CN103108161A - Mini-type observation apparatus control system - Google Patents
Mini-type observation apparatus control system Download PDFInfo
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- CN103108161A CN103108161A CN2013100332869A CN201310033286A CN103108161A CN 103108161 A CN103108161 A CN 103108161A CN 2013100332869 A CN2013100332869 A CN 2013100332869A CN 201310033286 A CN201310033286 A CN 201310033286A CN 103108161 A CN103108161 A CN 103108161A
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Abstract
The invention provides a mini-type observation apparatus control system which comprises a video playing module, a reconnoitering ball locating module, a reconnoitering ball selecting module, a rotation control module, a core control module and a power source management module. The video playing module, the reconnoitering ball locating module, the reconnoitering ball selecting module, the rotation control module and the power source management module are connected with the core control module. The mini-type observation apparatus control system has the advantages of optimizing a power management system so that standby time and working time of mini-type observation apparatus are prolonged, increasing observation distance from original 200 meters to more than 800 meters by utilizing self-networking technology and enhancing capacity for bypassing obstacles.
Description
Technical field
The present invention relates to the IT technical field, a kind of miniature scope control system is provided.
Background technology
Scout ball and be also referred to as the supervision ball, it is spherical that profile is, and size is close with one piece of antitank grenade, so the soldier can carry.Transducer, Wireless Telecom Equipment, battery etc. generally are housed in it, during use, it directly are thrown in building, basement or cave, anxious by the letter around the transducer collection, then by Wireless Telecom Equipment, these information are sent out.The soldier utilizes portable display control device to receive information, understands whereby the situation in enclosure space.Therefore moment sensor is generally selected Visible Light Camera, have the people will scout ball and be called visually " camera that can throw ", but they can also be real-time transmitted to the user with image except can photographic images.Certainly, except camera, scout ball and also microphone can be installed, in order to collected sound signal, chemistry or biology sensor are installed perhaps, in order to survey biochemical war agent.
Scout ball size as same tennis, the parts such as in-built motion detector, omnidirectional camera, near-infrared luminous diode illuminating lamp, microphone, audio recorders, radio transmitter, lithium battery, the outside is surrounded by three layers of rubber, therefore quite firm and solid, even throw lower or quilt can be not impaired when being thrown to concrete walls yet from two floors.In once attempting to penetrate the drop test of double glazing (6 millimeters of every bed thickness), although this scouting ball fails to pass second layer glass, but self also the slightest do not damage.When needing, the user of service can arbitrarily angledly be thrown into it in building.Because weight concentrates on the bottom, can be upright after scouting ball rolling one segment distance, and can the speed with 4 rev/mins rotate or stop the rotation under operating personnel's remote control, thereby for providing, internal part stablizes operational environment flexibly.Except throwing, the user of service also can hang on a bar scouting ball, in order to detect the situation in corridor, stair, loft, corner or tunnel.
Miniature scope in use all disposes the miniature scope control device supporting with it, be used for controlling the rotation of miniature scope, in order to control the video information that collects different azimuth, miniature scope sends the audio-frequency information that collects and video information to miniature scope control device by wireless transmission and carries out that video shows and the audio frequency broadcast, but existing miniature scope control device can't satisfy the requirement of distant reconnaissance due to the restriction that the restriction that is subjected to miniature scope power output and antenna are shortened.
Summary of the invention
The object of the present invention is to provide a kind of miniature scope control system, be mainly used in implantable miniature scope control device, realize the management of miniature scope wireless transmission, positioning control, core are controlled, self power management, selected control, video playback, rotation to control.Solve the restriction that be shortened by miniature scope power output and antenna by wireless ad hoc network, satisfy the requirement of distant reconnaissance, observation, and realize the control to many balls.
The present invention is by the following technical solutions to achieve these goals:
A kind of miniature scope control system is characterized in that comprising:
Video playback module: comprise video buffer submodule and multi-channel video submodule;
Locating module: positioning function realizes by location algorithm, utilizes location algorithm to gather the positional information of all MAC Address, it is carried out the data processing obtain topological diagram;
Select module: the selection of scouting ball utilizes interrupt mechanism to realize, when the user presses corresponding passage button, trigger interrupts, send corresponding instruction, arrive the bead of corresponding MAC Address by network, then bead returns to video information, and the video playback thread is opened up the SurfaceView buffering area video information is processed broadcast;
Rotate control module: adopt interrupt mechanism to realize rotating and control, when the user pressed turn knob, trigger interrupted, and sends corresponding instruction, arrives the bead of corresponding MAC Address by network, carried out rotation command;
Kernel control module: be responsible for the foundation of whole network and the foundation of route list, receive the data of DSP image compression module, the driving data cache module reaches and its transfer of data, drive wireless transport module and carry out transfer of data, the managing electrical power module makes power supply be in the mode of operation of intelligent;
Power management module: to the Based Intelligent Control of power supply;
Described video playback module, locating module, selection module, rotation control module, power management module all are connected with kernel control module.
