CN111701171A - Intelligent trolley and control system thereof - Google Patents
Intelligent trolley and control system thereof Download PDFInfo
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- CN111701171A CN111701171A CN202010387793.2A CN202010387793A CN111701171A CN 111701171 A CN111701171 A CN 111701171A CN 202010387793 A CN202010387793 A CN 202010387793A CN 111701171 A CN111701171 A CN 111701171A
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- 238000001514 detection method Methods 0.000 claims abstract description 27
- 230000007613 environmental effect Effects 0.000 claims abstract description 4
- 239000000779 smoke Substances 0.000 claims description 16
- 230000033001 locomotion Effects 0.000 claims description 12
- 239000007921 spray Substances 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 3
- 230000000712 assembly Effects 0.000 abstract 2
- 238000000429 assembly Methods 0.000 abstract 2
- 238000012544 monitoring process Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 206010000369 Accident Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C99/00—Subject matter not provided for in other groups of this subclass
- A62C99/0009—Methods of extinguishing or preventing the spread of fire by cooling down or suffocating the flames
- A62C99/0072—Methods of extinguishing or preventing the spread of fire by cooling down or suffocating the flames using sprayed or atomised water
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- Business, Economics & Management (AREA)
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Abstract
The invention relates to an intelligent trolley and a control system thereof, wherein the intelligent trolley body comprises a chassis, crawler assemblies arranged on two sides of the chassis, two motors driving the respective crawler assemblies to move, and the intelligent trolley also comprises: be located Arduino controller on the chassis and with tracking module, camera module, environmental parameter acquisition module, bluetooth module and the module of putting out a fire that Arduino controller connects, each module work of Arduino controller control. According to the intelligent trolley and the control system thereof, the paths in the surrounding environment are identified through the gray level sensor to realize automatic tracking; simultaneously through camera module tentatively lock the conflagration region behind Arduino controller image processing, whether the conflagration really takes place in order to further confirm by flame detection unit and smog detection unit collection surrounding environment after the intelligent vehicle removes to tentatively locking the regional nearby fire by flame information and smog information, and the secondary confirms back Arduino controller instructs the unit of putting out a fire to put out a fire, and supplementary fireman rescues.
Description
Technical Field
The invention belongs to the technical field of safety auxiliary equipment, and particularly relates to an intelligent trolley and a control system thereof.
Background
Nowadays, the society is rapidly developed, urban population is increased suddenly, so that electric fire for work and life is increased, the fire caused by the electric fire is continuous, the fire accident increases pressure for fire departments, and even some firefighters lose lives in the fire; although the fire fighting equipment, the protective equipment and the fire monitoring equipment in the prior art are greatly improved and improved, the occurrence of fire is still continuous, and the disaster relief efficiency is not substantially improved.
Therefore, it is necessary to provide a smart car and a smart car control system thereof.
Disclosure of Invention
The invention aims to provide an intelligent trolley and a control system thereof, which are used for remotely controlling the intelligent trolley to enter a related area to detect a fire situation, and can secondarily determine a fire scene and assist firemen in rescuing after a possible fire happens.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides an intelligent vehicle, includes the intelligent vehicle body, the intelligent vehicle body include the chassis, install in the track subassembly of chassis both sides and the motor of two respective track subassembly motions of drive still include: the system comprises an Arduino controller positioned on a chassis, and a tracking module, a camera module, an environmental parameter acquisition module, a Bluetooth module and a fire extinguishing module which are connected with the Arduino controller, wherein the Arduino controller controls the modules to work;
the tracking module at least comprises two gray sensors which are respectively positioned near the left crawler assembly and the right crawler assembly, the gray sensors are used for detecting black line information of a road surface below the chassis and sending the black line information to the Arduino controller, and the Arduino controller controls the running of the motor so as to control the movement of the trolley;
the camera module at least comprises a camera unit positioned at the front end of the chassis and used for carrying out image recognition on the surrounding environment so as to lock a fire occurrence place;
the environment parameter acquisition module at least comprises a flame detection unit and a smoke detection unit which are respectively used for acquiring whether flame and smoke exist in the surrounding environment;
the unit of putting out a fire includes at least one and is located the multi freedom's in chassis middle part arm and being located the spray pipe on arm top, Arduino controller can instruct the unit of putting out a fire extinguishes.
