
  • the electromagnetic control device comprises two motors, an electromagnetic control circuit and an electromagnetic signal source device; the electromagnetic control circuit is respectively connected to the two motors through a motor drive circuit, and the output ends of the two motors are connected to the wheels.
  • the electromagnetic control circuit includes a sensor, an amplifier, a data acquisition module, a data processing module, and an electromagnetic control unit.
  • the sensor is connected to the amplifier to transmit the induced signal to the amplifier; the amplifier is connected to the data processing module through the data acquisition module, and the amplified signal is transmitted to the data processing module; the data processing module is connected to the driving circuit through the electromagnetic control unit, The electromagnetic control unit controls the speeds of the motor A and the motor B through the drive circuit to realize the movement and turning of the mobile facility.
  • the data acquisition module adopts STM32F103 acquisition circuit and has its own ADC data acquisition function.
  • the electromagnetic control unit adopts STM32407ZE chip, STM32F103 and STM32407ZE for serial communication, and the data change collected by the data acquisition module is sent to the electromagnetic control unit through the data processing module in real time, and the electromagnetic control unit sends corresponding command pulse to the motor to realize the speed regulation. .
  • the sensor adopts seven inductors directly on a circuit board, adopts a central symmetrical mode, one in the middle, and three on each side, so that the arrangement of the inductors is symmetrical and stable, and the external inductance is a way of oblique inductance;
  • the middle and the end of the rod are fixed by brackets, which can avoid the instability of data acquisition caused by the electromagnetic rod shaking during the running of the vehicle.
  • the electromagnetic signal source device comprises a wire, a magnetic material and a signal excitation source; the wire is connected to the signal excitation source and wound on the magnetic material.
  • the signal excitation source comprises an RC oscillation circuit, a power output circuit, a constant current electromagnetic control unit and a DC power source.
  • the signal excitation source applies a fixed frequency constant current alternating current to the wire, and an alternating magnetic field of the same frequency is generated around the wire.
  • the charging device includes a wired charging device and a wireless charging device
  • the wireless charging device includes a power storage module, a wireless power transmitting module, a voltage limiting current limiting device, a power supply circuit module, and a wireless power receiving module.
  • the wireless power transmitting module, the wireless power receiving module, the voltage limiting current limiting device and the power storage module are sequentially connected.
  • the wireless power transmitting module couples the input electrical energy to the wireless power receiving module through magnetic induction coupling; and further outputs the constant voltage of the wireless power receiving module to the power storage module through the voltage limiting current limiting device; Protect the wireless power transmitter module.
  • the power storage module stores electrical energy received by the wireless power receiving module and supplies power to the electromagnetic control circuit and the mechanical control circuit and the motor drive circuit.
  • the plurality of wireless power transmitting modules are disposed on a specific trajectory of the mobile intelligent pile operation.
  • the internal circuit of the wireless power transmission module comprises a rectifier circuit, an inverter circuit, a high frequency filter circuit and a resonance circuit; the rectifier circuit, the inverter circuit, the high frequency filter circuit and the resonance circuit are sequentially connected; wherein the resonance circuit is It consists of an inductor and a high-frequency resonant receiving capacitor.
  • the high-frequency resonant receiving capacitor is 4700uF.
  • the power storage module is composed of a plurality of super capacitors in parallel; the super capacitor is 48V/165F.

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Abstract

An intelligent mobile facility device, comprising at least two mobile intelligent piles that are connected by means of a CAN control device. The mobile intelligent piles comprise a positioning device, a trajectory control device, a charging device, a column and a base. The positioning device comprises a positioning power supply module, a GPS module, a positioning control unit and a GSM module; and the CAN control device comprises an ARM chip, a CAN control circuit, a CAN communication module, and a power supply circuit. The trajectory control device comprises a mechanical control device and an electromagnetic control device; and the wireless charging device comprises a power storage module, a wireless power transmitting module, a voltage stabilizing and current limiting device, a power supply circuit module and a wireless power receiving module. The intelligent mobile facility device solves the problems of a mode in which the mobile facility is not able to automatically move and manually power on, and being unable to be accurately located when stolen, and the foundation is laid for subsequent full intelligentization.

Description

一种智能移动设施装置Intelligent mobile facility device 技术领域Technical field
本发明属于控制技术领域，涉及一种智能移动设施装置。The invention belongs to the technical field of control and relates to an intelligent mobile facility device.
背景技术Background technique
随着科学技术的发展，我国城市的公共设施建设步伐不断加快，公共设施的发展尤为迅速。但道路照明设备、井盖、路牌、护栏等公共设施被盗是城市的一大顽疾，由此引发的意外事故不胜枚举。并且大部分公共设施采用有线供电方式，在方便性、安全性等方面有很多问题，很多公共设施不够智能化，不能互相交互数据信息也是一个目前的难题。目前对于公共设施的防盗研究，主要是前期建设上慎重选用材料，加固结构，在后期维护上，设立有奖举报机制，加强人工巡查、监控等措施。但是从建设选材和后期人工的维护上，并不能有效解决防盗问题，而且造成很大的人力物力资源浪费。With the development of science and technology, the pace of public facilities construction in China's cities has been accelerating, and the development of public facilities has been particularly rapid. However, the theft of public facilities such as road lighting equipment, manhole covers, road signs and guardrails is a major problem in the city. The accidents caused by this are too numerous to mention. Most of the public facilities use wired power supply. There are many problems in terms of convenience and security. Many public facilities are not intelligent enough to interact with each other. Data information is also a current problem. At present, the anti-theft research on public facilities is mainly based on careful selection of materials and reinforcement structures in the early stage of construction. In the later stage of maintenance, a reward and reporting mechanism has been set up to strengthen manual inspection and monitoring. However, from the construction selection and the maintenance of the later labor, the anti-theft problem can not be effectively solved, and a great waste of human and material resources is caused.
发明内容Summary of the invention
本发明提供了一种智能移动设施装置，解决了移动设施不能自动移动，并且在被盗时，无法准确定位和无法智能充电的问题。The invention provides an intelligent mobile facility device, which solves the problem that the mobile facility cannot automatically move, and when it is stolen, it cannot be accurately located and cannot be intelligently charged.
本发明所采用的技术方案是：The technical solution adopted by the invention is:
一种智能移动设施装置，包括至少2个移动智能桩，所述的移动智能桩之间通过CAN控制装置连接。An intelligent mobile facility device comprising at least two mobile intelligent piles, wherein the mobile intelligent piles are connected by a CAN control device.
所述的移动智能桩包括定位装置、轨迹控制装置、充电装置、立柱和底座。The mobile intelligent pile includes a positioning device, a trajectory control device, a charging device, a column and a base.
所述充电装置与轨迹控制装置连接，为其提供电能，所述的定位装置、轨迹控制装置和充电装置固定在立柱上，立柱固定在底座上，底座下部固定有轮子。The charging device is connected to the trajectory control device for supplying electric energy. The positioning device, the trajectory control device and the charging device are fixed on the column, the column is fixed on the base, and the lower part of the base is fixed with a wheel.
