Fixed-orbit mobile data acquisition equipment

Abstract

The utility model discloses orbit determination mobile data acquisition equipment, and belongs to the technical field of automatic control and data acquisition. Comprising a power supply module, a voltage reduction module and a driving module which are respectively connected with the power supply module, a main controller, an intelligent cruise module and a road condition analysis module which are respectively connected with the voltage reduction module, and an acousto-optic prompt module which is connected with the main controller, the main controller is further connected with the driving module, the intelligent cruise module, the temperature and humidity measurement module and the intersection analysis module. The utility model provides a fixed-orbit mobile data acquisition device, which smoothly and accurately moves according to pre-arranged small mark points, acquires data in a wide area, has a wider coverage range, avoids the defect that only local information can be acquired due to the fact that a fixed device is limited by the position, and simultaneously, the fixed-orbit mobile data acquisition device is convenient to use. A user can conveniently plan and adjust a data acquisition route, the acquisition efficiency is improved, the cost is reduced, and the method has unique advantages in applications with complex environments and changeable scenes.

Description

Technical Field

[0001] The utility model belongs to the technical field of automatic control and data acquisition, and particularly relates to a fixed-rail mobile data acquisition device. Background Art

[0002] With the rapid development of electronic technology, automation has shown unique advantages in fields such as transportation, intelligent logistics, driverless, environmental monitoring, and smart cities. Especially in scenarios such as cargo loading and unloading at small express stations and cargo classification in warehouses, these technologies have been widely applied. Currently, mainstream automation devices usually rely on advanced vision systems or radar technologies to achieve environmental data acquisition. These devices were initially designed to meet the needs of large-scale scenarios to cope with vast sites and complex scenarios.

[0003] However, in some small and simple environments, the high price and high deployment cost of these high-end devices will impose a greater economic burden on enterprises. In this case, traditional mainstream solutions often exceed the budget of small enterprises and also fail to fully meet their specific needs. Therefore, it is necessary to design a fixed-rail mobile data acquisition device, which should have a lower cost and at the same time be able to provide sufficient environmental data acquisition efficiency to help enterprises reduce operating expenses and improve work efficiency, and achieve efficient cargo handling and transportation in a limited space. Content of the Utility Model

[0004] Aiming at the above deficiencies in the prior art, the fixed-rail mobile data acquisition device provided by the utility model realizes the precise movement of vehicle equipment by arranging a series of small marking points on the ground, and solves the problem that it is difficult to meet the data acquisition requirements in small and simple environments.

[0005] In order to achieve the above utility model purpose, the technical solution adopted by the utility model is: a fixed-rail mobile data acquisition device, comprising: a power supply module, a step-down module and a drive module respectively connected to the power supply module, a main controller, an intelligent cruise module and a road condition analysis module respectively connected to the step-down module, and an acoustic-optic prompt module connected to the main controller. The main controller is also respectively connected to the drive module, the intelligent cruise module, a temperature and humidity measurement module and an intersection analysis module.

[0006] Further: the power supply module includes a voltage stabilizing chip U4; the first pin of the voltage stabilizing chip U4 is connected to the POWER+ interface of the battery power supply, the second pin of the voltage stabilizing chip U4 is connected to the POWER- interface of the battery power supply, the fifth pin of the voltage stabilizing chip U4 is grounded, and the seventh pin of the voltage stabilizing chip U4 is respectively connected to the step-down module and the drive module.

[0007] Furthermore: The buck module includes a buck chip U5 and a switch SW1; the second pin of the buck chip U5 is connected to the second pin of the switch SW1, the first pin of the SW1 is connected to the seventh pin of the voltage regulator chip U4, the first pin and the third pin of the buck chip U5 are both grounded, and the fourth pin of the buck chip U5 is respectively connected to the main controller, the road condition analysis module, and the intelligent cruise module.

[0008] Furthermore: The main controller includes a main control chip U1; the twenty-second pin of the main control chip U1 is connected to the VCC power supply, the eighteenth pin of the main control chip U1 is connected to the fourth pin of the buck chip U5, the twenty-first pin of the main control chip U1 is grounded, the second pin, the third pin, the fourth pin, the fifth pin, the sixth pin, the twenty-eighth pin, the twenty-ninth pin, and the thirtieth pin of the main control chip U1 are all connected to the road condition analysis module, the thirty-fifth pin of the main control chip U1 is connected to the sound and light prompt module, the eleventh pin, the twelfth pin, the thirty-first pin, the thirty-second pin, the thirty-third pin, and the thirty-fourth pin of the main control chip U1 are all connected to the drive module, the twenty-sixth pin and the twenty-seventh pin of the main control chip U1 are both connected to the intelligent cruise module, and the thirteenth pin of the main control chip U1 is connected to the temperature and humidity measurement module.