In such scheme, described video buffer submodule adopts the SurfaceView(view to add thread) mechanism, it directly obtains view data from internal memory or DMA hardware interface, in the thread of SurfaceView outside main thread to screen drawing, all Plot Works could begin after Surface is created, thereby the content that is written to Surface is directly copied to video memory and is shown, and must finish before Surface is destroyed.
In such scheme, described multi-channel video submodule is realized by Time Slice Circular Scheduling algorithm mechanism, is comprised following thread:
Be responsible for extracting video channel information and it being passed to the video channel information extraction thread that other threads are processed;
Manage respectively the video data of a plurality of passages and switch the video playback thread of broadcast according to user's needs;
Be responsible for sending the communication thread of instruction and receive data.
In such scheme, the location algorithm of described scouting ball locating module is realized adopting the trilateration location algorithm of processing based on weighting, and this algorithm comprises the following steps:
41), choose qualified anchor node according to the communication quality between unknown node and anchor node and participate in location Calculation;
42), calculate a plurality of estimation coordinates of unknown node according to improved trilateration location algorithm;
43), utilize weight function calculation unknown node coordinate.
In such scheme, Canvas mechanism is adopted in the drafting of described topological diagram, and Canvas is by attribute definition Decision Height and the width that can draw in regional HTML code, and the JavaScript code dynamically generates figure by the drawing function of the API of a cover two dimension.
In such scheme, described scouting ball is selected module, and the specific implementation step comprises:
61), the user enters and switch to scout the ball interface, selects the parameter setting; The eyeball MAC Address of required observation is set as required; Terminal equipment access path search pattern according to wireless self-networking plan range vector Routing Protocol (AODV) as required, obtains the routing iinformation of respectively scouting ball, determines and sets up optimal path; Wireless self-networking is plan range vector Routing Protocol (AODV) as required, is the Routing Protocol that is applied to carry out in based on wireless mesh network (also referred to as wireless mesh network) Route Selection, and it can realize clean culture and multicast route.AODV is the reaction equation Routing Protocol, that is to say that when sending bag to destination node, source node is just initiated the route querying process in network, find corresponding route; This agreement is to generate as required the typical protocol of routing mode in Ad Hoc network;
62), after optimal path determines, scout ball and sends by the path and set up the request of transmitting, whether the terminal use selects to agree by software;
63), the user agrees the transmission of data, selected scouting ball ball with its image or video data transmitting to the terminal use;
64), after transfer of data success, the user selects to play according to prompting, starts video jukebox software and also enters video play mode.
In such scheme, described power management module adopts chip AXP192, and described chip AXP192 is connected with the master control nucleus module by the I2C interface.
The present invention is because adopt above technical scheme, so possess following beneficial effect:
The present invention has optimized power-supply management system makes the standby of miniature scope, operating time longer, uses ad hoc network to make observed range by the bringing up to more than 800 meters of 200 meters original left and right, strengthens the ability of cut-through.
Description of drawings
Fig. 1 is system block diagram of the present invention;
Fig. 2 is for controlling software flow pattern;
Fig. 3 is the switching controls software flow pattern;
Fig. 4 is the power management module block diagram.
Embodiment
The invention provides a kind of miniature scope control system, comprise following submodule: video playback module, wireless transport module, locating module, selection module, rotation control module, kernel control module, power management module.
Above-mentioned each piece carries out data exchange by various special-purpose interface between software and hardware, realizes module drive and work under the coordination of linux operating system, and system consists of as shown in Figure 1.
Realization mechanism:
1, the video playback buffering utilizes SurfaceView mechanism to realize, it directly obtains view data from hardware interfaces such as internal memory or DMA, is very important drawing container.To screen drawing, cause main thread to block when can avoid like this picture task heavy in the thread of SurfaceView outside main thread, thereby improved the reaction speed of program.All Plot Works must could begin after Surface is created, thereby because being written to the content of Surface can directly be copied to video memory and show, this makes the display speed can be very fast, and must finish before Surface is destroyed.
2, multi-channel video is realized by Time Slice Circular Scheduling algorithm mechanism, programming a plurality of threads, wherein have special thread to be responsible for extracting video channel information, and it is passed to other threads process; The thread that the video playback be responsible for specially is arranged is managed respectively the video data of a plurality of passages, switches broadcast according to user's needs; Also have communication thread, be responsible for sending instruction and receive data.
Scout the ball locating module and mainly realize by location algorithm, do not need user intervention, after complete the location, can present a width topological diagram, represent the relative position of each ball.
