CN103313033A - Remote and local video monitoring vehicle-mounted device for construction machine - Google Patents
Remote and local video monitoring vehicle-mounted device for construction machine Download PDFInfo
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Abstract
The invention discloses a remote and local video monitoring vehicle-mounted device for a construction machine, mainly comprising a microcontroller based on a Linux system, a data acquisition input unit, an LCD (liquid crystal display) man-machine interaction interface, a 3G wireless communication module and a data storage device, which are connected with the microcontroller. The data acquisition input unit is responsible for acquiring working conditions and video data of the construction machine; the microcontroller processes the acquired data and outputs the acquired data to the man-machine interaction interface to be displayed, and the local video monitoring is realized; and the 3G wireless communication module establishes wireless connection with a remote monitoring center through TCP (transport control protocol)/UDP (user datagram protocol) network protocol and transmits large data volume such as video by adopting the hybrid mode of WCDMA (wideband code division multiple access)/GPRS (general packet radio service), so as to realize remote video monitoring. The remote and local video monitoring vehicle-mounted device for the construction machine has high level of integration and can realize remote and local video monitoring; meanwhile, a human face detection function is introduced to the local video monitoring and can carry out human face recognition on staff in the working range, an alarm signal can be transmitted initiatively, and the accident rate is reduced.
Description
Technical field
The invention belongs to the vehicle-mounted monitoring technique of engineering machinery field, particularly a kind of engineering machinery remote and local video monitoring car-mounted device.
Background technology
Entered since 21 century, country has proposed the policy of the infrastructure constructions such as a series of reinforcement railways, highway, electric power, water conservancy and hydropower, so that China's construction machinery industry presents high speed development situation.Because engineering machinery separate unit selling price costliness, complex structure own, the load of constructing are unstable, work under bad environment, cause its rate of breakdown very high.Therefore, working condition monitoring and the failure diagnosis for engineering machinery more and more comes into one's own.Simultaneously, constantly perfect along with the radio mobile communication technology, the raising of the network coverage has also obtained larger application based on the remote control technology of wireless communication networks.
The vehicle-mounted supervising device of engineering machinery has following deficiency in the market: 1. monitor mode is mostly more single, can not take into account simultaneously local monitor and remote monitoring, certainly will limit like this function of supervisory control system, monitoring of working condition and the failure diagnosis of engineering machinery have been brought inconvenience; 2. the information data that gathers is relatively more dull, take duty parameters such as engine speed, fuel level, hydraulic fluid temperature, cooling water water temperatures as main, has often ignored the surrounding environment factor of the actual work of engineering machinery; 3. for surrounding environment warning function not initiatively, operating personnel drive in the engineering machine in working process, and especially when reversing and rotation of rotary table, owing to spiritual high concentration, field range is limited in addition, and security incident easily occurs; 4. for long distance control system, generally adopted the data transfer mode based on GPRS network, and GPRS network actual data transfer speed only has 40Kbit/s, can't solve the in real time transmission of big data quantity such as video, so that the data delay that Surveillance center receives is serious, video shows discontinuous, can't meet consumers' demand.
Summary of the invention
The present invention is directed to deficiency and defective in the background technology, a kind of vehicle-mounted monitoring apparatus based on 3G network is provided.This device has higher integrated level, takes into account long-range and the local monitor function; Introduced the video monitoring mode, the handled easily personnel observe the engineering machinery surrounding environment, especially the ambient conditions of blind area, visual angle; Increase people's face measuring ability of skin color based feature, the personnel in the working range (deathtrap) have been identified, and initiatively send early warning signal, reduced the security incident incidence; Utilize simultaneously the blended data transmission means of WCDMA/GPRS network and the transmission that the MPEG-4 encoding scheme can effectively solve the big data quantities such as video, guarantee the reliability of transfer of data.
The technical solution adopted for the present invention to solve the technical problems is:
This project mechanical remote and local video monitoring car-mounted device mainly comprise: engineering machinery data acquisition input unit; Microcontroller based on linux system; The LCD human-computer interaction interface; 3G wireless communication module and data storage.
The data acquisition input unit exports engineering machinery running parameter and the ambient condition information that collects to the LCD human-computer interaction interface after microcontroller analysis, processing, show in patterned mode, realizes the local video monitoring of system.