[0009] Furthermore: The road condition analysis module includes an eight-channel grayscale sensor U2; the first pin of the eight-channel grayscale sensor U2 is grounded, the second pin of the eight-channel grayscale sensor U2 is connected to the fourth pin of the buck chip U5, the fifth pin of the eight-channel grayscale sensor U2 is connected to the twenty-eighth pin of the main control chip U1, the sixth pin of the eight-channel grayscale sensor U2 is connected to the twenty-ninth pin of the main control chip U1, the seventh pin of the eight-channel grayscale sensor U2 is connected to the thirtieth pin of the main control chip U1, the eighth pin of the eight-channel grayscale sensor U2 is connected to the sixth pin of the main control chip U1, the ninth pin of the eight-channel grayscale sensor U2 is connected to the fifth pin of the main control chip U1, the tenth pin of the eight-channel grayscale sensor U2 is connected to the fourth pin of the main control chip U1, the eleventh pin of the eight-channel grayscale sensor U2 is connected to the third pin of the main control chip U1, and the twelfth pin of the eight-channel grayscale sensor U2 is connected to the second pin of the main control chip U1.

[0010] Further: The acoustic-optic prompt module includes a buzzer BEEP1 and a light-emitting diode LED1; the first pin of the buzzer BEEP1 is respectively connected to the positive electrode of the light-emitting diode LED1 and one end of a resistor R1, the other end of the resistor R1 is connected to the VCC power supply interface, the negative electrode of the light-emitting diode is respectively connected to the second pin of the buzzer BEEP1 and the TipOut interface, and the TipOut interface is connected to the 35th pin of the main control chip U1.

[0011] Further: The drive module includes a motor drive chip U7, a first motor U8 and a second motor U9; the first pin of the motor drive chip U7 is connected to the seventh pin of a voltage regulator chip U4, the second pin of the motor drive chip U7 is respectively connected to the first motor U8 and the second motor U9, the eighth and ninth pins of the motor drive chip U7 are both grounded, the tenth pin of the motor drive chip U7 is connected to the eleventh pin of the main control chip U1, the eleventh pin of the motor drive chip U7 is connected to the 31st pin of the main control chip U1, the twelfth pin of the motor drive chip U7 is connected to the 32nd pin of the main control chip U1, the fourteenth pin of the motor drive chip U7 is connected to the 34th pin of the main control chip U1, the fifteenth pin of the motor drive chip U7 is connected to the 33rd pin of the main control chip U1, the sixteenth pin of the motor drive chip U7 is connected to the twelfth pin of the main control chip U1, the fourth pin of the motor drive chip U7 is connected to the fourth pin of the first motor U8, the fifth pin of the motor drive chip U7 is connected to the third pin of the first motor U8, the sixth pin of the motor drive chip U7 is connected to the fourth pin of the second motor U9, the seventh pin of the motor drive chip U7 is connected to the third pin of the second motor U9, the first pins of the first motor U8 and the second motor U9 are both connected to the seventh pin of the voltage regulator chip U4, the fifth pins of the first motor U8 and the second motor U9 are both connected to the second pin of the drive chip U7, and the second and sixth pins of the first motor U8 and the second motor U9 are both grounded.

[0012] Further: The intelligent cruise module includes an inertial measurement unit U6; the second pin of the inertial measurement unit U6 is connected to the fourth pin of a step-down chip U5, the third pin of the inertial measurement unit U6 is connected to the 27th pin of the main control chip U1, the fourth pin of the inertial measurement unit U6 is connected to the 26th pin of the main control chip U1, and the fifth pin of the inertial measurement unit U6 is grounded.

[0013] Further: The temperature and humidity measurement module includes a temperature and humidity sensor U10; the first pin of the temperature and humidity sensor U10 is grounded, the second pin of the temperature and humidity sensor U10 is connected to the 13th pin of the main control chip U1, and the third pin of the temperature and humidity sensor U10 is connected to the VCC power supply.

