CN106603704A - Distributed cluster video feedback system based on cloud computing - Google Patents
Distributed cluster video feedback system based on cloud computing Download PDFInfo
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- CN106603704A CN106603704A CN201611252320.1A CN201611252320A CN106603704A CN 106603704 A CN106603704 A CN 106603704A CN 201611252320 A CN201611252320 A CN 201611252320A CN 106603704 A CN106603704 A CN 106603704A
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- video
- integrated unit
- cloud computing
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- 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
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Abstract
The invention discloses a distributed cluster video feedback system based on cloud computing. The system comprises an integrated unit which is composed of a camera module, a PLC, a single chip microcomputer, and an extended interface. The integrated unit is internally equipped with a wireless unit module, and is connected with a cloud service center through the wireless unit module. The cloud service center is used for carrying out remote on-site monitoring and remote debugging on the camera module, the PLC, the single chip microcomputer and the extended interface. A camera node in the camera module is used for remotely monitoring and controlling a machine site. The video is compound information comprising video information and control information. The integrated unit includes a binocular stereo vision positioning system. The remote end of the cloud service center is connected with clients. The cloud service center carries out data tiering through cloud computing data processing and a server. The system covers a wide range, is fully functional, and realizes the design concept of monitoring and control integration.
Description
Technical field
The present invention relates to internet of things field, more particularly to a kind of distributed type assemblies video feed system based on cloud computing
System.
Background technology
As the life of people is gradually being come in the reach of science and the progress of society, the equipment of modernization, modernize
Equipment not only make the life of people become convenient, the equipment of modernization has also promoted the progress of human society.
The performance of computer is more and more stronger, and application software is more and more, and cost is more and more lower, has been obtained for large-scale
Popularization and application.At present, the hardware and software of computer is all highly developed, and increasing business opportunity is embodied in the content side of computer
How face, provided the user its content interested, how to improve user and had become using the efficiency of computer
One new proposition.Computer capacity is supplied to the information of user to embrace a wide spectrum of ideas, in particular, in that Internet of Things aspect, by computer control
Machine processed simultaneously makes its work, but, prior art has descended internet of things equipment coverage little, single function, it is impossible to realize
The shortcoming of the total implementation of monitoring and control.
The content of the invention
The invention aims to it is little to solve equipment coverage present in prior art, single function, it is impossible to real
The shortcoming of the total implementation of real existing monitoring and control, and a kind of distributed type assemblies video feed based on cloud computing for proposing
System.
To achieve these goals, present invention employs following technical scheme：
A kind of distributed type assemblies video feed system based on cloud computing, including integrated unit, the integrated unit includes
Camera module, PLC, single-chip microcomputer and expansion interface, are provided with radio-cell module in the integrated unit, the integrated unit leads to
Cross radio-cell module and be connected with cloud service center, the cloud service center forms self-organizing network, further forms industrial nothing
Line heterogeneous network, the cloud service center is used to carry out remote scene prison to camera module, PLC, single-chip microcomputer and expansion interface
Control and remote debugging, the shooting head node in the camera module is used for the remotely monitor to machine scene and control, described
Video is passed through radio-cell module transfer to cloud service center by camera module, and the video is to include video information and control
The composite information of information processed, the integrated unit includes binocular stereo vision alignment system, is by binocular stereo vision positioning
System can synchronously conduct depth survey information, and the remote port of the cloud service center is connected with client, and cloud service center passes through cloud
Calculating data processing and server carries out data hierarchy, then can be by different data is activation to different clients, the collection
It is used to control the robot of various models into the PLC or single-chip microcomputer in unit, the expansion interface in the integrated unit can be used for
The connection of various sensors, for the various ambient condition informations of synchronous transfer, the design of the integrated unit and cloud service center
So that system ovelay range is wide, realizes and realize that monitoring is integrated with control.
Preferably, shooting head node is provided with the integrated unit, the shooting head node has autonomous network function, institute
State shooting head node and give IP address automatically by controller, and for carrying out time self checking function, for allowing the regarding of collection
Frequency image is synchronous with the practical situation holding at scene.
Preferably, the composite information in the video flowing includes following information：CRC check information；Timing node information；Mark
Show tri- coordinate informations of point X, Y, Z and image information.
