CN105049804A - Remote operating system for explosive-handling robot - Google Patents
Remote operating system for explosive-handling robot Download PDFInfo
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- CN105049804A CN105049804A CN201510412512.3A CN201510412512A CN105049804A CN 105049804 A CN105049804 A CN 105049804A CN 201510412512 A CN201510412512 A CN 201510412512A CN 105049804 A CN105049804 A CN 105049804A
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Abstract
The invention relates to a remote operating system for an explosive-handling robot. An audio/video coding device receives multipath audio/video data generated by the explosive-handling robot, codes the multipath audio/video data to obtain a transmission signal and transmits the transmission signal to a data transmission device; the data transmission device transmits the transmission signal to an audio/video processing device of remote control equipment in a wireless or wired manner. The audio/video processing device receives the transmission signal and decodes the transmission signal to obtain the multipath audio/video data and transmits the multipath audio/video data to a controller. The controller transmits the multipath audio/video data to a display screen and controls the display screen to display on a corresponding display area. By obtaining the multipath audio/video data shot by the explosive-handling robot and uniformly transmitting the multipath audio/video data in a wireless or wired manner after coding, the system of the invention reduces the number of transmission equipment and antennas so as to enable the structure to be more compact and reduce the mutual interference between signals. Because the specific transmission manner could be selected according to an actual use environment, the system could reduce the influence of the environment to data transmission and improve the reliability of the data transmission and transmission efficiency.
Description
Technical field
The present invention relates to remote control technology field, particularly relate to a kind of explosive-removal robot remote operating system.
Background technology
The main users of explosive-removal robot is army or police, and purposes gets rid of explosive or suspected explosive, and these dangerous goods are transferred to safety zone.When explosive-removal robot works, staff should be positioned at safety area, as far as possible away from dangerous goods, carries out remote control, avoid casualties to explosive-removal robot.
Traditional explosive-removal robot teleoperated manner is that the video-audio data point multichannel collected by explosive-removal robot transfers to control desk respectively, staff controls explosive-removal robot work by the mechanical button on control desk and rocking bar, and the video-audio data that display receives.Because the audio-visual transmission respectively of multichannel needs multiple sending and receiving devices, mutually disturb between each signal transmission, the image that impact receives and sound quality, there is the low shortcoming of data reliability in traditional explosive-removal robot teleoperated manner.
Summary of the invention
Based on this, be necessary for the problems referred to above, a kind of explosive-removal robot remote operating system improving data transmission credibility is provided.
A kind of explosive-removal robot remote operating system, comprise remote control equipment and car body data transmitting/receiving equipment, described car body data transmitting/receiving equipment is arranged at explosive-removal robot and carries out telecommunication with described remote control equipment,
Described car body data transmitting/receiving equipment comprises audio/video coding device and data transmission device, described audio/video coding device connects described data transmission device, the multichannel audio-video frequency data generated for receiving described explosive-removal robot are encoded, obtain signal transmission and be sent to described data transmission device, described data transmission device is used for by wireless or cable described signal transmission being sent to described remote control equipment;
Described remote control equipment comprises audio frequency and video processing unit, controller and display screen, and described controller connects described audio frequency and video processing unit and display screen; Described audio frequency and video processing unit is for receiving described signal transmission, carry out decoding to described signal transmission to obtain multichannel audio-video frequency Data Concurrent and deliver to described controller, described controller is used for multichannel audio-video frequency data to be sent to described display screen, and controls described display screen and show in corresponding viewing area.
Above-mentioned explosive-removal robot remote operating system, the multichannel audio-video frequency data that audio/video coding device receives explosive-removal robot generation are encoded, obtain signal transmission and be sent to data transmission device, signal transmission is sent to the audio frequency and video processing unit of remote control equipment by data transmission device by wireless or cable.Audio frequency and video processing unit receives signal transmission, and carry out decoding to signal transmission and obtain multichannel audio-video frequency Data Concurrent and deliver to controller, multichannel audio-video frequency data are sent to display screen by controller, and controls display screen and show in corresponding viewing area.Obtain after passing through coding after explosive-removal robot takes the multichannel audio-video frequency data obtained, wireless or wired mode unification is utilized to transmit, reduce transmission equipment and antenna amount, more compact structure, reduce the mutual interference between signal, and concrete transmission means can be selected according to practical service environment, reduce environment to the impact of transfer of data, improve data transmission credibility and efficiency of transmission.
