WO2018192092A1

WO2018192092A1 - Life-detecting intelligent miniature vehicle

Info

Publication number: WO2018192092A1
Application number: PCT/CN2017/090278
Authority: WO
Inventors: 高爽; 张超溢; 王洪鑫; 陶洪峰; 杜鑫; 沈鼎勋
Original assignee: 江南大学
Priority date: 2017-04-18
Filing date: 2017-06-27
Publication date: 2018-10-25
Also published as: CN107045348A

Abstract

A life-detecting intelligent miniature vehicle, which relates to the field of disaster rescue equipment, comprising: a single-chip microcomputer module, a motor driving module, an independent power supply module, an infrared obstacle avoidance module, a human body sensing module, a Global Positioning System (GPS) module and a Global System for Mobile communications (GSM) module; the independent power module steps down a dry battery power supply to obtain a pre-determined voltage and provides power to other modules of the life-detecting intelligent miniature vehicle; the infrared obstacle avoidance module acquires road obstacle information, and converts the road obstacle information into an electrical signal; the single-chip microcomputer module controls the motor driving module to avoid obstacles during driving; the human body sensing module senses a change in the infrared temperature of a human body and generates an electrical signal; the GSM module sends the position of a person to a mobile phone terminal of a user. The life-detecting intelligent miniature vehicle solves the problems wherein rescue is difficult at a disaster ruin site, efficiency is low, search and rescue personnel may not easily enter said side, and the position of an injured person is difficult to determine; the life-detecting intelligent miniature vehicle achieves real-time monitoring of an environment in which a vehicle body is located, and using the intelligent miniature vehicle to enter narrow and complex environments improves rescue efficiency.

Description

Name of the invention: Life detection smart car

Technical field

[0001] The present invention relates to the field of disaster rescue equipment, and particularly relates to a life detecting intelligent car using a diffuse reflection infrared sensor, a pyroelectric infrared sensor, a single chip microcomputer, a GPS and a GSM module.

Background technique

[0002] The occurrence of natural disasters and man-made disasters often has devastating destructive power. The collapse of houses and the breakage of bridges have brought great challenges to rescue work. Due to the fragility of life, it is particularly important to take accurate rescues during the first day after a disaster. The harsh environment often hampers the development of relief work and even threatens the lives of rescuers. By using a smart car with life detection function, entering a small and complex environment and searching for survivors will greatly improve the rescue efficiency, while avoiding the environmental damage may cause unnecessary harm to the rescuer.

[0003] The single-chip microcomputer module has the advantages of small size, light weight, low price, low power consumption, flexible expansion and convenient use. It is widely used in instrumentation, and can realize various measurement physical quantities by integrating various types of sensors. Information conversion and control is an integral part of automation.

[0004] The GSM module is a terminal device of a very important GSM mobile communication system in addition to GSM mobile phones.

It is a kind of data terminal equipment combining traditional modem and GSM wireless mobile communication system. Since the GSM module is not affected by geographical and line, based on this module, the GSM network can be used as a wireless transmission network to generate various prospects. Extremely optimistic of all types of applications. The GSM short message function adopted by the invention can obtain the positioning information of the survivor, and has broad application prospects.

[0005] Today, when human beings enter the information generation, all social activities are centered on information acquisition and information conversion. As an important means of information acquisition and information conversion, sensors are the front-end position of information science. One of the basic technologies for realizing informationization.

[0006] The life detection smart car considers the complexity of the application environment, and will configure various types of sensors and communication modules to monitor the environment of the vehicle body and obtain effective information. The same body is light, small in size, flexible in movement, low in energy consumption, and can be used in long environments in complex environments. It can play a good role in crisis rescue detection or daily environmental monitoring and monitoring, and solve the problem of limited human activities. technical problem

[0007] In order to improve the efficiency of disaster ruin site survey and the accuracy of locating casualties, the present invention provides a simple and efficient life detecting smart car.