The preferable technical scheme is as follows:
the intelligent trolley further comprises a Bluetooth module.
As for the intelligent trolley, the Arduino controller is an Arduino2560 single chip microcomputer.
The method for preliminarily locking the fire occurrence place of the intelligent car comprises the following steps: after the camera unit is initialized, continuously shooting the surrounding environment, and identifying the shot picture by the Arduino controller to judge whether a fire area exists; if the judgment result is negative, continuously shooting; if the judgment result is yes, the Arduino controller locks the geometric central point of the fire area, the intelligent trolley is commanded to move to the point, the geometric central point of the fire area can move along with the movement of the intelligent trolley, and when the geometric central point of the fire area moves to the picture central area of the shooting picture, the fire occurrence place is locked preliminarily.
The invention also provides an intelligent trolley control system, which comprises:
the Bluetooth module is used for establishing connection with a controller of the intelligent trolley;
the control keys are used for sending control commands to the Arduino controller through the Bluetooth module when being pressed;
the control keys at least comprise up-down left-right direction keys, a stop key and a tracking key;
the direction key, the stop key and the tracking key are respectively used for sending a driving direction command, a driving stop command and a tracking module command to the Arduino controller when being pressed;
and the LCD display screen module is used for displaying real-time image information, flame information and smoke concentration information acquired by the camera unit, the flame detection unit and the smoke detection unit in real time after data processing of the Arduino controller.
Has the advantages that:
according to the intelligent trolley and the intelligent trolley control system, the intelligent trolley can be applied to the environment with a specified path to realize automatic fire extinguishing. The intelligent car identifies the path in the surrounding environment through the gray sensor to realize automatic tracking; simultaneously through camera module tentatively lock the conflagration region behind Arduino controller image processing, whether the conflagration really takes place in order to further confirm by flame detection unit and smog detection unit collection surrounding environment after the intelligent vehicle removes to tentatively locking the regional nearby fire by flame information and smog information, and the secondary confirms back Arduino controller instructs the unit of putting out a fire to put out a fire, and supplementary fireman rescues.
Drawings
Fig. 1 is a structural block diagram of an intelligent vehicle and an intelligent vehicle control system thereof.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
The utility model provides an intelligent vehicle, includes intelligent dolly body, intelligent dolly body includes the chassis, install in the track subassembly of chassis both sides and two motors that drive the motion of the respective track subassembly, as shown in figure 1, still include: the system comprises an Arduino controller positioned on a chassis, and a tracking module, a camera module, an environmental parameter acquisition module, a Bluetooth module and a fire extinguishing module which are connected with the Arduino controller, wherein the Arduino controller controls the work of each module, and is an Arduino2560 single chip microcomputer;
the tracking module at least comprises two gray sensors which are respectively positioned near the left crawler assembly and the right crawler assembly, the gray sensors are used for detecting black line information of a road surface below the chassis and sending the black line information to the Arduino controller, and the Arduino controller controls the running of the motor so as to control the movement of the trolley; the movement of the trolley comprises three movement states: straight walking, left turning and right turning. In an initial state, the left and right gray sensors do not sense a black line, and the intelligent trolley moves straight at the moment; when the Arduino controller controls to send a left-turning command, the gray sensor of the left crawler senses a black line, and the motor speed of the right crawler is controlled to be larger than that of the left crawler until the gray sensor of the right crawler senses the black line.