所述的定位装置包括定位电源模块、GPS模块，定位控制单元和GSM模块。The positioning device comprises a positioning power module, a GPS module, a positioning control unit and a GSM module.
所述的定位电源模块与GPS模块、定位控制单元和GSM模块连接，并为GPS模块、定位控制单元和GSM模块提供工作电压。定位控制单元分别与GPS模块和GSM模块连接；定位控制单元可通过GPS模块公开的接口，读取当前经纬度数据；定位控制单元通过串行通信接口，定期向GPS模块发送查询命令，并获取当前的经纬度位置信息、护栏编号及用户终端手机号发送给GSM模块；定位控制单元通过GSM模块公开的接口，将数据发送到GSM模块，通过GSM发送到远距离的无线接收终端。在位置状况改变时，自主发送发位置信息，实现对某物体位置的远距离监控。The positioning power module is connected with the GPS module, the positioning control unit and the GSM module, and provides working voltages for the GPS module, the positioning control unit and the GSM module. The positioning control unit is respectively connected with the GPS module and the GSM module; the positioning control unit can read the current latitude and longitude data through the interface exposed by the GPS module; the positioning control unit periodically sends a query command to the GPS module through the serial communication interface, and obtains the current The latitude and longitude position information, the guardrail number and the user terminal mobile phone number are sent to the GSM module; the positioning control unit transmits the data to the GSM module through the interface disclosed by the GSM module, and transmits the data to the remote wireless receiving terminal through GSM. When the positional condition changes, the position information is sent autonomously to realize remote monitoring of the position of an object.
所述的无线接收终端是指定的用户终端手机。The wireless receiving terminal is a designated user terminal mobile phone.
定位电源模块包括3.3V稳压模块和5V稳压模块；220伏交流电源经过5V稳压模块稳压后，输出5伏直流电供给GPS模块和GSM模块；同时5V直流电输入到3.3V稳压模块中，输出3.3V给定位控制单元供电。The positioning power module includes a 3.3V voltage regulator module and a 5V voltage regulator module; the 220V AC power supply is regulated by a 5V voltage regulator module, and the output 5V DC power is supplied to the GPS module and the GSM module; and the 5V DC power is input to the 3.3V voltage regulator module. The output 3.3V supplies power to the positioning control unit.
所述的定位控制单元采用STM32。The positioning control unit adopts STM32.
所述的GPS模块采用NEO-7N。The GPS module uses NEO-7N.
所述的GPS模块的发射端TXD和接收端RXD分别与定位控制单元的PB6和PB7脚相连，实现串行通信，可以将全球定位坐标发送到定位控制单元中。The transmitting end TXD and the receiving end RXD of the GPS module are respectively connected to the PB6 and PB7 pins of the positioning control unit to implement serial communication, and the global positioning coordinates can be sent to the positioning control unit.
所述的GSM模块采用SIM900A。The GSM module uses SIM900A.
GSM模块的发射端TXD和接收端RXD分别与定位控制单元的PB10和PB11脚相连，实现串行通信，定位控制单元将全球定位坐标发送到GSM模块中，通过GSM模块发送给指定的接收终端。The transmitting end TXD and the receiving end RXD of the GSM module are respectively connected with the PB10 and PB11 pins of the positioning control unit to realize serial communication, and the positioning control unit transmits the global positioning coordinates to the GSM module, and transmits the same to the designated receiving terminal through the GSM module.
GSM模块、GPS模块、3.3V稳压模块和5V稳压模块的地线连接在一起。The ground wires of the GSM module, GPS module, 3.3V voltage regulator module and 5V voltage regulator module are connected together.
所述的CAN控制装置包括ARM芯片、CAN控制电路、CAN通讯模块和供电电源电路。The CAN control device includes an ARM chip, a CAN control circuit, a CAN communication module, and a power supply circuit.
所述的ARM芯片通过CAN控制电路与CAN通讯模块连接，实现数据的相互交互传递；供电电源电路分别与ARM芯片、CAN控制电路和CAN通讯模块连接，并为其提供电能，所述的CAN控制装置固定在立柱上。The ARM chip is connected to the CAN communication module through the CAN control circuit to realize mutual interaction of data; the power supply circuit is respectively connected with the ARM chip, the CAN control circuit and the CAN communication module, and provides power thereto, the CAN control The device is fixed to the column.
所述的CAN通讯模块包括CAN控制器和CAN收发器，CAN控制器的接收引脚RX和发送引脚TX经由高速光耦接到CAN收发器的RXD和TXD端，实现CAN总线各节点的电气隔离。The CAN communication module includes a CAN controller and a CAN transceiver, and the receiving pin RX and the transmitting pin TX of the CAN controller are coupled to the RXD and TXD terminals of the CAN transceiver via high-speed optical coupling to realize electrical of each node of the CAN bus. isolation.
所说的高速光耦选用6N137。The high-speed optocoupler uses 6N137.
所述的CAN收发器选用TJA1040。The CAN transceiver uses TJA1040.
所述的CAN收发器的CAN-H和CAN-L之间连接120欧姆终端匹配电阻；a 120 ohm termination matching resistor is connected between the CAN-H and the CAN-L of the CAN transceiver;
所述的供电电源电路分为两级供电，220伏交流通过开关电源转为12V输出，第一级供电电路是直流12V通过DC/DC电源模块A输出直流9V，第二级供电电路为直流9V再通过DC/DC电源模块B输出直流5V，直流5V再通过电源芯片输出3.3V。The power supply circuit is divided into two levels of power supply, 220 volts AC is converted to 12V output through the switching power supply, the first stage power supply circuit is DC 12V through the DC/DC power supply module A output DC 9V, and the second stage power supply circuit is DC 9V Then through the DC / DC power module B output DC 5V, DC 5V and then output 3.3V through the power chip.
所述的DC/DC电源模块A选用D120909S；所述的电源芯片选用AMS1117-3.3；所述的DC/DC电源模块B选用MP2565。The DC/DC power module A selects D120909S; the power chip adopts AMS1117-3.3; and the DC/DC power module B selects MP2565.
所述的ARM芯片采用3.3V供电，220伏交流通过开关电源转为12V输出，12V通过DC/DC电源模块A D120909S输出DC9V,DC9V通过DC/DC电源模块B MP2565输出DC5V，DC5V再通过电源芯片AMS1117-3.3输出3.3V。The ARM chip is powered by 3.3V, 220V AC is converted to 12V output by switching power supply, 12V is output DC9V through DC/DC power supply module A D120909S, DC9V is output DC5V through DC/DC power supply module B MP2565, DC5V is passed through power chip The AMS1117-3.3 outputs 3.3V.