Problem solution

Technical solution

[0008] The present invention is implemented by the following technical solutions: A life detection smart car, comprising: a single chip module, a motor drive module, an independent power supply module, an infrared obstacle avoidance module, a human body sensing module, a GPS module and a GSM module. The independent power module steps down the dry battery power supply to 7.2 volts to obtain standard 3.3 volt and 5 volt stable voltages, and provides power for other modules; the infrared obstacle avoidance module collects roadblock information and converts it into an electrical signal, and the infrared obstacle avoidance The output of the module is connected with the single chip module, and the single chip module controls the motor drive module to avoid the obstacle during driving; the human body sensing module senses the change of the infrared temperature of the human body and generates an electrical signal, and the output of the module is connected to the single chip module; the GPS module Connecting the single-chip module; the GSM module is connected with the single-chip module, and the location information of the person is sent to the mobile phone end of the user;

[0009] The single-chip module adopts STM32F103R8T6 chip, the circuit crystal oscillator is connected with two 20pf capacitors grounded, and then a 1ΜΩ resistor is connected to the PD0-OSC_IN and PD1 pins of the single-chip module to form an oscillation circuit, and the single-chip module adopts SWD debugging. Mode, where SWD's 4 pin is connected to 3.3v voltage, 1 pin is grounded, 2 pin SWCLK and 3 pin SWDIO are connected to PA14 port and PA13 port of MCU module respectively, reset circuit is made by Ο.ΐμί grounding capacitor and lOkQ is connected to 3.3ν voltage resistor Connect the MRST module to form a single-chip module;

[0010] The motor drive module is composed of two L293D chips and four motors, and the first L293D chip is responsible for driving the left front and right front motors, wherein the left front motor enable end 1 is connected to the PB1 port of the single chip module, and the left front motor The forward 2 pin and the reverse end 7 are respectively connected to the ΡΒ2 port and the PB12 port of the single chip module, the right front motor enable end 9 pin is connected to the PB15 port of the single chip module, and the forward end 10 pin and the backward end 15 pin of the right front motor are respectively connected to the single chip microcomputer. The PB14 and PB13 ports of the module, the second L293D chip is responsible for driving the left rear and right rear motors, wherein the left rear motor enable terminal 1 is connected to the PA11 port of the single-chip module, and the left rear motor has the forward end 2 and the reverse end 7 The feet are respectively connected to the PD2 port and the PC12 port of the single-chip module, the right rear motor enable end 9 is connected to the ΡΑ8 port of the single-chip module, and the forward end 10 and the backward end 15 of the right rear motor are respectively connected to the ΡΒ3 port and the ΡΒ4 port of the single-chip module. 2 L293D chips are grounded at 4, 5, 12, 13 feet, 16 feet are connected to the power supply voltage 5ν, and a Ο.ΐμΐ filter capacitor is added next to the power supply. The 8 pins of the two L293D chips are connected to each other. Terminal voltage 7.2v, 3, 6, 11, 14 feet as the output, the input terminal connected with the MCU module is connected to the 5v voltage and uses the optocoupler to isolate the input and output signals, and also protects the 10 ports of the MCU module. Prevent it from being burned out;

[0011] The independent power supply module performs a step-down process by the power conversion LM2576 module, reduces the power supply voltage 7.2v to the required voltage of 5v and stabilizes it, and then reduces the power supply voltage to the required voltage of 3.3v through the ASM1117 module and makes it Stable

[0012] The infrared obstacle avoidance module is composed of two identical infrared obstacle avoidance modules on the left and right sides, and one of the two infrared obstacle avoidance modules is connected to the 5v voltage, the three feet are grounded, and the output end of the left infrared obstacle avoidance module is 2 feet. Connect the single-chip module PB8 port, the output end of the right infrared obstacle avoidance module is connected to the PB7 port of the single-chip module;

[0013] The human body sensing module adopts the HC_SR501 module, wherein the 1 pin is connected to the 5v voltage, and the 2 pin is used as the detection output terminal to connect the MCU module PB9 port, and the 3 pin is grounded;

[0014] The GPS module adopts NEO-6M UBLOX module, wherein 4 feet are connected to 3.3v voltage, 3 feet are grounded, 1 pin is used as serial port 1 data transmitting end and single chip module PA2 port is connected, and 2 feet is used as serial port 1 data receiving. The end is connected to the PA3 port of the single chip module;

[0015] The GSM module uses a SIM800 module, wherein 4 feet are connected to 5v voltage, 3 feet are grounded, 2 feet are used as serial port 2 data receiving end and MCU module PB11 port is connected, 1 pin is used as serial port 2 data transmitting end and single chip module PB 10 is connected.

