CN101635836A - Full duplex radio control video data link - Google Patents
Full duplex radio control video data link Download PDFInfo
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- CN101635836A CN101635836A CN200910147474A CN200910147474A CN101635836A CN 101635836 A CN101635836 A CN 101635836A CN 200910147474 A CN200910147474 A CN 200910147474A CN 200910147474 A CN200910147474 A CN 200910147474A CN 101635836 A CN101635836 A CN 101635836A
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Abstract
The invention discloses a full duplex radio control video data link, comprising a controlled end unit and a remote control end unit. The controlled end unit comprises a camera, an encoding module and a controlled end data station, wherein the camera is connected with the encoding module, and the encoding module is connected with the controlled end data station. The remote control end unit comprises a remote operation platform and a remote control end video data station connected together, wherein the remote control end video data station is used for transmitting order data to the controlled end data station mutually and receiving image data sent from the controlled end unit. The invention can ensure the controllability of the detecting device when an unmanned detecting device enters a complicated non-visual and non-structured environment, under the condition of complicated places and poor communication situations in major accidents, sudden disaster sites and the like.
Description
Technical field
The present invention relates to a kind of remote control that is used for, particularly relate to and realizing under the non-visual complex environment, to the device of the reception of the perception of surrounding environment and control command.
Background technology
The control mode of remote probe device mainly adopts wired control mode and controlled in wireless mode at present.The advantage of wired mode is no matter to be transmission video signal or other data and control signal, can both guarantee enough bandwidth and higher reliability, and its technology realizes easier, is a kind of control mode of maturation.Yet in the landform more complicated, under the crisscross environment of particularly various barriers, the control cable of sniffer very easily causes actual effect because of hanging folder, thereby has limited the detecting function of sniffer greatly.Wireless mode is the main flow trend that develops at present, from carrier system, can be divided into two kinds of analog form and digital forms again.The detection sniffer of present domestic maturation remains analog form, generally be divided into control link and video link two parts, the control link is realized single worker or duplex data transfer by data radio station, video data adopts single worker's broadcast mode transmission, adopt analog signal, the receiving terminal main frame is realized the processing and the demonstration of video by video frequency collection card.The shortcoming of this kind solution is:
Though it is simple a lot of that 1 technology realize to go up is wanted, can not satisfy the needs of the collection demand of various different types of data and reliability, confidentiality.
2, video data adopts the single worker's broadcast mode transmission of analog signal, and sensitivity is low, does not support to shed the radio station relaying, and communication distance is limited, poor anti jamming capability, and image has delay, and real-time is not strong.
3, because the video link adopts simplex mode, so can't manage to the front end image capture module.
4, because the video link adopts analog signal, adopt video frequency collection card to carry out background process, so improve requirement, can't adopt the embedded Control platform to realize to backstage receiving terminal main frame.
Summary of the invention
Technical problem to be solved by this invention provides a kind of full duplex radio control video data link, when the unmanned probing device enters complicated non-visual, destructuring environment, can guarantee the controllability of sniffer.
In order to solve above technical problem, the invention provides a kind of full duplex radio control video data link; Comprise: controlled end unit and remote control end unit; Controlled end unit comprises video camera, coding module, controlled end data radio station; Described video camera is connected with coding module, and coding module is connected with controlled end data radio station; Described remote control end unit comprises remote console and the remote control end control of video data radio that is connected; Described remote control end control of video data radio is used for and the mutual move instruction data in controlled end data radio station, and accepts the view data that controlled end unit transmits.
Beneficial effect of the present invention is: for the occasion of some landform more complicated, and under the poor situation of communication condition such as major accident, burst fire-disaster scene, when the unmanned probing device enters complicated non-visual, destructuring environment, can guarantee the controllability of sniffer, the control personnel can work in rugged environment according to low code stream realtime graphic of passing back and sensing data control sniffer.To play irreplaceable guaranteeing role to application such as rescue and relief work, emergency commands simultaneously.