Accompanying drawing explanation
Fig. 1 is the structure chart of explosive-removal robot remote operating system in an embodiment;
Fig. 2 is the structure chart of data transmission device in an embodiment;
Fig. 3 is the structure chart of an embodiment middle pitch video process apparatus;
Fig. 4 is the structure chart of explosive-removal robot remote operating system in another embodiment;
Fig. 5 is the structure chart of the first order R-T unit in an embodiment;
Fig. 6 is the structure chart of the second order R-T unit in an embodiment.
Embodiment
A kind of explosive-removal robot remote operating system, as shown in Figure 1, comprise car body data transmitting/receiving equipment 100 and remote control equipment 200, car body data transmitting/receiving equipment 100 is arranged at explosive-removal robot and carries out telecommunication with remote control equipment 200.
Car body data transmitting/receiving equipment 100 comprises audio/video coding device 110 and data transmission device 120, audio/video coding device 110 connection data transmitting device 120, the multichannel audio-video frequency data generated for receiving explosive-removal robot are encoded, obtain signal transmission and be sent to data transmission device 120, data transmission device 120 is for being sent to remote control equipment 200 by signal transmission by wireless or cable.Explosive-removal robot is by multiple shooting module floor picture and record, the multichannel audio-video frequency data obtained are sent to car body data transmitting/receiving equipment 100, and audio/video coding device 110 is sent to remote control equipment 200 by data transmission device 120 after encoding.Audio/video coding device 110 combines to the image of each camera collection and voice signal according to certain mode, splices, be compressed into the Streaming Media of suitable transmission, not only data volume can be reduced, improve the real-time of transfer of data, and integrating can be carried out to data transmission device 120, reduce costs, reduce the interference between different transmission equipment, reduce signal transmission to the impact of danger, be also convenient to carry out imprinting and playback to video in subsequent decoding process.
Remote control equipment 200 comprises audio frequency and video processing unit 210, controller 220 and display screen 230, and controller 220 connects audio frequency and video processing unit 210 and display screen 230.Audio frequency and video processing unit 210 is for receiving signal transmission, carry out decoding to signal transmission to obtain multichannel audio-video frequency Data Concurrent and deliver to controller 220, controller 220 for multichannel audio-video frequency data are sent to display screen 230, and control display screen 230 and shows in corresponding viewing area.Audio frequency and video processing unit 210 is resolved the corresponding viewing area that the multichannel audio-video frequency data obtained are sent to display screen 230 and is shown by controller 220, and same interface can show several video pictures simultaneously, realizes the split screen display of multichannel audio and video information.
Wherein in an embodiment, as shown in Figure 2, data transmission device 120 comprises sending selects module 122, wireless audio and video sending module 124 and wired audio frequency and video sending module 126, send and select module 122 to connect wireless audio and video sending module 124 and wired audio frequency and video sending module 126, wireless audio and video sending module 124 is all connected audio/video coding device 110 with wired audio frequency and video sending module 126.The signal transmission that wireless audio and video sending module 124 and wired audio frequency and video sending module 126 export for receiving audio/video coding device 110, sends and selects module 122 for controlling wireless audio and video sending module 124 or wired audio frequency and video sending module 126 sends signal transmission to audio frequency and video processing unit 210.
Specifically carry out detection output detections result by external detection instrument to the wireless signal strength of site environment, operating personnel select module 122 to control wireless audio and video sending module 124 and wired audio frequency and video sending module 126 works according to testing result by sending.Such as, wireless audio and video sending module 124 can be controlled when wireless signal strength is higher and send signal transmission, the mode such as RF, microwave, 3G/4G, WIFI specifically can be adopted to carry out Signal transmissions, but be not limited to upper type; When wireless signal strength is more weak, the controlled line audio frequency and video sending module 126 that is shaped with carries signal transmission.Operating personnel can select concrete transmission means according to practical service environment, reduce environment to the impact of transfer of data.