Advantageous effects of the invention

Beneficial effect

[0016] The beneficial effects of the present invention are:

[0017] 1) A life detecting intelligent car provided by an embodiment of the present invention adopts an infrared obstacle avoidance module to avoid ruin obstacles and realize a free walking function at a disaster relief site.

[0018] 2) A life detecting intelligent car provided by the embodiment of the invention adopts a human body sensing module to realize that the living body is stopped immediately, and the signal is sent to the single chip module, and the field data is collected.

[0019] 3) A life detecting intelligent car provided by the embodiment of the present invention is connected with a single chip computer module by using a GPS and a GSM module, and automatically transmits specific positioning information of the trapped person to the mobile phone, thereby improving the rescue rate and the degree of intelligence.

[0020] 4) A life detection smart car provided by an embodiment of the present invention adopts a sub-module design method, and wiring Uniformity makes the entire unit easy to disassemble and assemble, and can extend other functions such as video transmission, handset control, and more.

Brief description of the drawing

DRAWINGS

[0021] FIG. 1 is a structural block diagram of a life detection smart car according to an exemplary embodiment of the present invention;

2 is a schematic diagram of an overall circuit of a life detecting smart car according to an exemplary embodiment of the present invention;

3 is a schematic diagram of a single chip module according to an exemplary embodiment of the present invention;

4 is a schematic diagram of a motor drive module according to an exemplary embodiment of the present invention;

FIG. 5 is a schematic diagram of an independent power module according to an exemplary embodiment of the present invention; FIG.

FIG. 6 is a schematic diagram of an infrared obstacle avoidance module according to an exemplary embodiment of the present invention; FIG.

FIG. 7 is a schematic diagram of a human body sensing module according to an exemplary embodiment of the present invention; FIG.

FIG. 8 is a schematic diagram of a GPS module according to an exemplary embodiment of the present invention; FIG.

FIG. 9 is a schematic diagram of a GSM module according to an exemplary embodiment of the present invention.

Embodiments of the invention

[0030] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0031] As shown in FIG. 1 and FIG. 2, the life detection smart car provided by the embodiment of the invention includes: a single chip module, a motor drive module, an independent power module, an infrared obstacle avoidance module, a human body sensing module, a GPS module and a GS M module. .

[0032] The independent power module performs a step-down process on the dry battery power supply of 7.2 volts to obtain a standard 3.3 volt and 5 volt stable voltage to provide power for other modules; the infrared obstacle avoidance module collects roadblock information and converts it into an electrical signal, and infrared escaping The output of the barrier module is connected with the single chip module, and the single chip module controls the motor drive module to avoid obstacles during driving; the human body sensing module senses the change of the infrared temperature of the human body and generates an electrical signal, and the output of the module is connected to the single chip module;

[0033] The GPS module is connected to the single chip module.

[0034] The GSM module is connected with the single-chip module, and sends the location information of the person to the mobile phone end of the user, thereby improving the efficiency of the disaster ruin site investigation and the accuracy of locating the casualty.

[0035] As shown in FIG. 3, the single chip module adopts STM32F103R8T6 chip, and its circuit crystal oscillator is connected with two 20pf The capacitor is connected to the PD0-OSC_IN and PD1 pins of the MCU module by a 1 Ω resistor to form an oscillating circuit, wherein the crystal frequency is 11.0592 MHz. When the DC power supply required for operation is added to the MCU module, the oscillator begins to oscillate. The purpose of the oscillating circuit is to provide the required chirp pulse signal for the operation of the MCU module.

