CN105959652A - Visual remote control receiving device and system based on WiFi (Wireless Fidelity) wireless network - Google Patents
Visual remote control receiving device and system based on WiFi (Wireless Fidelity) wireless network Download PDFInfo
- Publication number
- CN105959652A CN105959652A CN201610527597.4A CN201610527597A CN105959652A CN 105959652 A CN105959652 A CN 105959652A CN 201610527597 A CN201610527597 A CN 201610527597A CN 105959652 A CN105959652 A CN 105959652A
- Authority
- CN
- China
- Prior art keywords
- remote control
- wireless network
- scraper
- processor
- video
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Abstract
The invention discloses a virtual remote control receiving device and system based on a WiFi (Wireless Fidelity) wireless network, relates to the technical field of wireless visual remote control of shovel cars, and aims to solve the technical problems of high operation difficulty, inconvenience in a communication way and poor expansibility since a receiving end is designed to be separated from a video transmitting end in the prior art. The visual remote control receiving device mainly comprises an expansion board, a core board and a wireless network card, wherein the expansion board is provided with a CANOpen interface and a USB (Universal Serial Bus) interface; the core board is provided with a processor and a storage; the processor is used for receiving state information of a shovel car or sending a control command to the shovel car, and acquiring video data fed back by the shovel car through the USB interface; and the wireless network card is used for inputting a control command to the processor, receiving feedback state information, and establishing communication between the processor and a remote control end. The visual remote control receiving device and system are applied to the remote control end and a relay device of the shovel car.
Description
Technical field
The present invention relates to scraper vehicle wireless visual telecontrol engineering field, be specifically related to a kind of based on WiFi without
The visualization remote-receiver of gauze network and system.
Background technology
Along with mankind's increase to comsumption of natural resources amount, mineral resources reduce day by day, and exploitation of mineral resources environment more comes
The most severe, the healthy of field vehicle operator and life security are caused serious threat, adds
The progress one of relevant laws and regulations perfects, it is desirable to the safety of field personnel to be given with sufficiently by employing unit
Protection, therefore, the wireless visual remote control improvement to the existing various types of vehicles worked in above-mentioned environment is compeled at eyebrow
Eyelash.
The wireless visual remote control system of existing above-mentioned vehicle uses remote control system to divide completely with video monitoring system
From mode, remote control system part individually industry rocking rod remote-controller system, video monitoring part use simulation regard
Frequently monitoring system.This sets of plan, remote controller is expensive, and volume and weight are very big, is difficult to accomplish light.Mould
Intend video monitoring Reliability comparotive poor, be easily disturbed.
The wireless visual remote control system of existing above-mentioned vehicle uses remote control system to divide completely with video monitoring system
From mode, it may appear that two vehicle-mounted end equipment, one is the receiving terminal of remote control system, and one is monitoring system
Video sending end, use cumbersome.
The wireless visual remote control system of existing above-mentioned vehicle uses remote control system to divide completely with video monitoring system
From mode, well utilize more universal WiFi LAN, this valuable source.
The wireless visual remote control system of existing above-mentioned vehicle uses remote control system to divide completely with video monitoring system
From mode, it is impossible to the easy scope expanding wireless remote control by the way of interpolation relays.
Summary of the invention
For above-mentioned prior art, present invention aim at providing a kind of visualization based on WiFi wireless network
Remote-receiver and system, it aims to solve the problem that video sending end is separated and leads by the receiving terminal design of prior art
Cause operation easier is big, and communication modes is convenient not and the technical problem such as autgmentability difference.
For reaching above-mentioned purpose, the technical solution used in the present invention is as follows:
A kind of visualization remote-receiver based on WiFi wireless network, including expansion board, is provided with
CANOpen interface and USB interface；Core board, is provided with processor and memorizer, and processor passes through CANOpen
The status information of interface scraper or to scraper transmitting control commands, gathers scraper also by USB interface
The video data of car feedback；Wireless network card, for inputting control command to processor and receiving feedback status information,
Set up the communication of processor and remote control end.
In such scheme, ARM framework flush bonding processor selected by described processor.
In such scheme, described processor model selects S5PV210.
In such scheme, described memorizer, including 512,000,000 RAM and 512,000,000 Nand Flash.
In such scheme, described expansion board also includes the supply module being all connected, SD card interface with processor
And serial interface.
A kind of visualization romote controlled receiving system based on WiFi wireless network, including video sampling and compressing module,
The source video data the compressed encoding that receive scraper send to remote control end；Order data processing module, receives distant
Data command transcoding that control end sends send to scraper；Scraper status data processing module, receives scraper
Car feedback status information and send to remote control end in socket communication mode；Heartbeat detection function module, real
Time monitoring and the communication state of remote control end.