The gray Sensor that adopts in this embodiment is MH-Sensor-Series gray Sensor, and the reflection distance that detects is 1 ~ 25mm, sets up gray Sensor in the both sides that are close to the track subassembly of chassis bottom surface during actual installation, and gray Sensor is analog Sensor, has a emitting diode and a photo resistance, installs on same face. The gray sensor detects the color depth by using the principle that the reflection degrees of the light of the detection surfaces with different colors are different, and the resistance values of the light returned by the photoresistors to the light of different detection surfaces are also different. Within the effective detection distance, the light-emitting diode emits white light which irradiates the detection surface, the detection surface reflects part of light, and the photoresistor detects the intensity of the light and converts the light into signals which can be recognized by the photoresistor;
the camera module at least comprises a camera unit positioned at the front end of the chassis, the camera unit adopts an OpenMV intelligent camera, the focal length of the camera unit is 2.8mm, the angle of the camera unit is 115 degrees, and the camera unit is used for carrying out image recognition on the surrounding environment so as to preliminarily lock the fire occurrence place;
the environment parameter acquisition module at least comprises a flame detection unit and a smoke detection unit which are respectively used for acquiring whether flame and smoke exist in the surrounding environment;
the unit of putting out a fire includes one at least and is located the multi freedom's at chassis middle part arm and be located the spray pipe on arm top, Arduino controller can instruct the unit of putting out a fire puts out a fire, the arm is common arm on the market, rotates and adopts worm gear transmission, can make three hundred sixty degrees rotations of whole arm, and the arm is whole can be used for controlling the crooked, the steering wheel and the cantilever that extend of mechanical cantilever by the multiunit and constitute, and the below of spray pipe is provided with one at least and is used for installing its installing the installing support on the cantilever that is located the arm top, and the control valve on the spray pipe passes through the connecting wire and is connected with Arduino controller, is controlled by Arduino controller and sprays water the action.
The intelligent trolley in the embodiment adopts the Arduino controller as a control core, when the power supply of the intelligent trolley is turned on, the grayscale sensor detects that the path sending module sends the path sending module to the Arduino controller, and the Arduino controller outputs an instruction to the motor driving module to drive the operation of the motor so as to control the steering of the crawler belt; meanwhile, a camera unit in the camera module shoots the surrounding environment and primarily locks a fire place through image processing of an Arduino controller; meanwhile, the flame detection unit and the smoke detection unit continuously acquire whether flame and smoke exist in the surrounding environment to further determine the fire environment, at the moment, the Arduino controller commands the intelligent trolley to stop moving, and the Arduino controller commands the mechanical arm to extend and opens a control valve on the water spray pipe to perform fire extinguishing operation on a fire area;
the present embodiment also provides a method of preliminarily locking a fire occurrence place:
after the camera unit is initialized, continuously shooting the surrounding environment and identifying the shot picture by an Arduino controller to judge whether a fire area exists; if the judgment result is negative, continuously shooting; if the judgment result is yes, the Arduino controller locks the geometric central point of the fire area, the intelligent trolley is commanded to move to the point, the geometric central point of the fire area can move along with the movement of the intelligent trolley, and when the geometric central point of the fire area moves to the picture central area of the shooting picture, the fire occurrence place is locked preliminarily.
As a preferred embodiment, the intelligent trolley also comprises a Bluetooth module.
This embodiment also provides an intelligent vehicle control system, its remote control terminal promptly, includes:
the Bluetooth module is used for establishing connection with an Arduino controller of the intelligent trolley;
the control keys are used for sending control commands to the Arduino controller through the Bluetooth module when being pressed;
the control keys at least comprise up-down left-right direction keys, a stop key and a tracking key;
the direction key, the stop key and the tracking key are respectively used for sending a driving direction command, a driving stop command and a tracking module command to the Arduino controller when being pressed;
the LCD display screen module is used for displaying real-time image information, flame information and smoke concentration information which are acquired by the camera unit, the flame detection unit and the smoke detection unit in real time, wherein the real-time image information, the flame information and the smoke concentration information are processed by the Arduino controller, the flame detection unit adopts a UVISPR-MFD intelligent flame detector, and the smoke detection unit adopts an MQ-2 gas sensor.