Preferably, the local processor can calculate the position letter for indicating in image a little according to multi-vision visual system
Breath, forms 3-dimensional digital coordinate X, Y, Z, draws sign point positional information in the picture；Processor can be according in video flowing
The positional information situation of change of sign point changes the renewal frequency of video flowing, when positional information is not changed in, can stop updating
Image location information, reduces the burden of processor, increases efficiency of transmission.Computational methods are as follows：
When be believed that sign dot position information be not changed in.Wherein x represents sign point position, y tables in image
Show the sign point position of present display.
Preferably, the radio-cell module in the integrated unit be used for ad hoc deployed wireless networks connection of unit inside and
Wireless network connection between unit so that form wireless isomer between the modules and unit in same unit
Network, at cloud service center, according to traffic flow control method, using disperse system by video flowing and control information and measurement
Information dispersion is sent to different user group.
Preferably, the composition Wireless Heterogeneous Networks of the radio-cell module in the integrated unit, for various industrial nets
Network coexists.
Preferably, the cloud service center includes Cloud Server, and Cloud Server is according to traffic flow control strategy to data
Analyzed and processed in real time.Optimized algorithm is as follows：
Define the finite aggregate S, the finite aggregate C and cost function F of element of feasible solution.S is defined as：
S={ s1,s2,…,sn, n ∈ N, n ＜ ∞ (1)
Each solution siAll it is a NsTuple, is defined as：
Wherein eachC is defined as two metasets：C={ 0,1 }, cost function is the mapping of S to set of real numbers R：
F:S→R.SolveSo that：
The finite aggregate χ for representing system mode is introduced, is that feasible partial order solves finite aggregate, χ is the superset of S.Definition set U
(χi), table is for partial order solution χiThe set of possible next construction element, in the case of abandoned, U (χi)=C.Draw again
Enter the set S for representing the current solution for obtaining*, it is clear thatA undirected weighted graph G (C, E, Γ) is finally introducing, C is summit
Collection, such as (3) formula definition, E is the side collection of non-directed graph, is defined as：
E={ ＜ ci,cj＞ | ＜ ci,cj＞ ∈ C × C, i ≠ j } (4)
Γ is the weights on the side of figure, i.e. the set of pheromone track, is defined as：
Γ=τ (i, j) | τ (i, j) ∈ R, ＜ ci,ci＞ ∈ E } (5)
One feasible solution s ∈ S, can be by 0 tuple χ0={ } starts construction, and construction process can be described as：
χj=＜ u0,u1,…,uj-1＞ → χj+1=＜ u0,u1,…,uj-1,uj＞ (6)
Wherein ujObtain according to certain probability P.Here firstly for side ＜ uj-1,uj＞ introduces flow Nflow(uj-1,uj) and
Flow threshold Nth(uj-1,uj).HaveIntroduce set：
It is defined as the size gathered.Nflow(uj-1,uj) just set to 0 in every step structure, in the structure in each path, such as
Fruit ＜ uj-1,uj＞ is built into a part for solution and then adds 1.Introduce just when statistical function：
Flow threshold is defined as：
Wherein
I ∈ C, β are to the sensitivity just when statistics, generally, β=0.5.Then probability P can be described as：
The structure of feasible solution repeats the process of (6) formula description, until system reaches state χiTill ∈ S.
All pheromone Track Initiations are turned to：
Wherein, srndIt is a solution for randomly generating in domain of definition.Pheromone track is updated using global more New Policy：
Wherein, ρ is pheromone rate of decay.
Preferably, the data of integrated unit transmission include video information and control information, transmission of video information it is same
When, for realizing the real-time control to robot；And can synchronously conduct depth metrical information, realize virtual scene with
The synchronizing information of actual scene, it is also possible to which depth information carries out long-range malfunction test.
Preferably, the control information in the integrated unit includes the communication information of PLC and single-chip microcomputer, for realizing monitoring
It is integrated with control；Its control object include serial manipulator, parallel robot, Scara robot, AGV robots with it is straight
The robot systems such as line robot.
Preferably, the expansion module is used to realize that six of sensor to connect, and passes for adding temperature sensor, humidity
Sensor and air mass sensor etc., can the various environmental datas such as synchronous transfer humiture.