所述的ARM芯片中内置CAN总线协议控制器，外接总线驱动芯片和抗干扰电路，形成一个CAN总线智能测控节点。The ARM chip has a built-in CAN bus protocol controller, an external bus driver chip and an anti-interference circuit to form a CAN bus intelligent measurement and control node.
所述的CAN总线智能测控节点之间通过中继控制方式并联连接，实现多个移动智能桩之间的信号传输。The CAN bus intelligent measurement and control nodes are connected in parallel by a relay control mode to realize signal transmission between multiple mobile intelligent piles.
所述的轨迹控制装置包括机械控制装置和电磁控制装置。The trajectory control device includes a mechanical control device and an electromagnetic control device.
机械控制装置包含电机、机械控制电路和机械式导向。Mechanical controls include motors, mechanical control circuits, and mechanical guidance.
所述的机械控制电路通过驱动控制电路与电机连接，电机与轮子连接，控制轮子转动，整体置于机械式导向上。The mechanical control circuit is connected to the motor through a drive control circuit, and the motor is connected to the wheel to control the rotation of the wheel and is integrally placed on the mechanical guide.
所述的机械式导向为异形轨道。The mechanical guide is a profiled track.
所述的异形轨道采用凹字形轨道，底座置于凹口上配合滑动；The shaped rail adopts a concave shaped rail, and the base is placed on the recess to cooperate with sliding;
所述的异形轨道采用三棱柱形轨道，底座置于棱柱上配合滑动；The shaped rail adopts a triangular prismatic track, and the base is placed on the prism to cooperate with sliding;
所述的异形轨道采用凸字形轨道，底座置于凸起上配合滑动；The shaped rail adopts a convex-shaped track, and the base is placed on the protrusion to cooperate with sliding;
电磁控制装置包含两个电机、电磁控制电路和电磁信号源装置；电磁控制电路分别通过电机驱动电路与两个电机相连，两个电机的输出端连接轮子。The electromagnetic control device comprises two motors, an electromagnetic control circuit and an electromagnetic signal source device; the electromagnetic control circuit is respectively connected to the two motors through a motor drive circuit, and the output ends of the two motors are connected to the wheels.
所述的电磁控制电路包括传感器、放大器、数据采集模块、数据处理模块和电磁控制单元。The electromagnetic control circuit includes a sensor, an amplifier, a data acquisition module, a data processing module, and an electromagnetic control unit.
所述的传感器与放大器连接，将感应到信号传递给放大器；放大器通过数据采集模块与数据处理模块连接，将放大后的信号传递给数据处理模块；数据处理模块通过电磁控制单元与驱动电路连接，电磁控制单元通过驱动电路分别控制电机A和电机B的速度，实现移动设施的移动和转弯。The sensor is connected to the amplifier to transmit the induced signal to the amplifier; the amplifier is connected to the data processing module through the data acquisition module, and the amplified signal is transmitted to the data processing module; the data processing module is connected to the driving circuit through the electromagnetic control unit, The electromagnetic control unit controls the speeds of the motor A and the motor B through the drive circuit to realize the movement and turning of the mobile facility.
所述的数据采集模块采用STM32F103采集电路，自带ADC数据采集功能。The data acquisition module adopts STM32F103 acquisition circuit and has its own ADC data acquisition function.
所述的电磁控制单元采用STM32407ZE芯片，STM32F103与STM32407ZE进行串口通信，数据采集模块采集到的数据变化实时通过数据处理模块发送给电磁控制单元，电磁控制单元发送相应的指令脉冲给电机，实现调速。The electromagnetic control unit adopts STM32407ZE chip, STM32F103 and STM32407ZE for serial communication, and the data change collected by the data acquisition module is sent to the electromagnetic control unit through the data processing module in real time, and the electromagnetic control unit sends corresponding command pulse to the motor to realize the speed regulation. .
所述的传感器采用七个电感直接设置在一块电路板上，采用中心对称方式，中间放置一个，两边各放置3个，使得电感的排布对称和稳定，外电感为斜电感的方式；在电磁杆的中间和末尾使用支架进行固定，能够避免车在行进的过程中由于电磁杆晃动造成的数据采集的不稳定。The sensor adopts seven inductors directly on a circuit board, adopts a central symmetrical mode, one in the middle, and three on each side, so that the arrangement of the inductors is symmetrical and stable, and the external inductance is a way of oblique inductance; The middle and the end of the rod are fixed by brackets, which can avoid the instability of data acquisition caused by the electromagnetic rod shaking during the running of the vehicle.
所述的电磁信号源装置包含导线、磁性材料和信号激励源；导线与信号激励源连接并缠绕在磁性材料上。The electromagnetic signal source device comprises a wire, a magnetic material and a signal excitation source; the wire is connected to the signal excitation source and wound on the magnetic material.
所述的信号激励源包括RC震荡电路、功率输出电路、恒流电磁控制单元及直流电源，信号激励源对导线施加固定频率的恒流交变电流，导线周围产生相同频率的交变磁场。The signal excitation source comprises an RC oscillation circuit, a power output circuit, a constant current electromagnetic control unit and a DC power source. The signal excitation source applies a fixed frequency constant current alternating current to the wire, and an alternating magnetic field of the same frequency is generated around the wire.
所述的充电装置的包括有线充电装置和无线充电装置；The charging device includes a wired charging device and a wireless charging device;
所述的无线充电装置包括储电模块、无线功率发射模块、稳压限流装置、供电电路模块和无线功率接收模块。The wireless charging device includes a power storage module, a wireless power transmitting module, a voltage limiting current limiting device, a power supply circuit module, and a wireless power receiving module.
所述的无线功率发射模块、无线功率接收模块、稳压限流装置和储电模块依次相连。所述的无线功率发射模块是将输入的电能通过磁感应耦合方式耦合到无线功率接收模块；进而通过稳压限流装置将无线功率接收模块接收的电能恒压输出给储电模块；并通过限流保护无线功率发射模块。The wireless power transmitting module, the wireless power receiving module, the voltage limiting current limiting device and the power storage module are sequentially connected. The wireless power transmitting module couples the input electrical energy to the wireless power receiving module through magnetic induction coupling; and further outputs the constant voltage of the wireless power receiving module to the power storage module through the voltage limiting current limiting device; Protect the wireless power transmitter module.
所述的储电模块是储存无线功率接收模块接收的电能，并为电磁控制电路和机械控制电路和电机驱动电路供电。The power storage module stores electrical energy received by the wireless power receiving module and supplies power to the electromagnetic control circuit and the mechanical control circuit and the motor drive circuit.
所述的多个无线功率发射模块设置在移动智能桩运行的特定轨迹上。The plurality of wireless power transmitting modules are disposed on a specific trajectory of the mobile intelligent pile operation.