The data acquisition input unit sends to remote monitoring center by the 3G wireless communication module with engineering machinery running parameter and the ambient condition information that collects after microcontroller analysis, processing, and receive and carry out control command from remote monitoring center, realize the monitoring remote video of system.
Wherein, described data acquisition input unit comprises: the duty parameter acquisition module that is used for gathering project mechanical working condition parameter information; The video information acquisition module that is used for working environment parameter outside the gathering project Machine Room; The GPS module that is used for gathering project machinery geographical location information.
Above-mentioned duty parameter acquisition module comprises: RS-232 interface and CAN bus interface.
Above-mentioned video information acquisition module comprises four road CCD cameras, is respectively: be installed in the driver's cabin front end front camera, be installed in the driver's cabin rear end rear camera, be installed in the left camera of driver's cabin left end and be installed in the right camera of driver's cabin right-hand member.
Wherein, described microcontroller major function based on linux system comprises:
After the operating mode of duty parameter acquisition module and video information acquisition module input and video data processed, send to the LCD human-computer interaction interface.
After the data of duty parameter acquisition module, video information acquisition module and the input of GPS module are processed, encapsulate, send to the 3G wireless communication module.
After the data of duty parameter acquisition module and GPS module input are processed, send to data storage.
Wherein, described LCD human-computer interaction interface is the gui interface that designs at the Qt/Embedded platform base, comprising: the status display interface that is used for showing Operating Condition Parameter for Construction Machinery, video information and mode of operation; Be used for the early warning interface that fault alarm and recognition of face are reported to the police; Be used for arranging the system parameter setting interface of the common parameter of engineering machinery.
Above-mentioned status display interface is divided into pattern displaying layer and video display layer, can manual switchover between two-layer.Duty parameter and mode of operation are presented on pattern displaying layer with panel board and icon form respectively; The video data of four road CCD camera collections carries out the position according to visual custom and arranges after microprocessor processes, and piecemeal is presented on the video display layer.
Increase people's face measuring ability in the above-mentioned early warning interface, can carry out recognition of face to the personnel in the engineering machinery working range (deathtrap), and demarcate people's face position, initiatively sent alarm signal, reduced the security incident incidence.
Wherein, described 3G wireless communication module is set up wireless connections by TCP/UDP procotol and remote monitoring center, adopt the big data quantities such as WCDMA/GPRS blended data transmission means real-time Transmission video, receive simultaneously and carry out the control command from remote monitoring center.WCDMA/GPRS blended data transmission means has two kinds of transmission modes: WCDMA transmission mode and GPRS transmission mode.
Wherein, described data storage adopts the SD card memory.In case WCDMA, when the GPRS transmission mode all lost efficacy, duty parameter and geographic position data are stored in the SD card in chronological order, guarantee the fail safe of transfer of data temporarily.
Long-range and the local video of the present invention monitoring car-mounted device is installed in the engineering machinery driving cabin, by RS-232 interface, CAN bus interface, be installed in four road outer CCD cameras of driver's cabin and GPS module respectively duty parameter, surrounding environment parameter and the geo-location parameter of gathering project equipment; Microcontroller exports respectively LCD human-computer interaction interface, 3G wireless communication module and data storage to according to control signal after the parameter information of input is analyzed, processed; LCD human-computer interaction interface receive data also shows, pattern displaying layer and video display layer can show in manual switchover, in video display process, increase simultaneously people's face measuring ability, can carry out to the personnel in the engineering machinery working range (deathtrap) recognition of face and initiatively early warning; The 3G wireless communication module connects by TCP/UDP procotol and remote monitoring center, and communication frame is sent to remote server, and receives and carry out the control command from remote monitoring center; When Wi-Fi is unavailable, for preventing information dropout, it is saved to data storage.