In the present invention, by the design of integrated unit, realizing zones of different can realize the long-range of unit module
On-site supervision and remote debugging；The time self checking work(of video image information is realized by binocular multi-view stereo vision alignment system
Can, reduce the working strength of staff；By cloud computing data processing and server data hierarchy, can be by different data
Different clients are sent to, the priority assignation of different user group is realized, the complementary interference of multiple client improves the property of system
Energy；Integrated PLC or single-chip microcomputer in by integration module is used to control the robot of various models, realizes the one of monitoring and control
Body, realizes the theory of modernization operation, and the collection of different work informations is realized in the design of expansion module, wide coverage,
Complete function.
Description of the drawings
Fig. 1 is a kind of schematic flow sheet of distributed type assemblies video feed system based on cloud computing proposed by the present invention；
Fig. 2 is that a kind of data transfer of distributed type assemblies video feed system based on cloud computing proposed by the present invention is illustrated
Figure；
Fig. 3 is that a kind of transmission of video of distributed type assemblies video feed system based on cloud computing proposed by the present invention is illustrated
Figure；
Fig. 4 is a kind of Wireless Heterogeneous Networks of distributed type assemblies video feed system based on cloud computing proposed by the present invention
Schematic diagram；
Fig. 5 is a kind of algorithm schematic diagram of distributed type assemblies video feed system based on cloud computing proposed by the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.
Reference picture 1-5, a kind of distributed type assemblies video feed system based on cloud computing, including integrated unit, integrated list
Unit includes camera module, PLC, single-chip microcomputer and expansion interface, and radio-cell module is provided with integrated unit, and integrated unit passes through
Radio-cell module is connected with cloud service center, and cloud service center forms self-organizing network, further forms wireless industrial isomery
Network, cloud service center is used to carry out camera module, PLC, single-chip microcomputer and expansion interface remote scene monitoring and long-range tune
Examination, the shooting head node in camera module is used for the remotely monitor to machine scene and control, and camera module leads to video
Radio-cell module transfer is crossed to cloud service center, video is the composite information for including video information and control information, integrated
Unit includes binocular stereo vision alignment system, and by binocular stereo vision alignment system depth survey information can be synchronously conducted,
The remote port of cloud service center is connected with client, and cloud service center carries out data point by cloud computing data processing and server
Layer, then can be by different data is activation to different clients, and the PLC or single-chip microcomputer in integrated unit is used to control various types
Number robot, the expansion interface in integrated unit can be used for the connection of various sensors, for the various surrounding rings of synchronous transfer
The design of environment information, integrated unit and cloud service center causes system ovelay range wide, realizes and realizes monitoring with the one of control
Body, by the design of integrated unit, realizing zones of different can realize that the remote scene of unit module is monitored and remote
Journey is debugged；The time self checking function of video image information is realized by binocular multi-view stereo vision alignment system, work is reduced
Make the working strength of personnel；By cloud computing data processing and server data hierarchy, can be by different data is activations to difference
Client, realize the priority assignation of different user group, the complementary interference of multiple client improves the performance of system, integrated list
Shooting head node is provided with unit, shooting head node has autonomous network function, and shooting head node gives IP ground automatically by controller
Location, and for carrying out time self checking function, for making the video image of collection synchronous with the practical situation holding at scene, depending on
Composite information during frequency flows includes following information：CRC check information；Timing node information；Sign point tri- coordinate informations of X, Y, Z
And image information, local processor can calculate the positional information for indicating in image a little, form three according to multi-vision visual system
Dimension word coordinate X, Y, Z, draw sign point positional information in the picture；Processor can be according to the position for indicating in video flowing a little
Confidence breath situation of change changes the renewal frequency of video flowing, when positional information is not changed in, can stop updating picture position letter
Breath, reduces the burden of processor, increases efficiency of transmission.Computational methods are as follows：When be believed that sign dot position information
It is not changed in.Wherein x represents sign point position in image, and y represents the sign point position of present display, wireless in integrated unit
The wireless network connection that unit module is used between the unit inside ad hoc deployed wireless networks connection and unit so that same
Wireless Heterogeneous Networks are formed between modules and unit in unit, at cloud service center, according to traffic flow control
Method processed, different user group, integrated unit are sent to using disperse system by video flowing and control information and metrical information dispersion