所述的无线功率发射模块内部电路包含整流电路、逆变电路、高频滤波电路和谐振电路；所述的整流电路、逆变电路、高频滤波电路和谐振电路依次连 接；其中，谐振电路是由电感和高频谐振接收电容组成，高频谐振接收电容为4700uF。The internal circuit of the wireless power transmission module comprises a rectifier circuit, an inverter circuit, a high frequency filter circuit and a resonance circuit; the rectifier circuit, the inverter circuit, the high frequency filter circuit and the resonance circuit are sequentially connected; wherein the resonance circuit is It consists of an inductor and a high-frequency resonant receiving capacitor. The high-frequency resonant receiving capacitor is 4700uF.
所述的储电模块由多个超级电容并联构成；所述的超级电容选用48V/165F。The power storage module is composed of a plurality of super capacitors in parallel; the super capacitor is 48V/165F.
本发明的有益之处是：本发明解决了移动设施不能自动移动和人工上电的模式，并且在被盗时无法准确定位的问题，为后续全智能化打下基础。The invention has the advantages that the invention solves the problem that the mobile facility cannot automatically move and manually power on, and the problem that the mobile device cannot be accurately located when stolen, lays a foundation for the subsequent full intelligence.
附图说明DRAWINGS
图1是本发明的CAN控制装置结构示意图。BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a block diagram showing the structure of a CAN control device of the present invention.
图2是本发明的机械控制装置系统结构示意图。2 is a schematic view showing the structure of a mechanical control device system of the present invention.
图3是本发明的电磁控制装置系统结构示意图。3 is a schematic view showing the structure of an electromagnetic control device system of the present invention.
图4是本发明的传感器原理结构示意图。Fig. 4 is a schematic view showing the structure of the sensor of the present invention.
图5是本发明的无线充电装置结构示意图。Figure 5 is a block diagram showing the structure of a wireless charging device of the present invention.
图6是本发明的预设信息达成对运动轨迹的控制示意图。FIG. 6 is a schematic diagram of the control of the preset information of the present invention to achieve a motion trajectory.
具体实施方式detailed description
下面结合技术方案和附图对本发明的具体实施方式做进一步的说明。The specific embodiments of the present invention will be further described below in conjunction with the technical solutions and the accompanying drawings.
一种智能移动设施装置，包括至少2个移动智能桩，所述的移动智能桩之间通过CAN控制装置连接。An intelligent mobile facility device comprising at least two mobile intelligent piles, wherein the mobile intelligent piles are connected by a CAN control device.
所述的移动智能桩包括定位装置、轨迹控制装置、充电装置、立柱和底座。The mobile intelligent pile includes a positioning device, a trajectory control device, a charging device, a column and a base.
所述充电装置与轨迹控制装置连接，为其提供电能，所述的定位装置、轨迹控制装置和充电装置固定在立柱上，立柱固定在底座上，底座下部固定有轮子。The charging device is connected to the trajectory control device for supplying electric energy. The positioning device, the trajectory control device and the charging device are fixed on the column, the column is fixed on the base, and the lower part of the base is fixed with a wheel.
所述的定位装置包括定位电源模块、GPS模块，定位控制单元和GSM模块。The positioning device comprises a positioning power module, a GPS module, a positioning control unit and a GSM module.
所述的定位电源模块与GPS模块、定位控制单元和GSM模块连接，并为GPS模块、定位控制单元和GSM模块提供工作电压。定位控制单元分别与GPS模块和GSM模块连接；定位控制单元可通过GPS模块公开的接口，读取当前经纬度数据；定位控制单元通过串行通信接口，定期向GPS模块发送查询命令，并获取当前的经纬度位置信息、护栏编号及用户终端手机号发送给GSM模块；定位控制单元通过GSM模块公开的接口，将数据发送到GSM模块，通过GSM发送到远距离的无线接收终端。在位置状况改变时，自主发送发位置信息，实现对某物体位置的远距离监控。The positioning power module is connected with the GPS module, the positioning control unit and the GSM module, and provides working voltages for the GPS module, the positioning control unit and the GSM module. The positioning control unit is respectively connected with the GPS module and the GSM module; the positioning control unit can read the current latitude and longitude data through the interface exposed by the GPS module; the positioning control unit periodically sends a query command to the GPS module through the serial communication interface, and obtains the current The latitude and longitude position information, the guardrail number and the user terminal mobile phone number are sent to the GSM module; the positioning control unit transmits the data to the GSM module through the interface disclosed by the GSM module, and transmits the data to the remote wireless receiving terminal through GSM. When the positional condition changes, the position information is sent autonomously to realize remote monitoring of the position of an object.
所述的无线接收终端是指定的用户终端手机。The wireless receiving terminal is a designated user terminal mobile phone.
定位电源模块包括3.3V稳压模块和5V稳压模块；220伏交流电源经过5V稳压模块稳压后，输出5伏直流电供给GPS模块和GSM模块；同时5V直流电输入到3.3V稳压模块中，输出3.3V给定位控制单元供电。The positioning power module includes a 3.3V voltage regulator module and a 5V voltage regulator module; the 220V AC power supply is regulated by a 5V voltage regulator module, and the output 5V DC power is supplied to the GPS module and the GSM module; and the 5V DC power is input to the 3.3V voltage regulator module. The output 3.3V supplies power to the positioning control unit.
所述的定位控制单元采用STM32。The positioning control unit adopts STM32.
所述的GPS模块采用NEO-7N。The GPS module uses NEO-7N.
所述的GPS模块的发射端TXD和接收端RXD分别与定位控制单元的PB6和PB7脚相连，实现串行通信，可以将全球定位坐标发送到定位控制单元中。The transmitting end TXD and the receiving end RXD of the GPS module are respectively connected to the PB6 and PB7 pins of the positioning control unit to implement serial communication, and the global positioning coordinates can be sent to the positioning control unit.
所述的GSM模块采用SIM900A。The GSM module uses SIM900A.
GSM模块的发射端TXD和接收端RXD分别与定位控制单元的PB10和PB11脚相连，实现串行通信，定位控制单元将全球定位坐标发送到GSM模块中，通过GSM模块发送给指定的接收终端。The transmitting end TXD and the receiving end RXD of the GSM module are respectively connected with the PB10 and PB11 pins of the positioning control unit to realize serial communication, and the positioning control unit transmits the global positioning coordinates to the GSM module, and transmits the same to the designated receiving terminal through the GSM module.
GSM模块、GPS模块、3.3V稳压模块和5V稳压模块的地线连接在一起。The ground wires of the GSM module, GPS module, 3.3V voltage regulator module and 5V voltage regulator module are connected together.
所述的CAN控制装置包括ARM芯片、CAN控制电路、CAN通讯模块和供电电源电路。The CAN control device includes an ARM chip, a CAN control circuit, a CAN communication module, and a power supply circuit.
所述的ARM芯片通过CAN控制电路与CAN通讯模块连接，实现数据的相互交互传递；供电电源电路分别与ARM芯片、CAN控制电路和CAN通讯模块连接，并为其提供电能，所述的CAN控制装置固定在立柱上。The ARM chip is connected to the CAN communication module through the CAN control circuit to realize mutual interaction of data; the power supply circuit is respectively connected with the ARM chip, the CAN control circuit and the CAN communication module, and provides power thereto, the CAN control The device is fixed to the column.