In such scheme, described video sampling and compressing module, including video acquisition module, utilize kernel by frame
Source video data is acquired by frame form, it is thus achieved that video data；Real-time Video Compression module, real-time reception regards
The video data of acquisition module output frequently, is compressed coding, and is put into by compress coding data video data
Buffer area；Video transmission module, reads the compress coding data of buffer area, utilizes streaming media mode to send
To remote control end.
In such scheme, described order data processing module, receive the data command that remote control end sends, by answering
After resolving with layer protocol, transcoding is scraper command code and is sent to scraper by CANOpen interface.
Compared with prior art, beneficial effects of the present invention:
By setting up trunking to improve the communication efficiency of remote control end and scraper, this trunking is that visualization is distant
Control receives device, has WiFi wireless telecommunications and real time video processing module；Use more convenient, spatial volume
Be substantially reduced, versatility is high, favorable expandability and cost less expensive；For remote control end and scraper provide more reliable,
More stable relaying driving means and system.
Accompanying drawing explanation
Fig. 1 is hardware system structure figure of the present invention；
Fig. 2 is present system data transmit-receive flow chart.
Detailed description of the invention
All features disclosed in this specification, or disclosed all methods or during step, except mutually
Beyond the feature repelled and/or step, all can combine by any way.
The present invention will be further described below in conjunction with the accompanying drawings:
Embodiment 1
The present invention is an embedded device based on embedded Linux, with the microprocessor of an arm framework
For computing platform, carry linux operating system.Hardware of the present invention realizes hardware and mainly includes core board and extension
Two parts of plate, hardware structure is as shown in Figure 1.
Wherein USB interface 0 is used for connecting USB wireless network card, and equipment accesses WiFi wireless network；USB1
For connecting USB camera, carry out the collection of video data；CANOpen interface is used for and scraper
CANOpen interface is connected, and control number order is sent to scraper and obtains status data from scraper.
Invention software part realizes, and software section is divided into Linux system transplant and based on arm-Linux
Two parts of the application software of embedded system.
Linux system is transplanted and is included that setting up cross compilation environment, kernel-reduce, kernel compiling and mirror image sets up,
Concrete grammar is as follows.
Set up cross compilation environment to comprise the following steps:
1) Ubuntu virtual opetrating system is installed；
2) cross-compiler is installed；
3) configuration Ubuntu virtual machine configures nfs server, ssh server and sets up Ubuntu
Virtual machine and the communication of receiving terminal hardware.
The cutting of linux system kernel, kernel compiling and mirror image are set up and are comprised the following steps:
1) perform make menuconfig and enter the configuration interface of kernel-reduce text menu, according to
It is configured by demand；
2) perform make zImage and generate linux kernel reflection；
3) zImage utilize tool software programming enter in SD card；
As illustrated described in 15, in the present invention, application software based on arm-Linux embedded system, comprises
Following four functional module: heartbeat detection function module, video sampling and compressing module, order data processing module
With scraper status data processing module, this partial task is completing of four sub-function module.The above-mentioned son of S
Module realized in the way of independent process in coding stage, and arm-linux embedded OS needs to adjust simultaneously
Spend the execution of multiple process, in order to complete multi-task coordination work, sub-function module need to use multithreading,
The management of process technology that inter-process communication techniques and operating system provide.
The exploitation of embedded software, first has to build development environment and the instrument of relevant convenient debugging, development environment
Install including host Ubuntu virtual opetrating system and the installation of cross-compiler, developing instrument eclipse,
The installation of gdb debugging acid.
The installation of gdb debugging acid includes that the gdbserver of arm-linux version and an x86 version intersect
The gdb of debugging, comprises the following steps that.
Generate the gdb run on Ubuntu virtual machine to comprise the steps:
1) decompression gdb source code package
2) perform ./configure and generate Makefile file, and Mikefile file is configured
3) perform make file and complete compiling
4) perform make install order to install
The transplanting of the gdbserver of cross compile version specifically comprises the following steps that
1) decompression gdb source code package
2) perform ./configure and generate Makefile file, and Mikefile file is configured,
Formulating compiler is crossstool arm-linux-gcc
3) perform make file and complete compiling
4) perform make install and can generate gdbserver in the file specified, will
Gdbserver downloads to can run in arm-linux system.
In based on arm-linux application program writing, ffmpeg and x264 to be used increases income storehouse, should
Before program development, to first carry out above-mentioned two and increase income the transplanting in storehouse.
What X264 storehouse was transplanted specifically comprises the following steps that
1) perform ./configure and configure relevant parameter
2) the config.mak file that amendment generates, cross-compiler to be formulated
3) perform make and complete file compiling
4) perform make install just to complete to install
What ffmpeg storehouse was transplanted specifically comprises the following steps that
1) perform ./configure configuration file relevant parameter, especially determine to add before compilation tool
Arm-linux-, and the appointment of relevant three-party library
2) perform make and complete compiling
3) perform make install and be arranged on specified folder
Introduce the implementation method of each sub-function module separately below.