Wherein in an embodiment, as shown in Figure 3, audio frequency and video processing unit 210 comprises wireless audio and video receiver module 212, wired audio frequency and video receiver module 214, audio frequency and video input handover module 216 and audio/video decoding module 218, audio frequency and video input handover module 216 connects wireless audio and video receiver module 212, wired audio frequency and video receiver module 214 and audio/video decoding module 218, audio/video decoding module 218 connection control device 220.Audio frequency and video input handover module 216 is for the signal transmission that accesses wireless audio and video receiver module 212 or wired audio frequency and video receiver module 214 and receive and be delivered to audio/video decoding module 218, and audio/video decoding module 218 obtains multichannel audio-video frequency Data Concurrent deliver to controller 220 for carrying out decoding to signal transmission.
Wireless audio and video receiver module 212 receives the signal transmission that data transmission device 120 wirelessly sends, and wired audio frequency and video receiver module 214 receives the signal transmission that data transmission device 120 sends in a wired fashion.The signal strength signal intensity of audio frequency and video input handover module 216 specifically by detecting wireless audio and video receiver module 212 and wired audio frequency and video receiver module 214 is carried out switching and is selected, access signal transmission and transfer to audio/video decoding module 218 and carry out decoding process, the signal that decoding audio frequency and video input handover module 216 accesses, decomposites each video information from data flow.Receive data transmission device 120 send signal transmission carry out decoding process, the video information that different camera is taken is restored, on display screen 230 by picture segmentation after show simultaneously.
Wherein in an embodiment, as shown in Figure 4, remote control equipment 200 also comprises the first order R-T unit 240 of connection control device 220, and car body data transmitting/receiving equipment 100 also comprises the second order R-T unit 130.
Controller 220 also sends control command to the second order R-T unit 130 for controlling the first order R-T unit 240, and after the second order R-T unit 130 receives notification instruction, control display screen output information; Second order R-T unit 130, when control command does not meet preset standard, sends notification instruction to the first order R-T unit 240.
The control command that first order R-T unit 240 sends is used for remote operation and controls explosive-removal robot, such as, walk and get rid of the operations such as explosive.Specifically can send corresponding control command according to the different instruction of operating personnel's input.Wherein, walking function comprises advance, backstage and original place rotation; Control the positions such as joint such as explosive-removal robot waist joint, shoulder joints, ancon joint, wrist joint and paw and perform certain action, capture explosive and be placed into the place of specifying.
Further, car body data transmitting/receiving equipment 100 also can comprise the command analysis device of connection second order R-T unit 130, the control command that command analysis device is used for the second order R-T unit 130 receives is resolved, judge whether control command meets preset standard, such as, the attribute such as type, form, character length of control command and preset standard are compared.If control command does not meet preset standard, then can deletion error order automatically, command analysis device output notice instruction to the second order R-T unit 130, second order R-T unit 130 is sent to the first order R-T unit 240 after receiving notification instruction.Controller 220 controls display screen 230 and exports information after the second order R-T unit 130 receives notification instruction, concrete exportable default picture or Word message, make mistakes, to revise rear repeating transmission to control command in time with teaching process personnel order.Being appreciated that in other embodiments, also can be carry out resolved detection by external detection device to the control command that the second order R-T unit 130 receives, if control command does not meet preset standard, and output notice instruction to the second order R-T unit 130.
Further, wherein in an embodiment, as shown in Figure 5, first order R-T unit 240 comprises the first controlled in wireless order transceiver module 242, first wired control command transceiver module 244 and order Transmit enable module 246, and order Transmit enable module 246 connects the first controlled in wireless order transceiver module 242, first wired control command transceiver module 244 and controller 220.Order Transmit enable module 246 sends control command to the second order R-T unit 130 for controlling the wired control command transceiver module 244 of the first controlled in wireless order transceiver module 242 or the first, and receives the notification instruction that returns of the second order R-T unit 230 and be back to controller 220.