所述的CAN通讯模块包括CAN控制器和CAN收发器，CAN控制器的接收引脚RX和发送引脚TX经由高速光耦接到CAN收发器的RXD和TXD端，实现CAN总线各节点的电气隔离。The CAN communication module includes a CAN controller and a CAN transceiver, and the receiving pin RX and the transmitting pin TX of the CAN controller are coupled to the RXD and TXD terminals of the CAN transceiver via high-speed optical coupling to realize electrical of each node of the CAN bus. isolation.
所说的高速光耦选用6N137。The high-speed optocoupler uses 6N137.
所述的CAN收发器选用TJA1040。The CAN transceiver uses TJA1040.
所述的CAN收发器的CAN-H和CAN-L之间连接120欧姆终端匹配电阻；a 120 ohm termination matching resistor is connected between the CAN-H and the CAN-L of the CAN transceiver;
所述的供电电源电路分为两级供电，220伏交流通过开关电源转为12V输出，第一级供电电路是直流12V通过DC/DC电源模块A输出直流9V，第二级供电电路为直流9V再通过DC/DC电源模块B输出直流5V，直流5V再通过电源芯片输出3.3V。The power supply circuit is divided into two levels of power supply, 220 volts AC is converted to 12V output through the switching power supply, the first stage power supply circuit is DC 12V through the DC/DC power supply module A output DC 9V, and the second stage power supply circuit is DC 9V Then through the DC / DC power module B output DC 5V, DC 5V and then output 3.3V through the power chip.
所述的DC/DC电源模块A选用D120909S；所述的电源芯片选用AMS1117-3.3；所述的DC/DC电源模块B选用MP2565。The DC/DC power module A selects D120909S; the power chip adopts AMS1117-3.3; and the DC/DC power module B selects MP2565.
所述的ARM芯片采用3.3V供电，220伏交流通过开关电源转为12V输出，12V通过DC/DC电源模块A D120909S输出DC9V,DC9V通过DC/DC电源模块B MP2565输出DC5V，DC5V再通过电源芯片AMS1117-3.3输出3.3V。The ARM chip is powered by 3.3V, 220V AC is converted to 12V output by switching power supply, 12V is output DC9V through DC/DC power supply module A D120909S, DC9V is output DC5V through DC/DC power supply module B MP2565, DC5V is passed through power chip The AMS1117-3.3 outputs 3.3V.
所述的ARM芯片中内置CAN总线协议控制器，外接总线驱动芯片和抗干扰电路，形成一个CAN总线智能测控节点。The ARM chip has a built-in CAN bus protocol controller, an external bus driver chip and an anti-interference circuit to form a CAN bus intelligent measurement and control node.
所述的CAN总线智能测控节点之间通过中继控制方式并联连接，实现多个移动智能桩之间的信号传输。The CAN bus intelligent measurement and control nodes are connected in parallel by a relay control mode to realize signal transmission between multiple mobile intelligent piles.
所述的轨迹控制装置包括机械控制装置和电磁控制装置。The trajectory control device includes a mechanical control device and an electromagnetic control device.
机械控制装置包含电机、机械控制电路和机械式导向。Mechanical controls include motors, mechanical control circuits, and mechanical guidance.
所述的机械控制电路通过驱动控制电路与电机连接，电机与轮子连接，控制轮子转动，整体置于机械式导向上。The mechanical control circuit is connected to the motor through a drive control circuit, and the motor is connected to the wheel to control the rotation of the wheel and is integrally placed on the mechanical guide.
所述的机械式导向采用异形轨道。The mechanical guide adopts a profiled track.
所述的异形轨道采用凹字形轨道，底座置于凹口上配合滑动；The shaped rail adopts a concave shaped rail, and the base is placed on the recess to cooperate with sliding;
所述的异形轨道采用三棱柱形轨道，底座置于棱柱上配合滑动；The shaped rail adopts a triangular prismatic track, and the base is placed on the prism to cooperate with sliding;
所述的异形轨道采用凸字形轨道，底座置于凸起上配合滑动；The shaped rail adopts a convex-shaped track, and the base is placed on the protrusion to cooperate with sliding;
电磁控制装置包含两个电机、电磁控制电路和电磁信号源装置；电磁控制电路分别通过电机驱动电路与两个电机相连，两个电机的输出端连接轮子。The electromagnetic control device comprises two motors, an electromagnetic control circuit and an electromagnetic signal source device; the electromagnetic control circuit is respectively connected to the two motors through a motor drive circuit, and the output ends of the two motors are connected to the wheels.
所述的电磁控制电路包括传感器、放大器、数据采集模块、数据处理模块和电磁控制单元。The electromagnetic control circuit includes a sensor, an amplifier, a data acquisition module, a data processing module, and an electromagnetic control unit.
所述的传感器与放大器连接，将感应到信号传递给放大器；放大器通过数据采集模块与数据处理模块连接，将放大后的信号传递给数据处理模块；数据处理模块通过电磁控制单元与驱动电路连接，电磁控制单元通过驱动电路分别控制电机A和电机B的速度，实现移动设施的移动和转弯。The sensor is connected to the amplifier to transmit the induced signal to the amplifier; the amplifier is connected to the data processing module through the data acquisition module, and the amplified signal is transmitted to the data processing module; the data processing module is connected to the driving circuit through the electromagnetic control unit, The electromagnetic control unit controls the speeds of the motor A and the motor B through the drive circuit to realize the movement and turning of the mobile facility.
所述的数据采集模块采用STM32F103采集电路，自带ADC数据采集功能。The data acquisition module adopts STM32F103 acquisition circuit and has its own ADC data acquisition function.
所述的电磁控制单元采用STM32407ZE芯片，STM32F103与STM32407ZE进行串口通信，数据采集模块采集到的数据变化实时通过数据处理模块发送给电磁控制单元，电磁控制单元发送相应的指令脉冲给电机，实现调速。The electromagnetic control unit adopts STM32407ZE chip, STM32F103 and STM32407ZE for serial communication, and the data change collected by the data acquisition module is sent to the electromagnetic control unit through the data processing module in real time, and the electromagnetic control unit sends corresponding command pulse to the motor to realize the speed regulation. .
所述的传感器采用七个电感直接设置在一块电路板上，采用中心对称方式，中间放置一个，两边各放置3个，使得电感的排布对称和稳定，外电感为斜电感的方式；在电磁杆的中间和末尾使用支架进行固定，能够避免车在行进的过程中由于电磁杆晃动造成的数据采集的不稳定。The sensor adopts seven inductors directly on a circuit board, adopts a central symmetrical mode, one in the middle, and three on each side, so that the arrangement of the inductors is symmetrical and stable, and the external inductance is a way of oblique inductance; The middle and the end of the rod are fixed by brackets, which can avoid the instability of data acquisition caused by the electromagnetic rod shaking during the running of the vehicle.