Compared with prior art, the invention has the beneficial effects as follows: the data message that the data acquisition input unit of apparatus of the present invention gathers is abundant, comprises duty parameter, surrounding environment parameter and the geo-location parameter of engineering equipment; Apparatus of the present invention can realize local monitor, the duty parameter that gathers shows in patterned modes such as panel boards, the real-time watch device operation conditions, four tunnel vision signals rationally are presented on the human-computer interaction interface in the mode of piecemeal, the variation of real-time watch device surrounding environment, especially engineering machinery reversing, turntable rotates constantly, reduce the blind area, visual angle, two display interfaces can manual switchover, in video display process, increased simultaneously people's face measuring ability, can carry out recognition of face to the personnel in the equipment working range (deathtrap), and initiatively early warning, the security incident incidence effectively reduced; Apparatus of the present invention can realize remote monitoring, utilize the 3G wireless communication module to connect by TCP/UDP procotol and remote monitoring center, the information data of transmission may be displayed on the remote server, even the staff also can conveniently observe engineering machinery in the strange land operation conditions, geographical position with and surrounding environment change, car-mounted device receives and carries out the control command from remote monitoring center simultaneously; The 3G wireless communication module of apparatus of the present invention utilizes WCDMA, two kinds of data transfer modes of GPRS and MPEG_4 encoding scheme simultaneously, realizes the real-time Transmission of the big data quantities such as video, guarantees the reliability of transfer of data; The data storage of apparatus of the present invention is in the situation that communication network is bad, can store digital information, guarantee the fail safe of transfer of data.
The present invention has adopted people's face detection algorithm of skin color based characteristic, the method be subjected to environmental factor disturb and the impact of human face posture less, fast operation is specially adapted to operational environment complexity, engineering machinery embedded system that requirement of real-time is high.Before video data carries out wireless transmission, need to its compressed encoding, adopt MPEG-4 as the encoding scheme of realtime video transmission herein, the method code efficiency and compression ratio are higher, save memory space, guarantee picture quality, be fit to use under the low-bandwidth condition.
Description of drawings
Fig. 1 is general structure block diagram of the present invention.
Fig. 2 is hardware circuit figure of the present invention.
Fig. 3 is video capture circuit schematic diagram of the present invention.
Fig. 4 is GPS modular circuit schematic diagram of the present invention.
Fig. 5 is CAN bus transceiver circuit theory diagrams of the present invention.
Fig. 6 is RS-232 interface circuit theory diagrams of the present invention.
Fig. 7 is 3G wireless communication module circuit theory diagrams of the present invention.
Fig. 8 is LCD LCDs interface circuit schematic diagram of the present invention.
Fig. 9 is SD card interface circuit schematic diagram of the present invention.
Figure 10 is data acquisition input unit structure chart of the present invention.
Figure 11 is LCD human-computer interaction interface structure chart of the present invention.
Figure 12 is video acquisition flow for displaying figure of the present invention.
Figure 13 is people's face detection algorithm flow chart of invention.
Figure 14 is image data process chart of the present invention.
Figure 15 is WCDMA/GPRS blended data transmission means flow chart of the present invention.
Embodiment
The present invention is described in detail below in conjunction with accompanying drawing.
As shown in Figure 1, a kind of engineering machinery remote of the present invention and local video monitoring car-mounted device mainly comprises: engineering machinery data acquisition input unit; Microcontroller 4 based on linux system; LCD human-computer interaction interface 5; 3G wireless communication module 6; Data storage 7;
Wherein, the data acquisition input unit exports engineering machinery running parameter and the ambient condition information that collects to LCD human-computer interaction interface 5 after microcontroller 4 is analyzed, processed, show in patterned mode, realizes the local video monitoring of system; Simultaneously, the data acquisition input unit sends to remote monitoring center 8 by the 3G wireless communication module with engineering machinery running parameter and the ambient condition information that collects after microcontroller 4 is analyzed, processed, and receive and carry out control command from remote monitoring center 8, realize the monitoring remote video of system.
As shown in Figure 2, the hardware circuit of a kind of engineering machinery remote of the present invention and local video monitoring car-mounted device adopts the MICMX357DVM microprocessor (interior transplanting (SuSE) Linux OS) based on the ARM11 framework, peripheral expansion video capture circuit, RS-232 interface circuit, CAN bus interface circuit, 3G wireless communication interface circuit, GPS interface circuit, LCD LCDs interface circuit, large capacity storage circuit and JTAG detail programming circuit etc., can finish the various monitoring demands of vehicle-mounted monitoring apparatus.