Realization mechanism:
1, positioning function realizes by location algorithm, utilizes location algorithm to gather the positional information of all MAC Address, it is carried out the data processing obtain topological diagram.In order to reduce position error, improve the robustness of algorithm, a kind of trilateration location algorithm of processing based on weighting has been proposed.This algorithm was comprised of three steps: the first step, and choose qualified anchor node according to the communication quality between unknown node and anchor node and participate in location Calculation; Second step, the improved trilateration location algorithm of foundation calculates a plurality of estimation coordinates of unknown node; The 3rd step: utilize weight function calculation unknown node coordinate.
2, drawing topological graph utilizes Canvas mechanism to realize.Canvas is supported by all operating system that almost good practicality is arranged.Canvas is by attribute definition Decision Height and the width that can draw in regional HTML code.The JavaScript code can be similar to the API of other Versatile two-dimensions by a complete drawing function of cover, dynamically generate figure.The Canvas element is the part of HTML5, allows script dynamically to play up bit image.It uses own Mac OS X WebKit to release by apple internal at first, uses for member and the Safari browser of application program as panel board.Afterwards, someone passed through the browser (especially Mozilla and Firefox) of Gecko kernel, Opera and Chrome, and the suggestion of hyper text net application technology working group is used this element for follow-on network technology.The XForms processor card that Novell produces is supported the Canvas element as Internet Explorer plug-in unit.Also someone makes great efforts to use VML and JavaScript to support the Canvas function and do not need plug-in unit at Internet Explorer.Google has also begun a project, uses same technology to support the Canvas ability at Internet Explorer.Internet Explorer can support the canvas element from Internet Explorer 9.
Scout ball and rotate control module shows as special use on man-machine interface option and installment item, the user can by button etc. control specify scout image that the ball rotation direction realizes different scenes with the video information that collects in the liquid crystal screen display, realize gathering in larger scope image information with this.The rotation of scouting ball has two kinds of rotating manners, is respectively even rotation and the fixedly rotation of the number of degrees.
Realization mechanism: adopt interrupt mechanism to realize rotating and control.When the user pressed turn knob, trigger interrupted, and sends corresponding instruction, arrives the bead of corresponding MAC Address by network, carried out instruction.
Select to scout ball and control the interface, by selecting the MAC Address of rotation mode and roating sphere, realize difference is scouted the rotation of ball.Wherein evenly rotation can be controlled the turned position of scouting ball by beginning/end key.Flow process as shown in Figure 2.
Scout ball and select module to show as a plurality of button options on man-machine interface, video is when playing, and the user can be switched by button and differently scouted video information that balls collect in the liquid crystal screen display.
Realization mechanism:
1, the selection of scouting ball utilizes interrupt mechanism to realize, when the user pressed corresponding passage button, trigger interrupted, and sends corresponding instruction, arrives the bead of corresponding MAC Address by network, and then bead returns to video information.
2, the video playback thread is opened up the SurfaceView buffering area video information is processed broadcast.
Concrete operation step:
1, the user enters and switch to scout the ball interface, selects the parameter setting; The eyeball MAC Address of required observation is set as required; Terminal equipment access path search pattern obtains the routing iinformation of respectively scouting ball according to above-mentioned Routing Protocol, determine and set up optimal path.
2, after optimal path is determined, scout ball and send the request of setting up transmission by the path, whether the terminal use selects to agree by software.
3, the user agrees the transmission of data, selected scouting ball ball with its image or video data transmitting to the terminal use.
4, after the transfer of data success, the user selects to play according to prompting, starts video jukebox software and enters video play mode.Flow process is as shown in 3:
The function of server processing module has:
(1) be responsible for the foundation of whole network and the foundation of route list
(2) receive the data of DSP image compression module
(3) driving data cache module and and its transfer of data
(4) drive wireless transport module and carry out transfer of data
(5) managing electrical power module makes power supply be in the mode of operation of intelligent.
Utilize AXP192 as the system block diagram of power-supply management system core as shown in Figure 4.
Power management chip AXP192 is connected with the master control core by the I2C interface, and in scheme, scouting ball and hand-held control terminal all adopt same connected mode, the linux system of master control core operation compact version.Under linux system, the driver of 12C has hierarchical structure clearly, by means of the example of the driving of maturation develop for the AXP192 chip respective drive, realize the Based Intelligent Control of power supply.