Above-mentioned controlled end control data radio station comprises management control module, protocol conversion verification module, sensor interface module, data exchange module and RF front-end module; Wherein protocol conversion verification module, sensor interface module, data exchange module and RF front-end module are connected with management control module respectively; Described RF front-end module is connected with antenna; Described data exchange module is connected with controlled end control computer.
Above-mentioned RF front-end module is the data radio station RF front-end module of frequency hopping FHSS modulation.
The RF front-end module of above-mentioned controlled end control of video data radio adopts the communications band of 902-928M.
Above-mentioned controlled end control computer links to each other by the data exchange module of network interface with controlled end data radio station.
The sensor interface module is connected with environmental sensor bus ESB intelligence sensor.
Above-mentioned environmental sensor bus ESB connects atmosphere Temperature Humidity Sensor and/or inertia measurement device.
Above-mentioned coding module is a digital audio/video encoding and decoding technique standard coders.
Above-mentioned coding module links to each other with the protocol conversion verification module in controlled end data radio station by the Serial Peripheral Interface spi bus.
Have between above-mentioned controlled end unit and the remote control end unit and can shed TU Trunk Unit and carry out the signal transmission.
Description of drawings
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail.
Fig. 1 is the schematic diagram of existing sniffer control device;
Fig. 2 is the schematic diagram of the described sniffer control device of the embodiment of the invention;
Fig. 3 is that the described sniffer control device of the embodiment of the invention is used schematic diagram.
Embodiment
Sniffer of the present invention is sensu lato sniffer, comprises automatic driving vehicle, aircraft, robot etc.Sniffer is operated in dynamic, the uncertain and non-structured environment mostly, these highly uncertain environmental requirement sniffers have the capacity of self-government of height and to the perception of environment, and control of video data chainning technology improves sniffer system senses effective methods just.The control of video data chainning adopts the mode of operation of full duplex, can transmit control command simultaneously, sensing data, and video data.Account for the characteristics of total communication data more than 80% based on video data, video data adopts digital audio/video encoding and decoding technique standard (AVS) coding techniques to carry out compressed encoding, pass through optimization Algorithm, can be implemented under the bandwidth of 50kbps, the transmission frame per second is the QVGA image of 20fps, and frame per second, code check dynamic adjustable; Adopt frequency hopping (FHSS) communication mode, link is highly sensitive, antijamming capability is strong, and support to shed relaying, when sniffer enters complicated non-visual, destructuring environment, highly sensitive control data chain can guarantee the controllability of sniffer, and the control personnel can break away from rugged environment according to low code stream realtime graphic of passing back and sensing data control sniffer.
Shown in Figure 1, the control of video data chainning is made up of controlled end unit and remote control end unit two parts, and controlled end unit is made up of Pan/Tilt/Zoom camera, AVS coding module, controlled end data radio station.Pan/Tilt/Zoom camera links to each other with the AVS encoder with 485 control lines by coaxial cable, and the AVS encoder adopts the DM642 design of Platform, and the AVS encoder links to each other with the protocol conversion verification module in controlled end data radio station by Serial Peripheral Interface (SPI) bus.Controlled end control computer links to each other by the data exchange module of network interface with controlled end data radio station.Controlled end control of video data radio adopts modularized design based on the OMAP3530 embedded platform, is made up of management control module, protocol conversion verification module, sensor interface module, data exchange module and RF front-end module five parts.Wherein sensor interface module can compatible simple 2 line sensors, 3 line sensors and environmental sensor bus (ESB) intelligence sensor; RF front-end module can be selected the 900M data radio station RF front-end module (902-928M) of FHSS modulation, adopts the FHSS communication mode, effectively solves the external environment complexity, the problem that non line of sight and multipath disturb; Data exchange module is responsible for realizing the exchanges data of controlled end radio station and controlled end computer; The embedded ANDROID operating system of management control module is responsible for exchanges data and each module cooperative work of management of processing and remote control end control desk.The remote control end unit is made up of remote console and remote control end control of video data radio (mainly being made up of 900M data radio station module) two parts.