[0036] The MCU module adopts the SWD debugging mode, wherein the SWD 4 pin is connected to the 3.3v power supply, the 1 pin is grounded, and the 2 pin SW

CLK and 3 pins SWDIO are connected to PA14 port and PA13 port of MCU module respectively.

[0037] The reset circuit is composed of a 0. port capacitance and a 10kQ 3.3v voltage resistor connected to the MRST module NRST port. The purpose is to make the MCU module start working after the power is turned on, and the internal circuit starts from the initial state.

[0038]

[0039] As shown in FIG. 4, the motor drive module is composed of two L293D chips and four motors. The four motors are divided into left front, right front, left rear, and right rear.

[0040] L293D is a high voltage, low current motor drive chip. The chip is available in a 16-pin package. The main features are: high working voltage, the highest working voltage can reach 36V; the output current is large, the instantaneous peak current can reach 2A, and the continuous working current is 1A. A high voltage, high current, full bridge driver with two H-bridges can be used to drive a DC motor. Enable 1, 2EN drives and 3, 4EN drives. When the enable input is high, the associated drive is enabled and the output is active. When the enable input is low, these drivers are disabled and the output is turned off, in a high impedance state.

[0041] wherein the first L293D chip is responsible for driving the left front and right front motors. As shown in Figure 2, the left front motor enable pin 1 is connected to the PB1 port of the MCU module. When the PB1 output is 1 day, the forward and reverse ends of the left front motor are active. The forward 2 pin and the reverse end 7 of the left front motor are respectively connected to the PB2 port and the PB12 port of the MCU module. When the PB2 output is 1吋, the left front motor rotates forward, when the PB2 output is 0吋, the left front motor stops; when the PB12 outputs For 1吋, the left front motor reverses. When the PB12 output is 0吋, the left front motor stops. The right front motor enable terminal 9 is connected to the PB15 port of the single-chip module. The forward end 10 and the reverse end 15 of the right front motor are respectively connected to the PB14 and PB13 ports of the single-chip module. When the output of the PB15 is 1吋, the forward and backward of the right front motor The end is active. When the output of PB14 is 1吋, the right front motor rotates forward. When PB14 output is 0 吋, the right front motor stops. When PB13 output is 1吋, the right front motor reverses. When PB13 output is 0吋, the right front motor stops. The second L293D chip is responsible for driving the left rear and right rear motors. The left rear motor enable terminal 1 is connected to the PA11 port of the single-chip module, and the forward end 2 pin and the backward end 7 pin of the left rear motor are respectively connected to the single-chip microcomputer. The PD2 port and PC12 port of the module, when the output of PA11 is 1吋, the forward and reverse ends of the left rear motor are active. When the PD2 output is 1吋, the left rear motor rotates forward. When the PD2 output is 0, the left rear motor stops. When the MCU module output PC12 output is 1吋, the left rear motor reverses, when the PC12 output is 0吋, left rear The motor stops. The right rear motor enable terminal 9 is connected to the PA8 port of the single-chip module, and the forward end 10 and the backward end 15 of the right rear motor are respectively connected to the PB3 port and the PB4 port of the single-chip module. When the PA8 output is 1 day, the forward and reverse ends of the right rear motor are active. When the PB3 output is 1吋, the right rear motor rotates forward. When the PB3 output is 0, the right rear motor stops. When the PB4 output is 1吋, the right rear motor reverses. When the PB4 output is 0吋, the right rear motor stops. .

[0042] Two L293D chips are grounded at 4, 5, 12, and 13 feet, and 16-pin is connected to a power supply voltage of 5 volts. The power supply is connected with a 滤波.ΐμί filter capacitor. The 8 pins of the L293D are connected to the common ground terminal voltage of 7.2. ν, 3,6,11,14 as the output terminal, the input terminal connected with the MCU module is connected to the _5ν voltage and uses the optocoupler to isolate the input and output signals, and also protects the 10 ports of the MCU module to prevent it. Burned out.