所述的电磁信号源装置包含导线、磁性材料和信号激励源；导线与信号激励源连接并缠绕在磁性材料上。The electromagnetic signal source device comprises a wire, a magnetic material and a signal excitation source; the wire is connected to the signal excitation source and wound on the magnetic material.
所述的信号激励源包括RC震荡电路、功率输出电路、恒流电磁控制单元及直流电源，信号激励源对导线施加固定频率的恒流交变电流，导线周围产生相同频率的交变磁场。The signal excitation source comprises an RC oscillation circuit, a power output circuit, a constant current electromagnetic control unit and a DC power source. The signal excitation source applies a fixed frequency constant current alternating current to the wire, and an alternating magnetic field of the same frequency is generated around the wire.
所述的充电装置的包括有线充电装置和无线充电装置；The charging device includes a wired charging device and a wireless charging device;
所述的无线充电装置包括储电模块、无线功率发射模块、稳压限流装置、供电电路模块和无线功率接收模块。The wireless charging device includes a power storage module, a wireless power transmitting module, a voltage limiting current limiting device, a power supply circuit module, and a wireless power receiving module.
所述的无线功率发射模块、无线功率接收模块、稳压限流装置和储电模块依次相连。所述的无线功率发射模块是将输入的电能通过磁感应耦合方式耦合到无线功率接收模块；进而通过稳压限流装置将无线功率接收模块接收的电能恒压输出给储电模块；并通过限流保护无线功率发射模块。The wireless power transmitting module, the wireless power receiving module, the voltage limiting current limiting device and the power storage module are sequentially connected. The wireless power transmitting module couples the input electrical energy to the wireless power receiving module through magnetic induction coupling; and further outputs the constant voltage of the wireless power receiving module to the power storage module through the voltage limiting current limiting device; Protect the wireless power transmitter module.
所述的储电模块是储存无线功率接收模块接收的电能，并为电磁控制电路和机械控制电路和电机驱动电路供电。The power storage module stores electrical energy received by the wireless power receiving module and supplies power to the electromagnetic control circuit and the mechanical control circuit and the motor drive circuit.
所述的多个无线功率发射模块设置在移动智能桩运行的特定轨迹上。The plurality of wireless power transmitting modules are disposed on a specific trajectory of the mobile intelligent pile operation.
所述的无线功率发射模块内部电路包含整流电路、逆变电路、高频滤波电路和谐振电路；所述的整流电路、逆变电路、高频滤波电路和谐振电路依次连 接；其中，谐振电路是由电感和高频谐振接收电容组成，高频谐振接收电容为4700uF。The internal circuit of the wireless power transmission module comprises a rectifier circuit, an inverter circuit, a high frequency filter circuit and a resonance circuit; the rectifier circuit, the inverter circuit, the high frequency filter circuit and the resonance circuit are sequentially connected; wherein the resonance circuit is It consists of an inductor and a high-frequency resonant receiving capacitor. The high-frequency resonant receiving capacitor is 4700uF.
所述的储电模块由多个超级电容并联构成；所述的超级电容选用48V/165F。The power storage module is composed of a plurality of super capacitors in parallel; the super capacitor is 48V/165F.

Claims (10)

  1. 一种智能移动设施装置，其特征在于，所述的装置包括至少2个移动智能桩，所述的移动智能桩之间通过CAN控制装置连接；An intelligent mobile facility device, characterized in that the device comprises at least two mobile intelligent piles, and the mobile intelligent piles are connected by a CAN control device;
    所述的移动智能桩包括定位装置、轨迹控制装置、充电装置、立柱和底座；The mobile intelligent pile includes a positioning device, a trajectory control device, a charging device, a column and a base;
    所述充电装置与轨迹控制装置连接，为其提供电能，所述的定位装置、轨迹控制装置和充电装置固定在立柱上，立柱固定在底座上，底座下部固定有轮子；The charging device is connected to the trajectory control device for supplying electric energy, the positioning device, the trajectory control device and the charging device are fixed on the column, the column is fixed on the base, and the wheel is fixed on the lower part of the base;
    所述的定位装置包括定位电源模块、GPS模块，定位控制单元和GSM模块；The positioning device comprises a positioning power module, a GPS module, a positioning control unit and a GSM module;
    所述的定位电源模块与GPS模块、定位控制单元和GSM模块连接，并为GPS模块、定位控制单元和GSM模块提供工作电压；定位控制单元分别与GPS模块和GSM模块连接；定位控制单元可通过GPS模块公开的接口，读取当前经纬度数据；定位控制单元通过串行通信接口，定期向GPS模块发送查询命令，并获取当前的经纬度位置信息、护栏编号及用户终端手机号发送给GSM模块；定位控制单元通过GSM模块公开的接口，将数据发送到GSM模块，通过GSM发送到远距离的无线接收终端；在位置状况改变时，自主发送发位置信息，实现对某物体位置的远距离监控；The positioning power module is connected with the GPS module, the positioning control unit and the GSM module, and provides working voltages for the GPS module, the positioning control unit and the GSM module; the positioning control unit is respectively connected with the GPS module and the GSM module; the positioning control unit can pass The interface disclosed by the GPS module reads the current latitude and longitude data; the positioning control unit periodically sends a query command to the GPS module through the serial communication interface, and obtains the current latitude and longitude position information, the guardrail number and the mobile phone number of the user terminal, and sends the GSM module to the GSM module; The control unit sends the data to the GSM module through the interface disclosed by the GSM module, and transmits the data to the remote wireless receiving terminal through GSM; when the positional condition changes, the position information is sent autonomously to realize remote monitoring of the position of an object;
    所述的无线接收终端是指定的用户终端手机；The wireless receiving terminal is a designated user terminal mobile phone;
    定位电源模块包括3.3V稳压模块和5V稳压模块；220伏交流电源经过5V稳压模块稳压后，输出5伏直流电供给GPS模块和GSM模块；同时5V直流电输入到3.3V稳压模块中，输出3.3V给定位控制单元供电；The positioning power module includes a 3.3V voltage regulator module and a 5V voltage regulator module; the 220V AC power supply is regulated by a 5V voltage regulator module, and the output 5V DC power is supplied to the GPS module and the GSM module; and the 5V DC power is input to the 3.3V voltage regulator module. , output 3.3V to supply power to the positioning control unit;
    GSM模块、GPS模块、3.3V稳压模块和5V稳压模块的地线连接在一起；The ground lines of the GSM module, GPS module, 3.3V voltage regulator module and 5V voltage regulator module are connected together;
    所述的CAN控制装置包括ARM芯片、CAN控制电路、CAN通讯模块和供电电源电路；The CAN control device comprises an ARM chip, a CAN control circuit, a CAN communication module and a power supply circuit;
    所述的ARM芯片通过CAN控制电路与CAN通讯模块连接，实现数据的相互交互传递；供电电源电路分别与ARM芯片、CAN控制电路和CAN通讯模块连接，并为其提供电能，所述的CAN控制装置固定在立柱上；The ARM chip is connected to the CAN communication module through the CAN control circuit to realize mutual interaction of data; the power supply circuit is respectively connected with the ARM chip, the CAN control circuit and the CAN communication module, and provides power thereto, the CAN control The device is fixed on the column;
    所述的CAN通讯模块包括CAN控制器和CAN收发器，CAN控制器的接收引脚RX和发送引脚TX经由高速光耦接到CAN收发器的RXD和TXD端，实现CAN总线各节点的电气隔离；The CAN communication module includes a CAN controller and a CAN transceiver, and the receiving pin RX and the transmitting pin TX of the CAN controller are coupled to the RXD and TXD terminals of the CAN transceiver via high-speed optical coupling to realize electrical of each node of the CAN bus. isolation;