By external detection instrument, detection is carried out and output detections result to the wireless signal strength of site environment equally, operating personnel control the first controlled in wireless order transceiver module 242 according to testing result by order Transmit enable module 246 and first wired control command transceiver module 244 works, and select the send mode that control command is concrete.When the notification instruction that reception second order R-T unit 230 returns, detect the signal strength signal intensity of the first controlled in wireless order transceiver module 242 and first wired control command transceiver module 244 by order Transmit enable module 246, judge the source of signal and automatically select passage that is wired or wireless reception of signals.
Wherein in an embodiment, as shown in Figure 6, second order R-T unit 130 comprises the second wired control command transceiver module 134 of controlled in wireless order transceiver module 132, second and module 136 is selected in order transmitting-receiving, and order transmitting-receiving selects module 136 to connect the second controlled in wireless order transceiver module 132 and second wired control command transceiver module 134.Order transmitting-receiving selects module 136 to receive the control command of the first order R-T unit 240 transmission for controlling the wired control command transceiver module 134 of the second controlled in wireless order transceiver module 132 or the second, and when control command does not meet preset standard, return notification instruction to the first order R-T unit 240.Order transmitting-receiving select module 136 receive and dispatch instruction time select the principle of concrete communication modes and order Transmit enable module 246 similar, do not repeat them here.
Each wireless transmission method can adopt overlength distance spread spectrum to adjust demodulation techniques enhancing receiving sensitivity above, and realizing also can proper communication when low-power sends.In addition, when to decoding data, staff freely adds illustrative word by inputting interface.
Wherein in an embodiment, continue with reference to Fig. 4, remote control equipment 200 also comprises the touch screen 250 of connection control device.Touch screen 250, for inputting dependent instruction for operating personnel, realizes man-machine interaction.In addition, operating personnel can input certain piece image in the multiple image that regulating command selects arbitrarily display screen 230 to show by touch screen 250 and carry out amplification display, so that operating personnel check.
In the present embodiment, touch screen 250 is provided with pressure sensor, software is coordinated to complete the collection of input command, realize pressing dynamics by pressure sensor to detect, detect the touch location of operating personnel and complete the input of order in conjunction with the icon on display screen, realizing friendly man-machine interface.Such as, by clicking " advance " virtual push button on touch screen 250, controlling explosive-removal robot and advancing, according to the pace of pressing dynamics adjustment explosive-removal robot.Adopt touch-screen 250 substitute button or on-off mode, operation interface is more friendly, increase or delete function flexibly convenient.In addition, adopt pressure sensor to substitute action bars and gather the analog quantitys such as the running speed of structure and dynamics, reduce physical dimension, strengthen the feature of product portability, also reduce cost.
Wherein in an embodiment, remote control equipment 200 also comprises the electric supply installation connecting audio frequency and video processing unit 210, controller 220 and display screen 230.Electric supply installation is used for powering to audio frequency and video processing unit 210, controller 220 and display screen 230.
Particularly, in the present embodiment, electric supply installation comprises battery pack, power management module and battery charge and discharge control module, battery pack connects power management module and battery charge and discharge control module, and power management module connects audio frequency and video processing unit 210, controller 220 and display screen 230.Battery charge and discharge control module is used for controlling the charging and discharging process of battery pack, prevents battery pack overcharge or overdischarge, ensures the normal work of battery pack, prevents accidental damage.Power management module is used for carrying out voltage transitions to battery pack, provides the voltage and current of each device work in remote control equipment 200.
Further, wherein in an embodiment, remote control equipment 200 also comprises the battery replacing mechanism connecting electric supply installation.Battery replacing mechanism specifically connects battery pack, and can comprise guide rail and locking mechanism, guide rail is connected with battery pack, and for deriving and importing battery, locking mechanism is arranged at guide rail, for self-contained battery, adopts guide tracked battery altering mode, convenient operation.When working at the scene, if the battery electric quantity of remote control equipment 200 is finished, operating personnel can quick-replaceable battery at the scene, extracted out there is no the battery of electricity by guide rail, change the battery being full of electricity, utilize the locking mechanism locking battery on guide rail, ensure battery reliable power supply.
