CN103389734A - Intelligent patrol monitoring trolley - Google Patents

Abstract

The invention discloses an intelligent patrol monitoring trolley, which comprises a trolley body, a power mechanism and a steering mechanism. A first steering gear (16) rotating on a horizontal plane is installed on the top of the trolley body. The second steering gear (15) rotating in the vertical plane, the camera bracket (17) is installed on the second steering gear (15), and the analog camera (18) is installed on the camera bracket (17). The invention can regularly patrol the campus according to the prescribed trajectory under the condition of unmanned driving, and can avoid obstacles by itself when encountering obstacles or pedestrians. By controlling the first steering gear and the second steering gear of the video transmission system, it can achieve omnidirectional , Multi-angle video collection function, and the video is sent to the control center through the switch, which can realize all-round real-time monitoring of the campus.

Description

An intelligent patrol monitoring car

technical field

The invention relates to, in particular, a patrol car which is controlled by a microprocessor to drive along a line and has an obstacle avoidance function and a video shooting and transmission function.

Background technique

Most of the patrol cars are driven manually, so patrol tasks must be carried out when there are people. With the development of the automotive industry, especially automotive electronics, intelligence is the general trend of automotive development. In recent years, smart technology has been widely used in automobiles. In some electronic experiments and electronic competitions, more and more intelligent cars are presented in front of people, meeting the needs of people's various jobs. The application of unmanned patrol cars will become the development direction of future patrol cars.

Contents of the invention

The technical problem to be solved by the present invention: Aiming at the problem that the current patrol car needs manual driving, an unmanned automatic patrol car is provided.

Technical scheme of the present invention:

An intelligent patrol monitoring car, including a car body, a power mechanism and a steering mechanism. The top of the car body is equipped with a first steering gear that rotates on a horizontal plane, and a second steering gear that rotates in a vertical plane is installed on the first steering gear. The camera bracket is installed on the second steering gear, and the analog camera is installed on the camera bracket.

The car body is equipped with an electronic control part, which includes a core controller, a speed measurement module, a motor drive module, a circuit board and a power management module.

An autonomous line-following system is installed on the trolley, including an image acquisition module and an image processing module; the image acquisition module uses a line-tracking camera to collect road surface information and transmits it to the image processing module, which is connected to the circuit board, including a video synchronization separator, The hardware binarization circuit is connected with the core controller.

An ultrasonic sensor and a line-following camera are installed on the car body, and the motor drive module and the front wheel steering gear are connected through a microprocessor.

Two microprocessors and a switch are installed on the car body, the second microprocessor controls the first steering gear and the second steering gear, and connects the camera and the switch, and the switch contains wireless network equipment.

The power management module includes a battery and a step-down regulator module, and the step-down regulator module is connected to all electrical devices on the vehicle body.

Beneficial effects of the present invention:

The intelligent patrol car can continuously patrol the designated area of the campus according to the prescribed trajectory without a driver, and can transmit video information to the monitoring center in real time, which can liberate a large amount of labor from repetitive work , to achieve efficient and sustainable development, in line with the green concept of energy conservation, environmental protection, and sustainable development. The system can improve the safety of vehicles and pedestrians, and has the characteristics of safety, reliability, simple structure, low cost, and strong promotion.

It includes an autonomous line-following system, an automatic collision avoidance system, and a video transmission system. It can regularly patrol the campus according to the prescribed trajectory under the condition of unmanned driving, and can avoid obstacles by itself when encountering obstacles or pedestrians. By controlling the first steering gear and the second steering gear of the video transmission system, it can achieve omnidirectional and multi The video capture function of the angle, and the video is sent to the control center through the switch, which can realize the all-round real-time monitoring of the campus.

Description of drawings:

Fig. 1 is a schematic diagram of the structure of the present invention.

Figure 2 is a logic block diagram of the car motion control system.

Figure 3 is the overall logic block diagram of all functions of the car.