At controlled end: Pan/Tilt/Zoom camera, AVS encoder, controlled end control of video data radio are installed.The AVS encoder provides bnc interface and 485 interfaces, is connected Pan/Tilt/Zoom camera by the 75-5 coaxial cable with twisted-pair feeder respectively; Controlled end control of video data radio provides the SPI internal bus interface to connect the AVS encoder, provide ESB (environmental sensor bus) bus interface to connect atmosphere Temperature Humidity Sensor and IMU inertia device, provide 4 ETHENET mouths (RJ45) to connect controlled end control computer, provide the SMA interface to connect whip antenna;
Remote control end: remote control end control of video data radio is installed.Remote console connects remote control end control of video data radio by network interface.
The control of video data chainning is a full-duplex link, can transmit control command simultaneously, sensing data, and video data.Main feature is:
Encoder adopts the AVS coding standard, number of ways and methods such as the operational efficiency of raising DM642 embedded platform, innovation service Quality Control Strategy, solve the arrowband environment difficult problem of transmission high definition dynamic image down, realized under the 50kbps bandwidth transmission of the QVGA image of 20fps.Present embodiment can improve the AVS coding standard, as the selectivity of frame mode in the interframe encode carry out, the packet search strategy of multiple block-shaped motion search etc.Can adopt two kinds of service quality control strategies based on the sender, promptly based on Loss Rate with based on the ADAPTIVE CONTROL that postpones, these two kinds of strategies all are based on the feedback information of RTCP.Consider the isomerism of network, require to adopt the method for level transmission,, proposed the service quality control strategy of a kind of TCP-Friendly based on the recipient by strengthening rtcp protocol.
The embodiment of the invention can propose to be adapted at the bandwidth self-adaption method of use in the wireless flow media transmission the spare time of the flex point place packet loss in wireless network value as the foundation of judging network condition.This method has satisfied requirements such as the wireless flow media transfer bandwidth is regulated effectively, bandwidth is used abundance, low time delay, quality-smoothing, has obtained effect preferably.
Controlled end control of video data radio designs based on the OMAP3530 embedded platform, adopt stacking superposing type hardware structure and ANDROID operating system, need increase the service of new hardware for some, only need on original hardware foundation, to continue to pile up corresponding functional modules and corresponding software is installed to get final product.
Need increase the application of software service for some, then can realize by software design fully.Like this, all application layer services all become and can add or delete, and most hardware capability module also can flexible configuration; This just makes system have sufficient flexibility, thereby no matter is the basic function user who emphasizes production cost, still to the comprehensive and abundant high-end customer of the functional requirement of system, can both carry out customized production and installation easily on the framework of native system.
The RF front-end module of controlled end control of video data radio, adopt 900M communications band (902-928M) and FHSS communication mode, strong interference immunity, the error rate is low, and the crc verification is arranged, can increase the rs coding, highly sensitive, can reach-110db, transmission bandwidth is smaller or equal to 115kbps, image is real-time, the delay about 500ms.Owing to support to shed relaying, so can solve by shedding relaying when bandwidth descends, single relaying is supported horizon range 90KM.In addition, if the environment that sniffer enters is not suitable for shedding relaying, can also close video data channel (video data accounts for more than 80% of total traffic capacity) by management control module, guarantee the transmission of control command and inertia device data, after leaving this environment Deng sniffer, again video data channel is opened.
As shown in Figure 3, the control of video data chainning adopts the AVS coding techniques, can reach under the bandwidth of 50Kbps, realize the transmission of the QVGA image of 20Fps, and frame per second, code check dynamic adjustable, saved transmission bandwidth greatly, the real-time Transmission of video data, control data, sensing data under the arrowband environment under realizing.Radio frequency part adopts 900M data radio station (902-928M), adopt the FHSS communication mode, the anti-multipath interference performance is strong, and the error rate is low, and the crc verification is arranged, can increase the rs coding, highly sensitive, can reach-110db, transmission bandwidth is smaller or equal to 115kbps, image is real-time, the delay about 500ms.