[0043] As shown in FIG. 5, in order to generate different output voltages, the independent power supply module usually connects the negative terminal of the comparator to the reference voltage, and the positive terminal is connected to the voltage dividing resistor network, so that different voltages can be selected according to different output voltages. The resistance value compares the output of the output voltage divider resistor network with the internal reference regulation value. If the voltage is biased, the amplifier can control the output duty cycle of the internal oscillator to stabilize the output voltage. The LM2576 module is stepped down by the power conversion to reduce the supply voltage of 7.2 ν to the required voltage of 5 ν and stabilize it. The ASM1117-3.3 is then used to reduce the power supply to the required voltage of 3.3 ν and stabilize it.

[0044] As shown in FIG. 6, the infrared obstacle avoidance module is composed of two identical infrared obstacle avoidance modules on the left and right sides, and one of the two infrared obstacle avoidance modules is connected to the 5ν voltage, and the three legs are grounded, and the left infrared obstacle avoidance module is The output terminal 2 is connected to the MCU module ΡΒ8 port, and the output terminal of the right infrared obstacle avoidance module is connected to the MCU module ΡΒ7 port. The module has a pair of infrared emitting and receiving tubes. The transmitting tube emits infrared rays of a certain frequency. When the detecting direction encounters an obstacle (reflecting surface), the infrared light is reflected back and received by the receiving tube, and after being processed by the comparator circuit, the green indication The lamp will light up, the output signal of the same signal output port 2 pin output continuous low level signal is sent to the MCU module ΡΒ8 port or ΡΒ7 port, the MCU module receives the external interrupt 0 signal, and controls the movement of the car through the external interrupt 0 program. . When an obstacle is detected on the left side, ie ΡΒ8=0, ΡΒ7=1吋, the master chip controls the right wheel motor to stop, the left wheel rotates, and the car turns to the right. On the contrary, the left turn is the same. When obstacles are detected on both the left and right sides, ie ΡΒ8=0, ΡΒ7=0, the main control chip controls the reversal of the left and right wheel motors, and the vehicle body retreats. Turn right after 10 seconds.

[0045] As shown in FIG. 7, the human body sensing module adopts the HC_SR501 module. The pyroelectric infrared sensor is a sensor that can detect infrared rays emitted by humans or animals and output electrical signals. When the temperature changes, the pyroelectric effect will be The charge Q is generated on the two electrodes, that is, a weak voltage U is generated between the two electrodes, and impedance conversion is performed through the field effect transistor, and finally a high-low level signal is output. When someone enters its sensing range, pin 2 outputs a high level to the MCU module, and the MCU module issues a corresponding command to generate the corresponding action.

[0046]

[0047] As shown in FIG. 8, the GPS module uses the NEO-6M UBLOX module to transmit positioning data to the MCU module through the UART serial port, and sends a set of data every second. The MCU module extracts the resolution latitude and longitude from the GPS module through the external interrupt control signal (detecting the human 吋), and sends it to the user's mobile phone through the GSM module.

[0048] As shown in FIG. 9, the GSM module uses a SIM800 module. The 2 pin is used as the data receiving end of the serial port 2 and connected to the PB11 port of the MCU module. The 1 pin is used as the data transmitting end of the serial port 2 and is connected to the PB10 port of the MCU module. The single-chip module uses the AT command to control the GSM module, AT+CMGF=1, set to text format, and AT+G MGS is used to send text messages. The MCU module extracts the resolution latitude and longitude from the GP S module through the external interrupt control signal (detected human 吋), and sends it to the user's mobile phone through the GSM module.

The above embodiments are merely illustrative of the embodiments of the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, the above description may also be made. Other changes or changes in different forms.