In radio-cell module composition Wireless Heterogeneous Networks, for coexisting for various industrial networks, cloud service center includes cloud clothes
Business device, Cloud Server is analyzed and processed in real time according to traffic flow control strategy to data.Optimized algorithm is as follows：
Define the finite aggregate S, the finite aggregate C and cost function F of element of feasible solution.S is defined as：
S={ s1,s2,…,sn, n ∈ N, n ＜ ∞ (1)
Each solution siAll it is a NsTuple, is defined as：
Wherein eachC is defined as two metasets：C={ 0,1 }, cost function is the mapping of S to set of real numbers R：
F:S→R.SolveSo that：
The finite aggregate χ for representing system mode is introduced, is that feasible partial order solves finite aggregate, χ is the superset of S.Definition set U
(χi), table is for partial order solution χiThe set of possible next construction element, in the case of abandoned, U (χi)=C.Draw again
Enter the set S for representing the current solution for obtaining*, it is clear thatA undirected weighted graph G (C, E, Γ) is finally introducing, C is summit
Collection, such as (3) formula definition, E is the side collection of non-directed graph, is defined as：
E={ ＜ ci,cj＞ | ＜ ci,cj＞ ∈ C × C, i ≠ j } (4)
Γ is the weights on the side of figure, i.e. the set of pheromone track, is defined as：
Γ=τ (i, j) | τ (i, j) ∈ R, ＜ ci,ci＞ ∈ E } (5)
One feasible solution s ∈ S, can be by 0 tuple χ0={ } starts construction, and construction process can be described as：
χj=＜ u0,u1,…,uj-1＞ → χj+1=＜ u0,u1,…,uj-1,uj＞ (6)
Wherein ujObtain according to certain probability P.Here firstly for side ＜ uj-1,uj＞ introduces flow Nflow(uj-1,uj) and
Flow threshold Nth(uj-1,uj).HaveIntroduce set：
It is defined as the size gathered.Nflow(uj-1,uj) just set to 0 in every step structure, in the structure in each path, such as
Fruit ＜ uj-1,uj＞ is built into a part for solution and then adds 1.Introduce just when statistical function：
Flow threshold is defined as：
Wherein
I ∈ C, β are to the sensitivity just when statistics, generally, β=0.5.Then probability P can be described as：
The structure of feasible solution repeats the process of (6) formula description, until system reaches state χiTill ∈ S.
All pheromone Track Initiations are turned to：
Wherein, srndIt is a solution for randomly generating in domain of definition.Pheromone track is updated using global more New Policy：
Wherein, ρ is pheromone rate of decay, and the data of integrated unit transmission include video information and control information, transmission
While video information, for realizing the real-time control to robot；And depth metrical information can be synchronously conducted, it is real
The synchronizing information of existing virtual scene and actual scene, it is also possible to which depth information carries out long-range malfunction test, integrated unit
In control information include the communication information of PLC and single-chip microcomputer, for realizing that monitoring is integrated with what is controlled；Its control object bag
Include the robot systems such as serial manipulator, parallel robot, Scara robot, AGV robots and linear robot, expanded mode
Block is used to realize six connections of sensor, for adding temperature sensor, humidity sensor and air mass sensor etc., can
The various environmental datas such as synchronous transfer humiture, by the design of integration module and cloud service center system ovelay range is caused
Extensively, realize and realize monitoring integrated with control, realize the theory of modernization operation, difference is realized in the design of expansion module
The collection of work information, wide coverage, complete function.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any those familiar with the art the invention discloses technical scope in, technology according to the present invention scheme and its
Inventive concept equivalent or change in addition, all should be included within the scope of the present invention.
Claims (10)
1. a kind of distributed type assemblies video feed system based on cloud computing, including integrated unit, it is characterised in that described integrated
Unit includes camera module, PLC, single-chip microcomputer and expansion interface, and radio-cell module, the collection are provided with the integrated unit
Cloud service center is connected with by radio-cell module into unit, the cloud service center forms self-organizing network, further shape
Into wireless industrial heterogeneous network, the cloud service center is used to carry out far camera module, PLC, single-chip microcomputer and expansion interface
Journey on-site supervision and remote debugging, the shooting head node in the camera module is used for the remotely monitor to machine scene and control
Video is passed through radio-cell module transfer to cloud service center by system, the camera module, and the video is to include video
The composite information of information and control information, the integrated unit includes binocular stereo vision alignment system, by binocular tri-dimensional
Feel that alignment system can synchronously conduct depth survey information, the remote port of the cloud service center is connected with client, in cloud service
The heart carries out data hierarchy by cloud computing data processing and server, then can be by different data is activations to different clients
End, the PLC or single-chip microcomputer in the integrated unit is used to control the robot of various models, and the extension in the integrated unit connects
Mouth can be used for the connection of various sensors, for the various ambient condition informations of synchronous transfer, in the integrated unit and cloud service
The design of the heart causes system ovelay range wide, realizes and realizes that monitoring is integrated with control.