The control of video data chainning can reach in the application of actual detection sniffer project: 2KM under coal mine, can realize the bandwidth of 115Kbps, and the transmission of 25fpsQVGA image and the transmission of sensing data can reach 10KM by shedding relaying.In the unmanned plane project, can reach: can descend according to circumstances, in the field test result, can provide bandwidth to be not less than 100kbps in the 5KM, the transmission of 25fpsQVGA image and inertial navigation data, 18KM with the interior bandwidth that provides more than or equal to 50kbps, the transmission of 15-20fpsQVGA image and inertial navigation data.In addition, occasion for some landform more complicated, and under the poor situation of communication condition such as major accident, burst fire-disaster scene, native system will be brought into play its distinctive advantage, will play irreplaceable guaranteeing role to application such as rescue and relief work, emergency commands.
Characteristics of the present invention are 1, it at first is a full duplex radio link, and support can be shed relaying, is different from wire link and simplex radio link.2, simultaneously transmission of video and data, and the code efficiency height of video.3, can be applied to unmanned probing device control field.
The present invention is not limited to execution mode discussed above.More than the description of embodiment is intended in order to describe and illustrate the technical scheme that the present invention relates to.Based on the conspicuous conversion of the present invention enlightenment or substitute and also should be considered to fall into protection scope of the present invention.
Claims (10)
1. full duplex radio control video data link; It is characterized in that, comprising:
Controlled end unit and remote control end unit;
Controlled end unit comprises video camera, coding module, controlled end data radio station;
Described video camera is connected with coding module, and coding module is connected with controlled end data radio station;
Described remote control end unit comprises remote console and the remote control end control of video data radio that is connected;
Described remote control end control of video data radio is used for and the mutual move instruction data in controlled end data radio station, and accepts the view data that controlled end unit transmits.
2. full duplex radio control video data link as claimed in claim 1; It is characterized in that described controlled end control data radio station comprises management control module, protocol conversion verification module, sensor interface module, data exchange module and RF front-end module;
Wherein protocol conversion verification module, sensor interface module, data exchange module and RF front-end module are connected with management control module respectively;
Described RF front-end module is connected with antenna;
Described data exchange module is connected with controlled end control computer.
3. full duplex radio control video data link as claimed in claim 2; It is characterized in that described RF front-end module is the data radio station RF front-end module of frequency hopping FHSS modulation.
4. full duplex radio control video data link as claimed in claim 3; It is characterized in that the RF front-end module of described controlled end control of video data radio adopts the communications band of 902-928M.
5. full duplex radio control video data link as claimed in claim 2; It is characterized in that controlled end control computer links to each other by the data exchange module of network interface with controlled end data radio station.
6. full duplex radio control video data link as claimed in claim 2; It is characterized in that described sensor interface module is connected with environmental sensor bus ESB intelligence sensor.
7. full duplex radio control video data link as claimed in claim 6; It is characterized in that described environmental sensor bus ESB connects atmosphere Temperature Humidity Sensor and/or inertia measurement device.
8. full duplex radio control video data link as claimed in claim 1; It is characterized in that described coding module is a digital audio/video encoding and decoding technique standard coders.
9. full duplex radio control video data link as claimed in claim 1; It is characterized in that described coding module links to each other with the protocol conversion verification module in controlled end data radio station by the Serial Peripheral Interface spi bus.
10. full duplex radio control video data link as claimed in claim 1; It is characterized in that having between described controlled end unit and the remote control end unit and can shed TU Trunk Unit and carry out the signal transmission.
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| CN200910147474A CN101635836A (en) | 2009-06-07 | 2009-06-07 | Full duplex radio control video data link |
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| CN200910147474A CN101635836A (en) | 2009-06-07 | 2009-06-07 | Full duplex radio control video data link |
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Cited By (3)
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| CN105227503A (en) * | 2015-09-08 | 2016-01-06 | 北京航空航天大学 | A kind of down-hole Joint Source/channel Coding Design method based on wireless drilling measuring system |
| CN108183847A (en) * | 2018-01-17 | 2018-06-19 | 江苏徐工信息技术股份有限公司 | The engineer machinery operation tele-control system and method for a kind of low time delay |
| CN110224804A (en) * | 2018-03-01 | 2019-09-10 | 国民技术股份有限公司 | Data transfer control method, terminal, base station and computer storage medium |
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Application publication date: 20100127 |