In addition, remote control equipment 200 also can comprise Portable suitcase, and audio frequency and video processing unit 210 and controller 220 are arranged in Portable suitcase.Other devices of remote control equipment 200 all can be arranged in Portable suitcase or Portable suitcase outer surface, and Portable suitcase provides defencive function and is easy to carry, and improve safety in utilization and the convenience of explosive-removal robot remote operating system.
Above-mentioned explosive-removal robot remote operating system, the multichannel audio-video frequency data that audio/video coding device 110 receives explosive-removal robot generation are encoded, obtain signal transmission and be sent to data transmission device 120, signal transmission is sent to the audio frequency and video processing unit 210 of remote control equipment 200 by data transmission device 120 by wireless or cable.Audio frequency and video processing unit 210 receives signal transmission, carry out decoding to signal transmission to obtain multichannel audio-video frequency Data Concurrent and deliver to controller 220, multichannel audio-video frequency data are sent to display screen 230 by controller 220, and control display screen 230 and show in corresponding viewing area.Obtain after passing through coding after explosive-removal robot takes the multichannel audio-video frequency data obtained, wireless or wired mode unification is utilized to transmit, reduce transmission equipment and antenna amount, more compact structure, reduce the mutual interference between signal, and concrete transmission means can be selected according to practical service environment, reduce environment to the impact of transfer of data, improve data transmission credibility and efficiency of transmission.
Each technical characteristic of the above embodiment can combine arbitrarily, for making description succinct, the all possible combination of each technical characteristic in above-described embodiment is not all described, but, as long as the combination of these technical characteristics does not exist contradiction, be all considered to be the scope that this specification is recorded.
The above embodiment only have expressed several execution mode of the present invention, and it describes comparatively concrete and detailed, but can not therefore be construed as limiting the scope of the patent.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection range of patent of the present invention should be as the criterion with claims.
Claims (10)
1. an explosive-removal robot remote operating system, is characterized in that, comprises remote control equipment and car body data transmitting/receiving equipment, and described car body data transmitting/receiving equipment is arranged at explosive-removal robot and carries out telecommunication with described remote control equipment,
Described car body data transmitting/receiving equipment comprises audio/video coding device and data transmission device, described audio/video coding device connects described data transmission device, the multichannel audio-video frequency data generated for receiving described explosive-removal robot are encoded, obtain signal transmission and be sent to described data transmission device, described data transmission device is used for by wireless or cable described signal transmission being sent to described remote control equipment
Described remote control equipment comprises audio frequency and video processing unit, controller and display screen, and described controller connects described audio frequency and video processing unit and display screen; Described audio frequency and video processing unit is for receiving described signal transmission, carry out decoding to described signal transmission to obtain multichannel audio-video frequency Data Concurrent and deliver to described controller, described controller is used for multichannel audio-video frequency data to be sent to described display screen, and controls described display screen and show in corresponding viewing area.
2. explosive-removal robot remote operating system according to claim 1, it is characterized in that, described data transmission device comprises sending selects module, wireless audio and video sending module and wired audio frequency and video sending module, wireless audio and video sending module and wired audio frequency and video sending module described in model calling is selected in described transmission, described wireless audio and video sending module is all connected described audio/video coding device with wired audio frequency and video sending module
The signal transmission that described wireless audio and video sending module and wired audio frequency and video sending module export for receiving described audio/video coding device, described transmission selects module for controlling described wireless audio and video sending module or wired audio frequency and video sending module transmission signal transmission extremely described audio frequency and video processing unit.
3. explosive-removal robot remote operating system according to claim 1, it is characterized in that, described audio frequency and video processing unit comprises wireless audio and video receiver module, wired audio frequency and video receiver module, audio frequency and video input handover module and audio/video decoding module, described audio frequency and video input handover module connects described wireless audio and video receiver module, wired audio frequency and video receiver module and audio/video decoding module, controller described in described audio/video decoding model calling
Described audio frequency and video input handover module is for the signal transmission that accesses described wireless audio and video receiver module or wired audio frequency and video receiver module and receive and be delivered to described audio/video decoding module, and described audio/video decoding module is used for carrying out decoding to signal transmission and obtains multichannel audio-video frequency Data Concurrent and deliver to described controller.