2. a kind of distributed type assemblies video feed system based on cloud computing according to claim 1, it is characterised in that institute
State and be provided with integrated unit shooting head node, the shooting head node has an autonomous network function, the shooting head node is by controlling
Device processed gives IP address automatically, and for carrying out time self checking function, for allowing the video image of collection and the reality at scene
Border situation keeps synchronous.
3. a kind of distributed type assemblies video feed system based on cloud computing according to claim 1, it is characterised in that institute
The composite information stated in video flowing includes following information：CRC check information；Timing node information；Sign point tri- coordinates of X, Y, Z
Information and image information.
4. a kind of distributed type assemblies video feed system based on cloud computing according to claim 1, it is characterised in that institute
Stating local processor can calculate the positional information for indicating in image a little according to multi-vision visual system, form 3-dimensional digital and sit
Mark X, Y, Z, draw sign point positional information in the picture；Processor can become according to the positional information for indicating in video flowing a little
Change situation changes the renewal frequency of video flowing, when positional information is not changed in, can stop updating image location information, at reduction
The burden of reason device, increases efficiency of transmission.
5. a kind of distributed type assemblies video feed system based on cloud computing according to claim 1, it is characterised in that institute
State the nothing that the radio-cell module in integrated unit is used between the unit inside ad hoc deployed wireless networks connection and unit
Line network connection so that Wireless Heterogeneous Networks are formed between the modules and unit in same unit, in cloud service
At the heart, according to traffic flow control method, video flowing is sent to control information and metrical information dispersion using disperse system
Different user group.
6. a kind of distributed type assemblies video feed system based on cloud computing according to claim 1, it is characterised in that institute
The composition Wireless Heterogeneous Networks of the radio-cell module in integrated unit are stated, for coexisting for various industrial networks.
7. a kind of distributed type assemblies video feed system based on cloud computing according to claim 1, it is characterised in that institute
Cloud service center is stated including Cloud Server, Cloud Server is carried out at real-time analysis according to traffic flow control strategy to data
Reason.
8. a kind of distributed type assemblies video feed system based on cloud computing according to claim 1, it is characterised in that institute
Stating the data of integrated unit transmission includes video information and control information, while transmission of video information, for realizing to machine
The real-time control of people；And depth metrical information can be synchronously conducted, realizes that virtual scene is same with the information of actual scene
Step, it is also possible to which depth information carries out long-range malfunction test.
9. a kind of distributed type assemblies video feed system based on cloud computing according to claim 1, it is characterised in that institute
Stating the control information in integrated unit includes the communication information of PLC and single-chip microcomputer, for realizing that monitoring is integrated with control；Its
Control object includes the systems of robot such as serial manipulator, parallel robot, Scara robot, AGV robots and linear robot
System.
10. a kind of distributed type assemblies video feed system based on cloud computing according to claim 1, it is characterised in that
The expansion module is used to realize six connections of sensor, for adding temperature sensor, humidity sensor and air quality
Sensor etc., can the various environmental datas such as synchronous transfer humiture.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107911473A (en) * | 2017-12-04 | 2018-04-13 | 长沙瑞晓知识产权服务有限公司 | A kind of wireless remote debugging system based on cloud computing heterogeneous platform |
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| CN103348819A (en) * | 2013-07-12 | 2013-10-16 | 中南林业科技大学 | Oil-tea camellia fruit picking method and oil-tea camellia fruit picking robot using same |
| CN103945179A (en) * | 2014-03-20 | 2014-07-23 | 吉林大学 | Intelligent video monitoring system based on distributed wireless sensor network |
| CN104417382A (en) * | 2013-08-30 | 2015-03-18 | 国家电网公司 | Visual positioning system |
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| CN202634479U (en) * | 2012-01-14 | 2012-12-26 | 燕山大学 | Distributed multi-agent control simulation platform |
| CN103348819A (en) * | 2013-07-12 | 2013-10-16 | 中南林业科技大学 | Oil-tea camellia fruit picking method and oil-tea camellia fruit picking robot using same |
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Application publication date: 20170426 |