Claims

Claim

[Claim 1] A life detecting intelligent car, characterized by: a single chip module, a motor driving module, an independent power module, an infrared obstacle avoidance module, a human body sensing module, a GPS module and a GSM module; the independent power module will dry battery power 7.2 volts is stepped down to obtain standard 3.3 volt and 5 volt stable voltages to provide power to other modules; the infrared obstacle avoidance module collects roadblock information and converts it into an electrical signal, and the output of the infrared obstacle avoidance module and the single chip module Connecting, the single-chip microcomputer module controls the motor driving module to avoid obstacles during driving; the human body sensing module senses a change of a human body infrared temperature and generates an electrical signal, and an output of the module is connected to the single-chip module; the GPS module is connected The single-chip module is connected; the GSM module is connected with the single-chip module, and the location information of the person is sent to the mobile phone end of the user; the single-chip module adopts the STM32F103R8T6 chip, and the circuit crystal oscillator is connected with two 20pf capacitors, and then connected to the 1ΜΩ resistor connected to the PD0-OS of the MCU module C_IN and PD1 pins form the oscillation circuit. The MCU module adopts the SWD debugging mode. The SW pin 4 is connected to the 3.3v voltage, the 1 pin is grounded, the 2 pin SWCLK and the 3 pin SWDIO are respectively connected to the PA14 port and the PA13 port of the MCU module. The circuit consists of a RST.ΐμ port capacitance and a lOkQ 3.3v voltage resistor connected to the MCU module NRST port;

The motor drive module is composed of two L293D chips and four motors, and the first L293 D chip is responsible for driving the left front and right front motors, wherein the left front motor enable end 1 is connected to the PB1 port of the single chip module, the left front motor The forward end 2 and the backward end 7 are respectively connected to the PB2 port and the PB12 port of the single chip module, the right front motor enable end 9 is connected to the PB15 port of the single chip module, and the forward end 10 and the backward end 15 of the right front motor are respectively connected. The legs are respectively connected to the PB14 and PB13 ports of the single chip module, and the second L293D chip is responsible for driving the left rear and right rear motors, wherein the left rear motor enable terminal 1 is connected to the PA11 port of the single chip module, and the left rear motor is The forward end 2 pin and the backward end 7 pin are respectively connected to the P D2 port and the PC12 port of the single chip module, the right rear motor enable end 9 pin is connected to the PA8 port of the single chip module, and the forward end of the right rear motor is 10 feet and backward. Terminal 15 is connected to PB3 port and PB4 port of the MCU module respectively. Two L293D chips are grounded by 4, 5, 12, and 13 pins, and 16 pins are connected to the power supply voltage of 5v, and a filter of Ο.ΐμΐ is added next to the power supply. Capacitor, 2 8 feet L293D chip are connected to the public Common ground terminal voltage 7.2v, 3, 6, 11, 14 feet as the output terminal, and the input terminal connected to the single-chip microcomputer module is connected to the 5v voltage and isolates the input and output signals by the optocoupler, also for the single-chip microcomputer The 10 ports of the module protect it from being burned out;

The independent power supply module performs the step-down processing by the power conversion LM2576 module, reduces the power supply voltage 7.2v to the required voltage of 5v and stabilizes it, and then reduces the power supply voltage to the required voltage of 3.3v through the ASM1117 module and stabilizes it;

The infrared obstacle avoidance module is composed of two identical infrared obstacle avoidance modules on the left and right sides, and one of the two infrared obstacle avoidance modules is connected to the 5v voltage, and the three legs are grounded, and the output end of the left infrared obstacle avoidance module is connected to the second pin. The single-chip module PB8 port, the output end of the right infrared obstacle avoidance module is connected to the PB7 port of the single-chip module;

The human body sensing module adopts the HC_SR501 module, wherein the 1 pin is connected to the 5v voltage, and the 2 pin is used as the detection output terminal to connect the PB9 port of the single chip module, and the 3 pin is grounded;

The GPS module adopts NE0-6M UBL0X module, wherein 4 pins are connected to 3.3v voltage, 3 feet are grounded, 1 pin is used as serial port 1 data transmitting end and the single chip module PA2 port is connected, and 2 feet is used as serial port 1 data receiving end. Connected to the port of the single chip module PA3;

The GSM module adopts a SIM800 module, wherein 4 feet are connected to 5v voltage, 3 feet are grounded, 2 feet are used as serial port 2 data receiving end and the single chip module PB11 port is connected, 1 pin is used as serial port 2 data transmitting end and the single chip microcomputer The module PB10 is connected.