4. explosive-removal robot remote operating system according to claim 1, is characterized in that, described remote control equipment also comprises the first order R-T unit connecting described controller, and described car body data transmitting/receiving equipment also comprises the second order R-T unit;
Described controller also sends control command to described second order R-T unit for controlling described first order R-T unit, and after the second order R-T unit receives notification instruction, control display screen output information; Described second order R-T unit, when described control command does not meet preset standard, sends described notification instruction to described first order R-T unit.
5. explosive-removal robot remote operating system according to claim 4, it is characterized in that, described first order R-T unit comprises the first controlled in wireless order transceiver module, first wired control command transceiver module and order Transmit enable module, the first controlled in wireless order transceiver module, the first wired control command transceiver module and controller described in described order Transmit enable model calling;
Described order Transmit enable module for controlling described first controlled in wireless order transceiver module or the first wired control command transceiver module sends control command to described second order R-T unit, and receives notification instruction that described second order R-T unit returns and is back to described controller.
6. explosive-removal robot remote operating system according to claim 4, it is characterized in that, described second order R-T unit comprises the second controlled in wireless order transceiver module, second wired control command transceiver module and order transmitting-receiving and selects module, the second controlled in wireless order transceiver module and second wired control command transceiver module described in model calling is selected in described order transmitting-receiving
Described order transmitting-receiving selects module for controlling the control command of described second controlled in wireless order transceiver module or the described first order R-T unit transmission of second wired control command transceiver module reception, and returns described notification instruction when described control command does not meet preset standard to described first order R-T unit.
7. explosive-removal robot remote operating system according to claim 1, is characterized in that, described remote control equipment also comprises the touch screen connecting described controller.
8. explosive-removal robot remote operating system according to claim 1, is characterized in that, described remote control equipment also comprises the electric supply installation connecting described audio frequency and video processing unit, controller and display screen.
9. explosive-removal robot remote operating system according to claim 8, is characterized in that, described remote control equipment also comprises the battery replacing mechanism connecting described electric supply installation.
10. the explosive-removal robot remote operating system according to claim 1-9 any one, is characterized in that, described remote control equipment also comprises Portable suitcase, and described audio frequency and video processing unit and controller are arranged in described Portable suitcase.
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| CN107305464A (en) * | 2016-04-25 | 2017-10-31 | 西安中兴新软件有限责任公司 | A kind of control method and device based on pressure sensitive |
| CN105892374A (en) * | 2016-06-08 | 2016-08-24 | 三门峡市天康成套设备有限责任公司 | Integrated intelligent explosive-handling active platform |
| WO2019014929A1 (en) * | 2017-07-21 | 2019-01-24 | 深圳市萨斯智能科技有限公司 | Method of operating robot and robot |
| WO2019018964A1 (en) * | 2017-07-22 | 2019-01-31 | 深圳市萨斯智能科技有限公司 | Method for robot executing remote instruction, and robot |
| CN108616679A (en) * | 2018-04-09 | 2018-10-02 | 沈阳上博智像科技有限公司 | The method of binocular camera and control binocular camera |
| CN109729311A (en) * | 2018-12-18 | 2019-05-07 | 航天时代电子技术股份有限公司 | Video information acquisition processing system, method and human body are servo-actuated teleoperation robot |
| CN109729311B (en) * | 2018-12-18 | 2021-03-12 | 航天时代电子技术股份有限公司 | Video information acquisition and processing system and method and human body follow-up teleoperation robot |
| CN113542836A (en) * | 2021-07-06 | 2021-10-22 | 腾讯科技（深圳）有限公司 | Remote control method and device, electronic equipment and computer readable storage medium |
| CN113542836B (en) * | 2021-07-06 | 2023-05-16 | 腾讯科技（深圳）有限公司 | Remote control method and device, electronic equipment and computer readable storage medium |
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