Data acquisition input unit of the present invention is comprised of three parts, comprises respectively: duty parameter acquisition module 1, video information acquisition module 2 and GPS module 3.
Wherein, shown in Fig. 5,6,10, duty parameter acquisition module 1 comprises: RS-232 interface 11 and CAN bus interface 12.Corresponding duty parameter acquisition method has RS-232 data acquisition and CAN bus data acquisition.RS-232 data acquisition: be connected ISL83387E voltage transitions chip between RS-232 interface equipment and the MCU, the T1IN of ISL83387E, T2IN, R1OUT and R2OUT pin are received respectively on UART1_TX, UART1_CTS, UART1_RX and the UART1_RTS pin of MCU, RS_RXD, RS_TXD pin link to each other with the RS-232 interface of engineering equipment measuring instrument, finish the floor data collection; CAN bus data acquisition: MCU carries the CAN controller, CAN_TX1, CAN_RX1 pin link to each other with CTXD, the CRXD pin of CAN signal transceiver CTM8251AT respectively, the CAN1_G of CTM8251AT, CAN1_L, CAN1_H pin link to each other data acquisition with CAN bus interface on the engineering machinery engine controller.The the second road CAN bus interface can be used as for subsequent use.
Wherein, shown in Fig. 3,10, video information acquisition module 2 comprises four road CCD cameras, is respectively: be installed in the driver's cabin front end front camera 21, be installed in the driver's cabin rear end rear camera 22, be installed in the left camera 23 of driver's cabin left end and be installed in the right camera 24 of driver's cabin right-hand member.Need video decoding chip between CCD camera and MCU, select the ADV7180 video decoding chip, the SDATA of this chip, SCLK pin are switched on the I2C1_DATA, I2C1_CLOCK pin of MCU.ADV7180 is by I2C bus configuration internal register, and the video input pattern adopts the CVBS input pattern.Front, rear, left and right four road CCD cameras from the analog video signal of CVBS1, CVBS2, CVBS3 and CVBS4 port input PAL form, obtain the YCbCr format digital video signal of 4:2:2, and export MCU to respectively after the ADV7180 decoding.
Wherein, shown in Fig. 4,10, GPS module 3 adopts the GP3SF1513F1-S receiver module of SIRF III single-chip exploitation, supports 20 satellite channels, and refreshing frequency is 1Hz, supports NMEA 0183 V3.0 agreement.Serial line interface TX0, the RX0 of this GPS receiver module receives respectively on the UART3_RX and UART3_TX pin of MCU, and the standard NMEA packet that receives regularly is transported to MCU by UART3.MCU obtains required longitude, latitude information through resolving.
LCD human-computer interaction interface 5 of the present invention is the gui interfaces that design at the Qt/Embedded platform base, and selecting a resolution is that 7 cun liquid crystal display screens of 800*400 show carrier as it, and LCD interface as shown in Figure 8.As shown in figure 11, gui interface comprises: the status display interface 51 that is used for showing Operating Condition Parameter for Construction Machinery, video information and mode of operation; Be used for the early warning interface 52 that fault alarm and recognition of face are reported to the police; Be used for arranging the system parameter setting interface 53 of the common parameter of engineering machinery.
Wherein, status display interface 51 is divided into again pattern displaying layer and video display layer, can manual switchover between two-layer.Pattern displaying layer: the duty parameter of engineering equipment shows with the form of panel board; Mode of operation is with the form demonstration of icon, and each mode of operation has its corresponding icon, easily differentiates.Duty parameter acquisition module 1 with the floor data that gathers after MCU processes, send in the Qt/Embedded program, after the integer data are changed into character type, utilize the Image Rendering function to be depicted as respective graphical (engine speed, cooling water water temperature, hydraulic fluid temperature represent with pointer, and cell voltage, fuel level represent with form) Real time dynamic display; The icon of mode of operation is that picture resource is imported to the Qt engineering, obtains after function handling graph is processed, and judges the mode of operation of engineering machinery according to the duty parameter of input, then changes and highlight the color of its corresponding icon, the convenient observation.The video display layer: four road analog video signals obtain digital video signal after the ADV7180 decoding, put into video cache, as shown in figure 12, video display routine reading images information, YCbCr format video data are changed into rgb format, then show in the label picture control.The demonstration of four tunnel vision signal piecemeals is carried out the position according to visual custom and is arranged, and the handled easily personnel are to the observation of surrounding environment.