The step that heartbeat detection function module realizes is as follows:
Heartbeat detection function module is periodically to controlling end transmission heartbeat packet, and receives from controlling the heart that end is sent
Jumping bag, heartbeat packet is the packet that data volume is the least, comprises the range of information such as packet sequence, in order to ensure in real time
Property, use udp protocol to be transmitted.Receiving terminal can't accept heartbeat packet within certain stipulated time, returns and thinks and connect
Receiving end and the already off network of remote control end connect, and system needs to attempt connecting WLAN, and to scraper
Carry out the process of a series of emergency, such as stop in emergency, and the warning flute that rings.
It is as follows that video sampling and compressing module realizes step:
Video acquisition part uses the kernel-driven Video4linux2 utilizing video equipment in linux (to be called for short
V4L2) framework carries out video acquisition, specifically comprises the following steps that
1) device file is opened
2) function that equipment is supported is checked
3) video input is selected
4) video acquisition form is set
5) to driving application frame cushion space
6) by application to frame cushion space be mapped to user's space
7) video acquisition is carried out
8) from frame buffers, original video data is obtained
9) the frame buffering having obtained original video data is reentered into frame buffer queue, it is achieved circulation
Gather
10) collection of video is stopped
11) video equipment is closed
The original video data that above-mentioned steps obtains utilizes x264 framework be compressed processing, and x264 framework enters
The method of row video compress is fairly simple, and the API directly using x264 to provide can complete, especially
The use of zerolatency parameter, can make delay reduce.After video compression functionality submodule compression video completes,
Video data after compression is put in output buffer, waits that video sends submodule from relief area with secondary
Taking out the video requency frame data after compression uses UDP mode to be sent to control end by WLAN.
It is as follows that order data processes Implement of Function Module step:
Order data process functional module, by monitoring certain port, obtains remote control end from WLAN and sends over
Order data, remote control sort command data send with the form of control command data bag, and order data processes function
After module receives control command bag, according to self-defining application layer protocol, control command bag is unpacked, logical
Cross certain corresponding relation, data parsing become concrete control command, be then passed through certain form and carry out transcoding,
It is transcoded into the control command that scraper can identify, is sent to scraper by CANOpen bus.
It is as follows that scraper status data processes Implement of Function Module step:
The CANOpen that scraper status data process functional module is connected with scraper by receiving device is total
Line interface, obtains the status information of scraper in real time, and after obtaining data, scraper status data processes function mould
Status data is packaged by block by status data according to self-defining application layer protocol form, then by wireless
LAN is sent to remote control end.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited thereto,
Any those skilled in the art of belonging in the technical scope that the invention discloses, the change that can readily occur in
Or replace, all should contain within protection scope of the present invention.
Claims (9)
1. a visualization remote-receiver based on WiFi wireless network, it is characterised in that include
Expansion board, is provided with CANOpen interface and USB interface；
Core board, is provided with processor and memorizer, the processor shape by CANOpen interface scraper
State information or to scraper transmitting control commands, gathers the video data of scraper feedback also by USB interface；
Wireless network card, for processor input control command and receive feedback status information, set up processor with
The communication of remote control end.
A kind of visualization remote-receiver based on WiFi wireless network the most according to claim 1,
It is characterized in that, ARM framework flush bonding processor selected by described processor.
A kind of visualization remote-receiver based on WiFi wireless network the most according to claim 2,
It is characterized in that, described processor model selects S5PV210.
A kind of visualization remote-receiver based on WiFi wireless network the most according to claim 1,
It is characterized in that, described memorizer, including 512,000,000 RAM and 512,000,000 Nand Flash.
A kind of visualization remote-receiver based on WiFi wireless network the most according to claim 1,
It is characterized in that, described expansion board also includes the supply module being all connected, SD card interface and string with processor
Mouth interface.
6. a visualization romote controlled receiving system based on WiFi wireless network, it is characterised in that include
Video sampling and compressing module, the source video data the compressed encoding that receive scraper send to remote control end；
Order data processing module, the data command the transcoding that receive the transmission of remote control end send to scraper；
Scraper status data processing module, receives the status information of scraper feedback and with socket communication side
Formula sends to remote control end；
Heartbeat detection function module, monitoring in real time and the communication state of remote control end.
A kind of visualization romote controlled receiving system based on WiFi wireless network the most according to claim 6,
It is characterized in that, described video sampling and compressing module, including
Video acquisition module, utilizes kernel to be acquired source video data by frame format, it is thus achieved that video data；
Real-time Video Compression module, the video data of real-time reception video acquisition module output, enters video data
Row compressed encoding, and compress coding data is put into buffer area；
Video transmission module, reads the compress coding data of buffer area, utilizes streaming media mode to send to distant
Control end.