Claims (7)
1. miniature scope control system is characterized in that comprising:
Video playback module: comprise video buffer submodule and multi-channel video submodule;
Scout the ball locating module: positioning function realizes by location algorithm, utilizes location algorithm to gather the positional information of all MAC Address, it is carried out the data processing obtain topological diagram;
Scout ball and select module: the selection of scouting ball utilizes interrupt mechanism to realize, when the user presses corresponding passage button, trigger interrupts, send corresponding instruction, arrive the bead of corresponding MAC Address by network, then bead returns to video information, and the video playback thread is opened up the SurfaceView buffering area video information is processed broadcast;
Rotate control module: adopt interrupt mechanism to realize rotating and control, when the user pressed turn knob, trigger interrupted, and sent instruction, arrived the bead of corresponding MAC Address by network, carried out rotation command;
Kernel control module: be responsible for the foundation of whole network and the foundation of route list, receive the data of DSP image compression module, the driving data cache module reaches and its transfer of data, drive wireless transport module and carry out transfer of data, the managing electrical power module makes power supply be in the mode of operation of intelligent;
Power management module: to the Based Intelligent Control of power supply;
Described video playback module, scouting ball locating module, scouting ball select module, rotation control module, power management module all to be connected with kernel control module.
2. a kind of miniature scope control system according to claim 1, it is characterized in that: described video buffer submodule adopts SurfaceView mechanism, it directly obtains view data from internal memory or DMA hardware interface, in the thread of SurfaceView outside main thread to screen drawing, all Plot Works could begin after Surface is created, thereby the content that is written to Surface is directly copied to video memory and is shown, and must finish before Surface is destroyed.
3. a kind of miniature scope control system according to claim 1 is characterized in that: described multi-channel video submodule is realized by Time Slice Circular Scheduling algorithm mechanism, is comprised following thread:
Be responsible for extracting video channel information and it being passed to the video channel information extraction thread that other threads are processed;
Manage respectively the video data of a plurality of passages and switch the video playback thread of broadcast according to user's needs;
Be responsible for sending the communication thread of instruction and receive data.
4. a kind of miniature scope control system according to claim 1 is characterized in that: the location algorithm of described scouting ball locating module is realized adopting the trilateration location algorithm of processing based on weighting, and this algorithm comprises the following steps:
41), choose qualified anchor node according to the communication quality between unknown node and anchor node and participate in location Calculation;
42), calculate a plurality of estimation coordinates of unknown node according to improved trilateration location algorithm;
43), utilize weight function calculation unknown node coordinate.
5. a kind of miniature scope control system according to claim 1, it is characterized in that: Canvas mechanism is adopted in the drafting of described topological diagram, Canvas is by attribute definition Decision Height and the width that can draw in regional HTML code, and the JavaScript code dynamically generates figure by the drawing function of the API of a cover two dimension.
6. a kind of miniature scope control system according to claim 1 is characterized in that: described scouting ball is selected module, and the specific implementation step comprises:
61), the user enters and switch to scout the ball interface, selects the parameter setting; The eyeball MAC Address of required observation is set as required; Terminal equipment access path search pattern according to wireless self-networking plan range vector Routing Protocol as required, obtains the routing iinformation of respectively scouting ball, determines and sets up optimal path;
62), after optimal path determines, scout ball and sends by the path and set up the request of transmitting, whether the terminal use selects to agree by software;
63), the user agrees the transmission of data, selected scouting ball ball with its image or video data transmitting to the terminal use;
64), after transfer of data success, the user selects to play according to prompting, starts video jukebox software and also enters video play mode.
7. a kind of miniature scope control system according to claim 1 is characterized in that: described power management module adopts chip AXP192, and described chip AXP192 is connected with the master control nucleus module by the I2C interface.
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| CN104410887A (en) * | 2014-12-25 | 2015-03-11 | 安科智慧城市技术（中国）有限公司 | Video-based remote control method and device |
| CN106772659A (en) * | 2016-12-21 | 2017-05-31 | 中国航天科工集团第四研究院指挥自动化技术研发与应用中心 | One kind can releasing type optical reconnaissance device as the occasion requires |
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| CN103108161B (en) | 2015-12-02 |
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Effective date of registration: 20210427 Address after: 214000 Jiangsu city of Wuxi province Xishan Yangjian Town Industrial Park Patentee after: Wuxi Xidong New Rural Investment Co.,Ltd. Address before: B-d36, building 1, hi tech Incubation Park, South extension of Tianfu Avenue, hi tech Zone, Chengdu City, Sichuan Province Patentee before: SICHUAN ZHONGWANG KEXIMENG TECHNOLOGY Co.,Ltd. |
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Correction item: Patentee|Address Correct: Wuxi Xidong New Rural Investment Development Co.,Ltd.|214000 Yangjian Town Industrial Park, Xishan District, Wuxi City, Jiangsu Province False: Wuxi Xidong New Rural Investment Co.,Ltd.|214000 Yangjian Town Industrial Park, Xishan District, Wuxi City, Jiangsu Province Number: 20-01 Volume: 37 |