[0014] The beneficial effects of the present utility model are as follows: The present utility model provides a fixed-orbit mobile data acquisition device, which can use the road condition analysis module and the intelligent cruise module to move smoothly and accurately according to the pre-arranged small marker points, can effectively meet the data acquisition requirements in a small and simple environment, can flexibly adjust the acquisition strategy according to the changes of the environment and the target, ensure higher monitoring efficiency and response speed. At the same time, users can conveniently plan and adjust the data acquisition route, improve the acquisition efficiency, and reduce the cost. Description of the Drawings

[0015] Figure 1 It is a functional block diagram of a fixed-orbit mobile data acquisition device provided by an embodiment of the present utility model;

[0016] Figure 2 It is a circuit structure diagram of a power supply module of a fixed-orbit mobile data acquisition device provided by an embodiment of the present utility model;

[0017] Figure 3 It is a circuit structure diagram of a buck module of a fixed-orbit mobile data acquisition device provided by an embodiment of the present utility model;

[0018] Figure 4 It is a circuit structure diagram of a main controller of a fixed-orbit mobile data acquisition device provided by an embodiment of the present utility model;

[0019] Figure 5 It is a circuit structure diagram of a road condition analysis module of a fixed-orbit mobile data acquisition device provided by an embodiment of the present utility model;

[0020] Figure 6 It is a structure diagram of an acoustic-optic prompt module of a fixed-orbit mobile data acquisition device provided by an embodiment of the present utility model;

[0021] Figure 7 It is a circuit structure diagram of a drive module of a fixed-orbit mobile data acquisition device provided by an embodiment of the present utility model;

[0022] Figure 8 It is a circuit structure diagram of an intelligent cruise module of a fixed-orbit mobile data acquisition device provided by an embodiment of the present utility model;

[0023] Figure 9 It is a circuit structure diagram of a temperature and humidity measurement module of a fixed-orbit mobile data acquisition device provided by an embodiment of the present utility model. Detailed Embodiment

[0024] The specific embodiments of the present utility model will be described below to facilitate those skilled in the art of this technology to understand the present utility model. However, it should be clear that the present utility model is not limited to the scope of the specific embodiments. For those of ordinary skill in the art of this technology, as long as various changes are within the spirit and scope of the present utility model defined and determined by the appended claims, these changes are obvious, and all utility models created using the concept of the present utility model are within the scope of protection.

[0025] As Figure 1 shown, it is a structural diagram of a fixed-rail mobile data acquisition device, including: a power supply module, a step-down module and a drive module respectively connected to the power supply module, a main controller, an intelligent cruise module and a road condition analysis module respectively connected to the step-down module, and an acoustic-optic prompt module connected to the main controller. The main controller is also respectively connected to the drive module, the intelligent cruise module and the intersection analysis module;

[0026] Among them, the power supply module can output a +12V power supply and supply it to the step-down module and the drive; the step-down module steps down the +12V power supply to a +5V power supply and supplies it to the main controller, the road condition analysis module and the intelligent cruise module; the drive module receives the control signal from the main controller and drives the motor to operate; the main controller receives the signal from the intelligent cruise module and processes it, and sends the control signal to the drive module; the road condition analysis module detects the marking points on the ground through the grayscale sensor and transmits the detection data to the intelligent cruise module and the main controller; the intelligent cruise module detects the attitude data and integrates the detection data into a data packet, and sends the data packet to the main controller; the acoustic-optic prompt module controls the conduction of the LED lamp and the buzzer through the signal sent by the main controller when the system is abnormal.

[0027] As Figure 2 shown, it is a circuit structural diagram of the power supply module. The power supply module includes a voltage stabilizing chip U4; the first pin of the voltage stabilizing chip U4 is connected to the POWER+ interface of the battery power supply, the second pin of the voltage stabilizing chip U4 is connected to the POWER- interface of the battery power supply, the fifth pin of the voltage stabilizing chip U4 is grounded, and the seventh pin of the voltage stabilizing chip U4 is respectively connected to the step-down module and the drive module.

[0028] As Figure 3 shown, it is a circuit structural diagram of the step-down module. The step-down module includes a step-down chip U5 and a switch SW1; the second pin of the step-down chip U5 is connected to the second pin of the switch SW1, the first pin of the SW1 is connected to the seventh pin of the voltage stabilizing chip U4, the first pin and the third pin of the step-down chip U5 are both grounded, and the fourth pin of the step-down chip U5 is respectively connected to the main controller, the road condition analysis module and the intelligent cruise module.