The intelligent trolley control system can be an independent remote control terminal and can also be remote monitoring APP software. The working principle is as follows: when the conflagration breaing out, intelligent vehicle control system passes through bluetooth module and sends the order to Arduino controller, controls the motor work of two drive crawler assembly motions respectively for the dolly gets into fire environment, and the dolly tentatively locks behind the conflagration emergence place and further the final definite position of confirming the conflagration emergence, through camera unit, flame detection unit and smog detection unit monitoring intensity of a fire environment and feed back to fire fighter, and carry out the auxiliary fire extinguishing through the spray pipe.
Claims (5)
1. The utility model provides an intelligent vehicle, includes the intelligent vehicle body, the intelligent vehicle body include the chassis, install in the track subassembly of chassis both sides and the motor of two drive respective track subassembly motions, characterized by still includes: the system comprises an Arduino controller positioned on a chassis, and a tracking module, a camera module, an environmental parameter acquisition module, a Bluetooth module and a fire extinguishing module which are connected with the Arduino controller, wherein the Arduino controller controls the modules to work;
the tracking module at least comprises two gray sensors which are respectively positioned near the left crawler assembly and the right crawler assembly, the gray sensors are used for detecting black line information of a road surface below the chassis and sending the black line information to the Arduino controller, and the Arduino controller controls the movement of the trolley by controlling the operation of the motor;
the camera module at least comprises a camera unit positioned at the front end of the chassis and used for carrying out image recognition on the surrounding environment so as to preliminarily lock the fire occurrence place;
the environment parameter acquisition module at least comprises a flame detection unit and a smoke detection unit which are respectively used for acquiring whether flame and smoke exist in the surrounding environment;
the unit of putting out a fire includes at least one and is located the multi freedom's in chassis middle part arm and being located the spray pipe on arm top, Arduino controller can instruct the unit of putting out a fire extinguishes.
2. The intelligent vehicle according to claim 1, further comprising a bluetooth module.
3. The intelligent trolley according to claim 1, wherein the Arduino controller is an Arduino2560 single chip microcomputer.
4. The intelligent vehicle as claimed in claim 1, wherein the method for primarily locking the fire occurrence place comprises the following steps: after the camera unit is initialized, continuously shooting the surrounding environment, and identifying the shot picture by the Arduino controller to judge whether a fire area exists; if the judgment result is negative, continuously shooting; if the judgment result is yes, the Arduino controller locks the geometric central point of the fire area, the intelligent trolley is commanded to move to the point, the geometric central point of the fire area can move along with the movement of the intelligent trolley, and when the geometric central point of the fire area moves to the picture central area of the shooting picture, the fire occurrence place is locked preliminarily.
5. The utility model provides an intelligent vehicle control system, characterized by includes:
the Bluetooth module is used for establishing connection with an Arduino controller of the intelligent trolley;
the control keys are used for sending control commands to the Arduino controller through the Bluetooth module when being pressed;
the control keys at least comprise up-down left-right direction keys, a stop key and a tracking key;
the direction key, the stop key and the tracking key are respectively used for sending a driving direction command, a driving stop command and a tracking module command to the Arduino controller when being pressed;
and the LCD display screen module is used for displaying real-time image information, flame information and smoke concentration information acquired by the camera unit, the flame detection unit and the smoke detection unit in real time after data processing of the Arduino controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010387793.2A CN111701171A (en) | 2020-05-09 | 2020-05-09 | Intelligent trolley and control system thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010387793.2A CN111701171A (en) | 2020-05-09 | 2020-05-09 | Intelligent trolley and control system thereof |
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| CN111701171A true CN111701171A (en) | 2020-09-25 |
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| CN202010387793.2A Pending CN111701171A (en) | 2020-05-09 | 2020-05-09 | Intelligent trolley and control system thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114237261A (en) * | 2021-12-24 | 2022-03-25 | 广州理工学院 | Disaster relief road exploration vehicle with Bluetooth control function |
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2020
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| CN114237261A (en) * | 2021-12-24 | 2022-03-25 | 广州理工学院 | Disaster relief road exploration vehicle with Bluetooth control function |
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