    所述的供电电源电路分为两级供电，220伏交流通过开关电源转为12V输出，第一级供电电路是直流12V通过DC/DC电源模块A输出直流9V，第二级供电电路为直流9V再通过DC/DC电源模块B输出直流5V，直流5V再通过电源芯片输出3.3V；The power supply circuit is divided into two levels of power supply, 220 volts AC is converted to 12V output through the switching power supply, the first stage power supply circuit is DC 12V through the DC/DC power supply module A output DC 9V, and the second stage power supply circuit is DC 9V Then through the DC / DC power module B output DC 5V, DC 5V and then output 3.3V through the power chip;
    所述的ARM芯片采用3.3V供电，220伏交流通过开关电源转为12V输出，12V通过DC/DC电源模块A D120909S输出DC9V,DC9V通过DC/DC电源模块B MP2565输出DC5V，DC5V再通过电源芯片AMS1117-3.3输出3.3V；The ARM chip is powered by 3.3V, 220V AC is converted to 12V output by switching power supply, 12V is output DC9V through DC/DC power supply module A D120909S, DC9V is output DC5V through DC/DC power supply module B MP2565, DC5V is passed through power chip AMS1117-3.3 output 3.3V;
    所述的ARM芯片中内置CAN总线协议控制器，外接总线驱动芯片和抗干扰电路，形成一个CAN总线智能测控节点；The ARM chip has a built-in CAN bus protocol controller, an external bus driver chip and an anti-interference circuit, forming a CAN bus intelligent measurement and control node;
    所述的CAN总线智能测控节点之间通过中继控制方式并联连接，实现多个移动智能桩之间的信号传输；The CAN bus intelligent measurement and control nodes are connected in parallel by a relay control mode to realize signal transmission between a plurality of mobile intelligent piles;
    所述的轨迹控制装置包括机械控制装置和电磁控制装置；The trajectory control device includes a mechanical control device and an electromagnetic control device;
    机械控制装置包含电机、机械控制电路和机械式导向；The mechanical control device comprises a motor, a mechanical control circuit and a mechanical guide;
    所述的机械控制电路通过驱动控制电路与电机连接，电机与轮子连接，控制轮子转动，整体置于机械式导向上；The mechanical control circuit is connected to the motor through a driving control circuit, and the motor is connected with the wheel to control the rotation of the wheel and is integrally placed on the mechanical guide;
    所述的机械式导向采用异形轨道；The mechanical guide adopts a special-shaped track;
    所述的异形轨道采用凹字形轨道，底座置于凹口上配合滑动；The shaped rail adopts a concave shaped rail, and the base is placed on the recess to cooperate with sliding;
    所述的异形轨道采用三棱柱形轨道，底座置于棱柱上配合滑动；The shaped rail adopts a triangular prismatic track, and the base is placed on the prism to cooperate with sliding;
    所述的异形轨道采用凸字形轨道，底座置于凸起上配合滑动；The shaped rail adopts a convex-shaped track, and the base is placed on the protrusion to cooperate with sliding;
    电磁控制装置包含两个电机、电磁控制电路和电磁信号源装置；电磁控制电路分别通过电机驱动电路与两个电机相连，两个电机的输出端连接轮子；The electromagnetic control device comprises two motors, an electromagnetic control circuit and an electromagnetic signal source device; the electromagnetic control circuit is respectively connected to the two motors through a motor drive circuit, and the output ends of the two motors are connected to the wheels;
    所述的电磁控制电路包括传感器、放大器、数据采集模块、数据处理模块和电磁控制单元；The electromagnetic control circuit comprises a sensor, an amplifier, a data acquisition module, a data processing module and an electromagnetic control unit;
    所述的传感器与放大器连接，将感应到信号传递给放大器；放大器通过数据采集模块与数据处理模块连接，将放大后的信号传递给数据处理模块；数据处理模块通过电磁控制单元与驱动电路连接，电磁控制单元通过驱动电路分别控制电机A和电机B的速度，实现移动设施的移动和转弯；The sensor is connected to the amplifier to transmit the induced signal to the amplifier; the amplifier is connected to the data processing module through the data acquisition module, and the amplified signal is transmitted to the data processing module; the data processing module is connected to the driving circuit through the electromagnetic control unit, The electromagnetic control unit controls the speeds of the motor A and the motor B through the driving circuit to realize the movement and turning of the mobile facility;
    所述的数据采集模块采用STM32F103采集电路，自带ADC数据采集功能；The data acquisition module adopts STM32F103 acquisition circuit and has its own ADC data acquisition function;
    所述的电磁控制单元采用STM32407ZE芯片，STM32F103与STM32407ZE进行串口通信，数据采集模块采集到的数据变化实时通过数据处理模块发送给电磁控制单元，电磁控制单元发送相应的指令脉冲给电机，实现调速；The electromagnetic control unit adopts STM32407ZE chip, STM32F103 and STM32407ZE for serial communication, and the data change collected by the data acquisition module is sent to the electromagnetic control unit through the data processing module in real time, and the electromagnetic control unit sends corresponding command pulse to the motor to realize the speed regulation. ;
    所述的电磁信号源装置包含导线、磁性材料和信号激励源；导线与信号激励源连接并缠绕在磁性材料上；The electromagnetic signal source device comprises a wire, a magnetic material and a signal excitation source; the wire is connected to the signal excitation source and wound on the magnetic material;
    所述的信号激励源包括RC震荡电路、功率输出电路、恒流电磁控制单元及直流电源，信号激励源对导线施加固定频率的恒流交变电流，导线周围产生相同频率的交变磁场；The signal excitation source comprises an RC oscillation circuit, a power output circuit, a constant current electromagnetic control unit and a DC power source, wherein the signal excitation source applies a fixed frequency constant current alternating current to the wire, and an alternating magnetic field of the same frequency is generated around the wire;
    所述的充电装置的包括有线充电装置和无线充电装置；The charging device includes a wired charging device and a wireless charging device;
    所述的无线充电装置包括储电模块、无线功率发射模块、稳压限流装置、供电电路模块和无线功率接收模块；The wireless charging device includes a power storage module, a wireless power transmitting module, a voltage limiting current limiting device, a power supply circuit module, and a wireless power receiving module;
    所述的无线功率发射模块、无线功率接收模块、稳压限流装置和储电模块依次相连；所述的无线功率发射模块是将输入的电能通过磁感应耦合方式耦合到无线功率接收模块；进而通过稳压限流装置将无线功率接收模块接收的电能恒压输出给储电模块；并通过限流保护无线功率发射模块；The wireless power transmitting module, the wireless power receiving module, the voltage limiting current limiting device and the power storage module are sequentially connected; the wireless power transmitting module couples the input electrical energy to the wireless power receiving module through magnetic induction coupling; The voltage limiting current limiting device outputs a constant voltage of the power received by the wireless power receiving module to the power storage module; and protects the wireless power transmitting module by current limiting;
    所述的储电模块是储存无线功率接收模块接收的电能，并为电磁控制电路和机械控制电路和电机驱动电路供电；所述的储电模块由多个超级电容并联构成；The power storage module stores power received by the wireless power receiving module, and supplies power to the electromagnetic control circuit and the mechanical control circuit and the motor driving circuit; the power storage module is composed of a plurality of super capacitors connected in parallel;
    所述的多个无线功率发射模块设置在移动智能桩运行的特定轨迹上；The plurality of wireless power transmitting modules are disposed on a specific trajectory of the mobile intelligent pile operation;
    所述的无线功率发射模块内部电路包含整流电路、逆变电路、高频滤波电路和谐振电路；所述的整流电路、逆变电路、高频滤波电路和谐振电路依次连接。The internal circuit of the wireless power transmission module comprises a rectifier circuit, an inverter circuit, a high frequency filter circuit and a resonance circuit; the rectifier circuit, the inverter circuit, the high frequency filter circuit and the resonance circuit are sequentially connected.