Detailed ways:

As shown in Figure 1, the car body includes a chassis 7, two front wheels 6, a front wheel steering gear 5, two rear wheels 9 and a motor 10, the rear wheel 9 is a driving wheel, controlled by a motor 10, and the front wheel 5 is a steering wheel, controlled by the motor 10. Front wheel steering gear 5 controls. A power management module is installed in the chassis 7. The power management module includes a battery 8 and a step-down and voltage-stabilizing module 1. The step-down and voltage-stabilizing module 1 supplies power to all electrical devices on the vehicle body. An ultrasonic sensor 4 is installed on the front side of the chassis 7. The speed measurement module 12 and the motor drive module 11 are installed on the rear side. The motor drive module 11 is BTN7960, and the speed measurement module 12 uses a photoelectric encoder. A signal conditioning circuit composed of a comparator LM393 and an external resistor and capacitor is required to form a reliable square wave. The middle part of the car body is provided with a circuit board 2 and a core controller 3, the core controller 3 is a single chip microcomputer MC9S12XS128, the upper part of the car body is provided with a second microprocessor 13 and a switch 14, the first steering gear 16 is installed on the top of the car body, The steering gear 15 is installed on the first steering gear 16 upper side, and the second steering gear 15 is equipped with a camera bracket 17, and an analog camera 18 is installed on the camera bracket 17. The front side of the car body top installs a line-following camera 19, and the line-following camera 19 is an OV5116CMOS camera.

The autonomous line following system includes an image acquisition module and an image processing module. The image acquisition module adopts a line following camera 19 to collect road surface information and transmits it to the image processing module. The value circuit outputs field and line synchronous signals and video signals to the core controller 3 for processing respectively.

The automatic obstacle avoidance system includes an ultrasonic sensor 4, a microprocessor, a line-following camera 19, a motor drive module 11 and a front wheel steering gear 5. The ultrasonic sensor 3 is fixed on the car body, and the microprocessor sends instructions to the motor drive module 11 and the front wheel steering gear 5 to control the motion of the car body after processing the signals of the line-following camera 19 and the ultrasonic sensor 4 .

The video transmission system comprises a second microprocessor 13, a switch 14, a first steering gear 16, a second steering gear 15, a camera bracket 17 and an analog camera 18; the first steering gear 16 can rotate 360° on a horizontal plane, and the second steering gear The plane of rotation of the second steering gear 15 is perpendicular to the plane of rotation of the first steering gear 16, and can also be rotated 360 °. The motions of the first steering gear 16 and the second steering gear 15 are all controlled by the second microprocessor 13; The second microprocessor 13 processes the video information collected by the analog camera 18 and sends it to the switch 14, and then the switch 14 sends it to the receiving terminal of the control center through the wireless network equipment.

Claims (6)

1. dolly is monitored in an intelligence patrol, comprise dolly car body, actuating unit and steering mechanism, it is characterized in that: the dolly car body top is equipped with the first steering wheel (16) that rotates on surface level, upper the second steering wheel (15) that the perpendicular rotation is installed of the first steering wheel (16), the upper camera bracket (17) of installing of the second steering wheel (15), simulation camera (18) is arranged on camera bracket (17).

2. dolly is monitored in intelligence patrol according to claim 1, it is characterized in that: car body is provided with automatically controlled part, and electric control part is divided and comprised core controller (3), speed measurement module (12), motor drive module (11), circuit board (2) and power management module.

3. intelligence patrol monitoring dolly according to claim 2, is characterized in that: be equipped with on dolly and independently follow wire system, comprise image capture module and image processing module; Image capture module adopts and follows line camera (19) collection information of road surface and be transferred to image processing module, image processing module is connected on circuit board (2), comprise video synchronous separator, hardware binarization circuit, with core controller, be connected 3) connect.

4. intelligence patrol monitoring dolly according to claim 2, is characterized in that: ultrasonic sensor (4) is installed on car body and follows line camera (19), by microprocessor, connect motor drive module (11) and front-wheel steering wheel (5).

5. dolly is monitored in intelligence patrol according to claim 2, it is characterized in that: two microprocessors (13) and switch (14) are installed on car body, the second microprocessor (13) is controlled the first steering wheel (16) and the second steering wheel (15), and connecting camera (18) and switch (14), switch (14) comprises Wireless Communication Equipment.

6. dolly is monitored in intelligence patrol according to claim 2, and it is characterized in that: power management module comprises battery (8) and lowering and stabilizing blood pressure module (1), and lowering and stabilizing blood pressure module (1) is connected all power devices and connects with car body.

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