[0029] As Figure 4As shown in the figure, it is the circuit structure diagram of the main controller. The main controller includes the main control chip U1. The 22nd pin of the main control chip U1 is connected to the VCC power supply. The 18th pin of the main control chip U1 is connected to the 4th pin of the step-down chip U5. The 21st pin of the main control chip U1 is grounded. The 2nd, 3rd, 4th, 5th, 6th, 28th, 29th, and 30th pins of the main control chip U1 are all connected to the road condition analysis module. The 35th pin of the main control chip U1 is connected to the sound and light prompt module. The 11th, 12th, 31st, 32nd, 33rd, and 34th pins of the main control chip U1 are all connected to the drive module. The 26th and 27th pins of the main control chip U1 are both connected to the intelligent cruise module.

[0030] As Figure 5 shown in the figure, it is the circuit structure diagram of the road condition analysis module. The road condition analysis module includes an eight-channel grayscale sensor U2. The 1st pin of the eight-channel grayscale sensor U2 is grounded. The 2nd pin of the eight-channel grayscale sensor U2 is connected to the 4th pin of the step-down chip U5. The 5th pin of the eight-channel grayscale sensor U2 is connected to the 28th pin of the main control chip U1. The 6th pin of the eight-channel grayscale sensor U2 is connected to the 29th pin of the main control chip U1. The 7th pin of the eight-channel grayscale sensor U2 is connected to the 30th pin of the main control chip U1. The 8th pin of the eight-channel grayscale sensor U2 is connected to the 6th pin of the main control chip U1. The 9th pin of the eight-channel grayscale sensor U2 is connected to the 5th pin of the main control chip U1. The 10th pin of the eight-channel grayscale sensor U2 is connected to the 4th pin of the main control chip U1. The 11th pin of the eight-channel grayscale sensor U2 is connected to the 3rd pin of the main control chip U1. The 12th pin of the eight-channel grayscale sensor U2 is connected to the 2nd pin of the main control chip U1.

[0031] As Figure 6 shown in the figure, it is the circuit structure diagram of the sound and light prompt module. The sound and light prompt module includes a buzzer BEEP1 and a light-emitting diode LED1. The 1st pin of the buzzer BEEP1 is respectively connected to the positive electrode of the light-emitting diode LED1 and one end of the resistor R1. The other end of the resistor R1 is connected to the VCC power supply interface. The negative electrode of the light-emitting diode is respectively connected to the 2nd pin of the buzzer BEEP1 and the TipOut interface. The TipOut interface is connected to the 35th pin of the main control chip U1. The sound and light prompt module can receive the system abnormal signal sent by the main controller and control the conduction of the light-emitting diode and the buzzer.

[0032] As Figure 7As shown in the figure, it is the circuit structure diagram of the drive module. The drive module includes a motor drive chip U7, a first motor U8, and a second motor U9. The first pin of the motor drive chip U7 is connected to the seventh pin of the voltage regulator chip U4. The second pin of the motor drive chip U7 is respectively connected to the first motor U8 and the second motor U9. The eighth and ninth pins of the motor drive chip U7 are both grounded. The tenth pin of the motor drive chip U7 is connected to the eleventh pin of the main control chip U1. The eleventh pin of the motor drive chip U7 is connected to the thirty-first pin of the main control chip U1. The twelfth pin of the motor drive chip U7 is connected to the thirty-second pin of the main control chip U1. The fourteenth pin of the motor drive chip U7 is connected to the thirty-fourth pin of the main control chip U1. The fifteenth pin of the motor drive chip U7 is connected to the thirty-third pin of the main control chip U1. The sixteenth pin of the motor drive chip U7 is connected to the twelfth pin of the main control chip U1. The fourth pin of the motor drive chip U7 is connected to the fourth pin of the first motor U8. The fifth pin of the motor drive chip U7 is connected to the third pin of the first motor U8. The sixth pin of the motor drive chip U7 is connected to the fourth pin of the second motor U9. The seventh pin of the motor drive chip U7 is connected to the third pin of the second motor U9. The first pins of the first motor U8 and the second motor U9 are both connected to the seventh pin of the voltage regulator chip U4. The fifth pins of the first motor U8 and the second motor U9 are both connected to the second pin of the drive chip U7. The second and sixth pins of the first motor U8 and the second motor U9 are both grounded.

[0033] As Figure 8 shown in the figure, it is the circuit structure diagram of the intelligent cruise module. The intelligent cruise module includes an inertial measurement unit U6. The second pin of the inertial measurement unit U6 is connected to the fourth pin of the buck chip U5. The third pin of the inertial measurement unit U6 is connected to the twenty-seventh pin of the main control chip U1. The fourth pin of the inertial measurement unit U6 is connected to the twenty-sixth pin of the main control chip U1. The fifth pin of the inertial measurement unit U6 is grounded.