Wherein, fault pre-alarming is the form demonstration with icon equally, and each fault pre-alarming pattern has its corresponding icon.In program, define first the threshold values scope of the duty parameters such as cooling water water temperature, fuel level, cell voltage, hydraulic fluid temperature, in case the floor data that collects surpasses when setting the threshold values scope, corresponding fault icon becomes redness, and presenting blink states, the work of prompting engineering equipment occurs unusual.
Wherein, increased people's face measuring ability in the early warning.Adopt people's face detection algorithm of skin color based feature, the method is subjected to the impact of environmental interference and human face posture less, fast operation.As shown in figure 12, in the video display routine, increased people's face detection algorithm (algorithm flow is seen Figure 13) of skin color based model, when one-frame video data is inputted, the rgb value of each pixel in the reading images, calculate by the method, just can carry out recognition of face to the personnel in the engineering machinery working range (deathtrap), and demarcate people's face position.In case when having the people to be strayed into this deathtrap, the recognition of face pre-warning mark will initiatively present blink states, buzzer sends the alarm signal simultaneously, and reminding driver is noted surrounding environment safety.
3G wireless communication module 6 of the present invention adopts the SIM5216 of SIM TECH, the various protocols such as embedded TCP/UDP/FTP, and this is the wireless communication module of a technical grade.Since need the large data messages such as transmission of video, higher to the transmission speed requirement, therefore the USB2.0 interface of selecting to carry is connected to MCU.As shown in Figure 7, the SIM5216 module links to each other with USB_5V_VBUS_OTG, USB_OTG_D_PLUS, the USB_OTG_D_MINUS pin of MCU respectively by USB_OTG interface USB_VBUS, USB_DP, USB_DM, the while peripheral expansion SIM card interface circuit.This module is supported WCDMA, EDGE, the several data transmission meanss such as GPRS, GSM, adopts WCDMA/GPRS blended data transmission method herein.The initialization of SIM5216 is finished in the AT instruction of Application standard, and sets up Socket with remote monitoring center and be connected.
As shown in figure 14, the YCbCr digital of digital video data that the analog video data of four road CCD camera collections obtains after the ADV7180 decoding is still very large, before wireless transmission, need further compressed encoding, adopt MPEG-4 as the encoding scheme of realtime video transmission herein, the method code efficiency and compression ratio are higher, save memory space, guarantee picture quality.Digital video is packaged into communication frame by behind the MPEG-4 coded program, is transferred to remote monitoring center 8 by udp protocol; The data that duty parameter acquisition module 1 and GPS module 3 gather are transferred to remote monitoring center 8 by Transmission Control Protocol after the MCU encapsulation.
As shown in figure 15, the present invention adopts WCDMA/GPRS blended data transmission means, guarantees the reliability of transfer of data.This mode has two kinds of transmission modes: WCDMA transmission mode and GPRS transmission mode, and concrete steps are as follows:
1. start and initialization SIM5216 wireless communication module;
2.SIM5216 after the normal startup of module, judge whether local WCDMA network is effective;
3. if the WCDMA network is effective, enter the WCDMA transmission mode, comprise the communication frame of video data, floor data and geographical location information by the WCDMA Internet Transmission;
4. receive and carry out the control command from remote monitoring center;
5. if the WCDMA network is invalid, enter the GPRS transmission mode, judge whether GPRS network is effective;
6. if GPRS network is effective, abandon the video communication frame this moment, only comprise the communication frame of floor data and geographical location information by the GPRS network transmission;
7. receive and carry out the control command from remote monitoring center;
8. regularly detect WCDMA networking signal, in case it is effective to detect the WCDMA network, switch to immediately the WCDMA transmission mode;
9. if GPRS network is invalid, floor data and geographical location information communication frame are saved in data storage 7 in chronological order.
Above-mentioned example is used for the present invention that explains, rather than limits the invention, and in the protection range of spirit of the present invention and claim, any modification and change to the present invention makes all fall into protection scope of the present invention.