  2. 如权利要求1所述的一种智能移动设施装置，其特征在于，所述的定位控制单元采用STM32。An intelligent mobile facility apparatus according to claim 1, wherein said positioning control unit employs STM32.
  3. 如权利要求1或2所述的一种智能移动设施装置，其特征在于，所述的DC/DC电源模块A选用D120909S；所述的电源芯片选用AMS1117-3.3；所述的DC/DC电源模块B选用MP2565。The intelligent mobile device device according to claim 1 or 2, wherein said DC/DC power supply module A selects D120909S; said power supply chip selects AMS1117-3.3; said DC/DC power supply module B selects MP2565.
  4. 如权利要求1或2所述的一种智能移动设施装置，其特征在于，所述的传感器采用七个电感直接设置在一块电路板上，采用中心对称方式，中间放置一个，两边各放置3个，使得电感的排布对称和稳定，外电感为斜电感的方式。The intelligent mobile device device according to claim 1 or 2, wherein the sensor is directly disposed on a circuit board by using seven inductors, and is disposed in a central symmetry manner, one in the middle, and three on each side. The arrangement of the inductor is symmetrical and stable, and the external inductance is a way of oblique inductance.
  5. 如权利要求3所述的一种智能移动设施装置，其特征在于，所述的传感器采用七个电感直接设置在一块电路板上，采用中心对称方式，中间放置一个，两边各放置3个，使得电感的排布对称和稳定，外电感为斜电感的方式。The intelligent mobile device device according to claim 3, wherein the sensor is directly disposed on a circuit board by using seven inductors, and is disposed in a center symmetrical manner, one in the middle, and three on each side, so that The arrangement of the inductors is symmetrical and stable, and the external inductance is a way of oblique inductance.
  6. 如权利要求4所述的一种智能移动设施装置，其特征在于，所述的传感器采用七个电感直接设置在一块电路板上，采用中心对称方式，中间放置一个，两边各放置3个，使得电感的排布对称和稳定，外电感为斜电感的方式。An intelligent mobile facility apparatus according to claim 4, wherein said sensor is directly disposed on a circuit board by using seven inductors, and is disposed in a center symmetrical manner, one in the middle, and three on each side, so that The arrangement of the inductors is symmetrical and stable, and the external inductance is a way of oblique inductance.
  7. 如权利要求1或2所述的一种智能移动设施装置，其特征在于，所述的谐振电路是由电感和高频谐振接收电容组成，高频谐振接收电容为4700uF，所述的超级电容选用48V/165F。The intelligent mobile device device according to claim 1 or 2, wherein the resonant circuit is composed of an inductor and a high frequency resonant receiving capacitor, and the high frequency resonant receiving capacitor is 4700 uF, and the super capacitor is selected. 48V/165F.
  8. 如权利要求1或2所述的一种智能移动设施装置，其特征在于，所说的高速光耦选用6N137；所述的CAN收发器选用TJA1040；所述的CAN收发器的CAN-H和CAN-L之间连接120欧姆终端匹配电阻。The intelligent mobile device device according to claim 1 or 2, wherein said high speed optocoupler selects 6N137; said CAN transceiver selects TJA1040; said CAN transceiver CAN-H and CAN Connect a 120 ohm termination matching resistor between -L.
  9. 如权利要求2所述的一种智能移动设施装置，其特征在于，所述的GPS模块采用NEO-7N；所述的GPS模块的发射端TXD和接收端RXD分别与定位控制单元的PB6和PB7脚相连，实现串行通信，可以将全球定位坐标发送到定位控制单元中；所述的GSM模块采用SIM900A；GSM模块的发射端TXD和接收端RXD分别与定位控制单元的PB10和PB11脚相连，实现串行通信，定位控制单元将全球定位坐标发送到GSM模块中，通过GSM模块发送给指定的接收终端。The intelligent mobile facility device according to claim 2, wherein the GPS module adopts NEO-7N; the transmitting end TXD and the receiving end RXD of the GPS module and the PB6 and PB7 of the positioning control unit respectively The feet are connected to realize serial communication, and the global positioning coordinates can be sent to the positioning control unit; the GSM module adopts SIM900A; the transmitting end TXD and the receiving end RXD of the GSM module are respectively connected with the PB10 and PB11 pins of the positioning control unit, To achieve serial communication, the positioning control unit sends the global positioning coordinates to the GSM module and sends them to the designated receiving terminal through the GSM module.
  10. 如权利要求5、6或9所述的一种智能移动设施装置，其特征在于，所说的高速光耦选用6N137；所述的CAN收发器选用TJA1040；所述的CAN收发器的CAN-H和CAN-L之间连接120欧姆终端匹配电阻。The intelligent mobile device device according to claim 5, 6 or 9, wherein said high speed optocoupler selects 6N137; said CAN transceiver selects TJA1040; said CAN transceiver of CAN transceiver Connect a 120 ohm termination matching resistor to CAN-L.
PCT/CN2018/089925 2018-05-09 2018-06-05 Intelligent mobile facility device WO2019214003A1 (en)

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