[0034] As Figure 9 shown in the figure, it is the circuit structure diagram of the temperature and humidity measurement module. The temperature and humidity measurement module includes a temperature and humidity sensor U10. The first pin of the temperature and humidity sensor U10 is grounded. The second pin of the temperature and humidity sensor U10 is connected to the thirteenth pin of the main control chip U1. The third pin of the temperature and humidity sensor U10 is connected to the VCC power supply. Among them, the model of the temperature and humidity sensor is selected as DHT11.

[0035] Next, in combination with Figures 2 to 9 the specific working principle and process of the present utility model will be described:

[0036] The user toggles the switch SW1, and the first pin and the second pin of the switch SW1 are connected. The fixed-rail mobile data acquisition device starts to work. The eight-channel grayscale sensors of the road condition analysis module will identify the marked points on the ground and send the identification results to the main controller through the fifth pin to the twelfth pin. After receiving the detection signal of the marked points, the main controller processes it and sends the control signal to the drive module through the eleventh pin, the twelfth pin, the thirty-first pin, the thirty-second pin, the thirty-third pin, and the thirty-fourth pin of the main control chip, and the drive motor control device starts to run;

[0037] During operation, the road condition analysis module and the intelligent cruise module transmit the detected data to the main controller. The main controller judges the next forward direction and sends signals to the drive module through the thirty-first pin, the thirty-second pin, the thirty-third pin, and the thirty-fourth pin of the main control chip to control the device to move forward; when the eight-channel grayscale sensor of the road condition analysis module detects the marked end point, it sends a signal to the main controller, and the main controller controls the drive module to stop the drive motor and control the device to stop; during operation, the temperature and humidity measurement module transmits the temperature and humidity data to the main controller for processing through the thirteenth pin of the main controller;

[0038] When the device detects an abnormality, the main control chip transmits the signal to the TipOut pin of the sound and light prompt module through the thirty-fifth pin, emits a sound and light prompt, and disconnects all the pins connected to the drive system to ensure the safety of personnel. After the main controller eliminates the abnormality, the device continues to work.

[0039] The beneficial effects of the present utility model are as follows: The present utility model provides a fixed-rail mobile data acquisition device, which can use the road condition analysis module and the intelligent cruise module to move smoothly and accurately according to the pre-arranged small marked points, can effectively meet the needs of mobile data acquisition in a small and simple environment. At the same time, users can conveniently plan and adjust the data acquisition route, improve the acquisition efficiency, and reduce the cost.

Claims

1. A fixed-orbit mobile data acquisition device, characterized in that, Including: A power supply module, a buck module and a drive module respectively connected to the power supply module, a main controller, an intelligent cruise module and a road condition analysis module respectively connected to the buck module, and an acoustic-optic prompt module connected to the main controller. The main controller is also respectively connected to the drive module, the intelligent cruise module, a temperature and humidity measurement module, and an intersection analysis module.

2. The fixed-orbit mobile data acquisition device according to claim 1, wherein The power supply module includes a voltage regulator chip U4; The first pin of the voltage regulator chip U4 is connected to the POWER+ interface of the battery power supply, the second pin of the voltage regulator chip U4 is connected to the POWER- interface of the battery power supply, the fifth pin of the voltage regulator chip U4 is grounded, and the seventh pin of the voltage regulator chip U4 is respectively connected to the buck module and the drive module.

3. The orbit-determining mobile data acquisition device according to claim 2, characterized in that, The buck module includes a buck chip U5 and a switch SW1; The second pin of the buck chip U5 is connected to the second pin of the switch SW1, the first pin of the SW1 is connected to the seventh pin of the voltage regulator chip U4, the first pin and the third pin of the buck chip U5 are both grounded, and the fourth pin of the buck chip U5 is respectively connected to the main controller, the road condition analysis module, and the intelligent cruise module.

4. The fixed-orbit mobile data acquisition device according to claim 3, wherein The main controller includes a main control chip U1; The 22nd pin of the main control chip U1 is connected to the VCC power supply, the 18th pin of the main control chip U1 is connected to the fourth pin of the buck chip U5, the 21st pin of the main control chip U1 is grounded, the 2nd, 3rd, 4th, 5th, 6th, 28th, 29th, and 30th pins of the main control chip U1 are all connected to the road condition analysis module, the 35th pin of the main control chip U1 is connected to the acoustic-optic prompt module, the 11th, 12th, 31st, 32nd, 33rd, and 34th pins of the main control chip U1 are all connected to the drive module, the 26th and 27th pins of the main control chip U1 are both connected to the intelligent cruise module, and the 13th pin of the main control chip is connected to the temperature and humidity measurement module.