Claims (1)
1. engineering machinery remote and local video monitoring car-mounted device comprises engineering machinery data acquisition input unit, the microcontroller based on linux system, LCD human-computer interaction interface, 3G wireless communication module, data storage, it is characterized in that:
The data acquisition input unit exports engineering machinery running parameter and the ambient condition information that collects to the LCD human-computer interaction interface after microcontroller analysis, processing, show in patterned mode, realizes the local video monitoring of system;
The data acquisition input unit sends to remote monitoring center by the 3G wireless communication module with engineering machinery running parameter and the ambient condition information that collects after microcontroller analysis, processing, and receive and carry out control command from remote monitoring center, realize the monitoring remote video of system;
Described data acquisition input unit comprises:
The duty parameter acquisition module that is used for gathering project mechanical working condition parameter information;
The video information acquisition module that is used for working environment parameter outside the gathering project Machine Room;
The GPS module that is used for gathering project machinery geographical location information;
Described duty parameter acquisition module comprises RS-232 interface and CAN bus interface;
Described video information acquisition module comprises four road CCD cameras, is respectively: be installed in the driver's cabin front end front camera, be installed in the driver's cabin rear end rear camera, be installed in the left camera of driver's cabin left end and be installed in the right camera of driver's cabin right-hand member;
Described microcontroller based on linux system:
After the operating mode of duty parameter acquisition module and video information acquisition module input and video data processed, send to the LCD human-computer interaction interface;
After the information data of duty parameter acquisition module, video information acquisition module and the input of GPS module processed, encapsulates, send to the 3G wireless communication module;
After the data of duty parameter acquisition module and GPS module input are processed, send to data storage;
Described LCD human-computer interaction interface is the gui interface that designs at the Qt/Embedded platform base, comprising:
Be used for showing the status display interface of Operating Condition Parameter for Construction Machinery, video information and mode of operation;
Be used for the early warning interface that fault alarm and recognition of face are reported to the police;
Be used for arranging the system parameter setting interface of the common parameter of engineering machinery;
Described status display interface is divided into pattern displaying layer and video display layer, can manual switchover between two-layer; Duty parameter and mode of operation are presented on pattern displaying layer with the form of panel board and icon respectively; The video data of four road CCD camera collections carries out the position according to visual custom and arranges after microcontroller is processed, and piecemeal is presented on the video display layer;
Increase people's face measuring ability in the described early warning interface, can carry out recognition of face to the personnel in the engineering machinery working range, and demarcated people's face position, initiatively sent alarm signal, reduced the security incident incidence;
Described 3G wireless communication module is set up wireless connections by TCP/UDP procotol and remote monitoring center, adopts WCDMA/GPRS blended data transmission means real-time Transmission video, receives simultaneously and carry out the control command from remote monitoring center; Wherein, WCDMA/GPRS blended data transmission means has two kinds of transmission modes: WCDMA transmission mode and GPRS transmission mode;
Described data storage adopts the SD card memory, in case when WCDMA, GPRS transmission mode are invalid, duty parameter and geographic position data are stored in the SD card memory in chronological order temporarily, guarantees the fail safe of transfer of data.
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| CN106131500A (en) * | 2016-07-29 | 2016-11-16 | 电子科技大学 | A kind of general visual remote control system based on iOS system |
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| CN111583618A (en) * | 2020-05-28 | 2020-08-25 | 三一重机有限公司 | Wireless remote controller, engineering machinery and wireless remote control system |
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| CN113593078A (en) * | 2021-07-28 | 2021-11-02 | 三一汽车起重机械有限公司 | Auxiliary image display method, device and system for working machine |
| CN114545901A (en) * | 2022-02-21 | 2022-05-27 | 华侨大学 | Electric engineering machinery intelligent device based on cloud platform and system thereof |
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| CN113593078A (en) * | 2021-07-28 | 2021-11-02 | 三一汽车起重机械有限公司 | Auxiliary image display method, device and system for working machine |
| CN114545901A (en) * | 2022-02-21 | 2022-05-27 | 华侨大学 | Electric engineering machinery intelligent device based on cloud platform and system thereof |
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Application publication date: 20130918 |