A kind of visualization romote controlled receiving system based on WiFi wireless network the most according to claim 6,
It is characterized in that, described order data processing module, receive the data command that remote control end sends, by application layer
After protocol analysis, transcoding is scraper command code and is sent to scraper by CANOpen interface.
A kind of visualization romote controlled receiving system based on WiFi wireless network the most according to claim 7,
It is characterized in that,
Described video acquisition module, utilizes kernel-driven Video4linux2 framework to carry out form for YUYV
Source video data acquiring；
Described Real-time Video Compression module, employing X264 framework carries out form to the video data of compression and is
H.264 coding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610527597.4A CN105959652A (en) | 2016-07-05 | 2016-07-05 | Visual remote control receiving device and system based on WiFi (Wireless Fidelity) wireless network |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610527597.4A CN105959652A (en) | 2016-07-05 | 2016-07-05 | Visual remote control receiving device and system based on WiFi (Wireless Fidelity) wireless network |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105959652A true CN105959652A (en) | 2016-09-21 |
Family
ID=56899724
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610527597.4A Pending CN105959652A (en) | 2016-07-05 | 2016-07-05 | Visual remote control receiving device and system based on WiFi (Wireless Fidelity) wireless network |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105959652A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101982618A (en) * | 2010-09-17 | 2011-03-02 | 山东理工大学 | Manual control and remote control integrated electric fork lift truck |
| CN103237193A (en) * | 2013-03-29 | 2013-08-07 | 天津大学 | Self-adaption mobile network bus video monitoring terminal |
| CN103437763A (en) * | 2013-09-10 | 2013-12-11 | 淄博广梓机械有限公司 | Underground remote control shoveling robot |
-
2016
- 2016-07-05 CN CN201610527597.4A patent/CN105959652A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101982618A (en) * | 2010-09-17 | 2011-03-02 | 山东理工大学 | Manual control and remote control integrated electric fork lift truck |
| CN103237193A (en) * | 2013-03-29 | 2013-08-07 | 天津大学 | Self-adaption mobile network bus video monitoring terminal |
| CN103437763A (en) * | 2013-09-10 | 2013-12-11 | 淄博广梓机械有限公司 | Underground remote control shoveling robot |
Non-Patent Citations (2)
| Title |
|---|
| 张宏涛: "基于802.11b/g的井下机车无线遥控系统设计", 《华北科技学院学报》 * |
| 韩星等: "CANopen协议在地下铲运机控制系统中的应用", 《仪表技术与传感器》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20210048476A1 (en) | Interfaces for wireless debugging | |
| CN109347659B (en) | Intelligent terminal equipment and module remote upgrading method based on NB-IOT | |
| CN109740222B (en) | Testing device and system for automobile networking scene | |
| CN106774260B (en) | The automatic test approach and its system of on-board air conditioner controller | |
| CN105550118B (en) | Debugging system and adjustment method | |
| WO2005119449A3 (en) | System and method for remote diagnostics for an in-flight entertainment system | |
| CN104219003B (en) | Communicator, test system and method for testing thereof | |
| CN103538069A (en) | Robot control method, control device and control system | |
| CN204823537U (en) | Elevator debug system based on wi -Fi communication and smart mobile phone | |
| CN107277168A (en) | One kind supports the wireless emulation debugging system of high in the clouds multiuser to remotely and method | |
| CN105224753A (en) | The multi-specialized design verification platform of non-active nuclear power plant | |
| CN103269291B (en) | Android platform utilize point-to-point radio-frequency apparatus carry out the method for ADB debugging | |
| CN109684025A (en) | A kind of remote communication method and relevant apparatus | |
| CN112988495A (en) | Multifunctional test method, device and system for SOC chip multiplex pin | |
| CN114707236A (en) | Model-based virtual-real combined simulation test method | |
| CN103533041A (en) | Unmanned underwater vehicle-oriented remote software updating method | |
| CN106487847A (en) | A kind of information processing method and transfer server | |
| CN110058900B (en) | Data transmission service system based on pluggable component framework | |
| CN110324409A (en) | A kind of OpenCPU development platform for intelligent electric power concentrator | |
| CN102426548A (en) | Debugging method, debugger and debugging system for embedded system | |
| CN105959652A (en) | Visual remote control receiving device and system based on WiFi (Wireless Fidelity) wireless network | |
| CN108908342A (en) | Intelligent Mobile Robot and scheduling system business operations linkage system and method | |
| CN103246620A (en) | Data exchange method based on USB (universal serial bus) equipment | |
| CN107748669B (en) | Software upgrading device | |
| CN107563075B (en) | Method for realizing CosiMate network and DDS network interconnection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160921 |
|
| RJ01 | Rejection of invention patent application after publication |