5. The fixed-orbit mobile data acquisition device according to claim 4, characterized in that, The road condition analysis module includes an eight-channel grayscale sensor U2; The first pin of the eight-channel grayscale sensor U2 is grounded, the second pin of the eight-channel grayscale sensor U2 is connected to the fourth pin of the buck chip U5, the fifth pin of the eight-channel grayscale sensor U2 is connected to the 28th pin of the main control chip U1, the sixth pin of the eight-channel grayscale sensor U2 is connected to the 29th pin of the main control chip U1, the seventh pin of the eight-channel grayscale sensor U2 is connected to the 30th pin of the main control chip U1, the eighth pin of the eight-channel grayscale sensor U2 is connected to the 6th pin of the main control chip U1, the ninth pin of the eight-channel grayscale sensor U2 is connected to the 5th pin of the main control chip U1, the tenth pin of the eight-channel grayscale sensor U2 is connected to the 4th pin of the main control chip U1, the eleventh pin of the eight-channel grayscale sensor U2 is connected to the 3rd pin of the main control chip U1, and the twelfth pin of the eight-channel grayscale sensor U2 is connected to the 2nd pin of the main control chip U1.

6. The fixed-orbit mobile data acquisition device according to claim 4, wherein The sound and light prompt module includes a buzzer BEEP1 and a light-emitting diode LED1; The first pin of the buzzer BEEP1 is respectively connected to the positive electrode of the light-emitting diode LED1 and one end of the resistor R1. The other end of the resistor R1 is connected to the VCC power supply interface. The negative electrode of the light-emitting diode is respectively connected to the second pin of the buzzer BEEP1 and the TipOut interface. The TipOut interface is connected to the 35th pin of the main control chip U1.

7. The fixed-rail mobile data acquisition device according to claim 4, wherein The drive module includes a motor drive chip U7, a first motor U8, and a second motor U9; The first pin of the motor drive chip U7 is connected to the seventh pin of the voltage regulator chip U4. The second pin of the motor drive chip U7 is respectively connected to the first motor U8 and the second motor U9. The eighth and ninth pins of the motor drive chip U7 are both grounded. The tenth pin of the motor drive chip U7 is connected to the 11th pin of the main control chip U1. The 11th pin of the motor drive chip U7 is connected to the 31st pin of the main control chip U1. The 12th pin of the motor drive chip U7 is connected to the 32nd pin of the main control chip U1. The 14th pin of the motor drive chip U7 is connected to the 34th pin of the main control chip U1. The 15th pin of the motor drive chip U7 is connected to the 33rd pin of the main control chip U1. The 16th pin of the motor drive chip U7 is connected to the 12th pin of the main control chip U1. The fourth pin of the motor drive chip U7 is connected to the fourth pin of the first motor U8. The fifth pin of the motor drive chip U7 is connected to the third pin of the first motor U8. The sixth pin of the motor drive chip U7 is connected to the fourth pin of the second motor U9. The seventh pin of the motor drive chip U7 is connected to the third pin of the first motor U9. The first pins of the first motor U8 and the second motor U9 are both connected to the seventh pin of the voltage regulator chip U4. The fifth pins of the first motor U8 and the second motor U9 are both connected to the second pin of the drive chip U7. The second and sixth pins of the first motor U8 and the second motor U9 are both grounded.

8. The fixed-orbit mobile data acquisition device according to claim 4, characterized in that, The intelligent cruise module includes an inertial measurement unit U6; The second pin of the inertial measurement unit U6 is connected to the fourth pin of the buck chip U5. The third pin of the inertial measurement unit U6 is connected to the 27th pin of the main control chip U1. The fourth pin of the inertial measurement unit U6 is connected to the 26th pin of the main control chip U1. The fifth pin of the inertial measurement unit U6 is grounded.

9. The fixed-orbit mobile data acquisition device according to claim 4, characterized in that The temperature and humidity measurement module includes a temperature and humidity sensor U10; The first pin of the temperature and humidity sensor U10 is grounded. The second pin of the temperature and humidity sensor U10 is connected to the 13th pin of the main control chip U1. The third pin of the temperature and humidity sensor U10 is connected to the VCC power supply.

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