CN110493214A - A kind of autonomous cruise observation system based on Internet of Things - Google Patents
A kind of autonomous cruise observation system based on Internet of Things Download PDFInfo
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- CN110493214A CN110493214A CN201910748009.3A CN201910748009A CN110493214A CN 110493214 A CN110493214 A CN 110493214A CN 201910748009 A CN201910748009 A CN 201910748009A CN 110493214 A CN110493214 A CN 110493214A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
- H04L65/60—Network streaming of media packets
- H04L65/65—Network streaming protocols, e.g. real-time transport protocol [RTP] or real-time control protocol [RTCP]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
- H04L65/60—Network streaming of media packets
- H04L65/75—Media network packet handling
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- 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
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- 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
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- 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
- H04L67/14—Session management
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- 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
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
- H04L69/161—Implementation details of TCP/IP or UDP/IP stack architecture; Specification of modified or new header fields
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
- H04L69/164—Adaptation or special uses of UDP protocol
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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Abstract
The autonomous cruise observation system based on Internet of Things that the invention discloses a kind of, it is characterised in that: including data collection terminal, server end and client；The data collection terminal is interacted with the server end, and carries out data and order transmission using ICP/IP protocol therebetween, carries out video data transmission using UDP；The client accesses to server end access by ICP/IP protocol and UDP, completes data connection.The present invention can be realized autonomous cruise and automatic measurement in region, carries out real-time monitoring and update area dem data and uploads, and completes the acquisition of DEM measurement data and is stored in server end, facilitates and carry out redrawing for ground data.
Description
Technical field
The invention belongs to Internet of Things and intelligent monitoring technical fields, and in particular to a kind of autonomous cruise sight based on Internet of Things
Examining system.
Background technique
Digital complex demodulation (Digital Elevation Model) is the digital expression of topographical surface form,
Ground elevation information is described by orderly array of values form, makes to reach the quantification stage to the research of earth's surface, is number
The important component of the earth.Accurate and high-resolution DEM information has in multiple fields such as engineering construction, hydrological analyses
Be widely applied.
The common update method of dem data mainly has aerial survey at figure and field survey two ways at present, and aerial survey is suitable for
The DEM measurement updaue in super large region, but its time-consuming, it is with high costs, and renewal frequency is low, for timely updating for region
Ability is weak；Field survey usually uses outdoors exploration method, huge to manpower and material resources consumption, and manually-operated frequency is lower, right
Information collection consuming cost in region is higher, and is difficult to be measured and updated on a large scale.With unmanned air vehicle technique
High speed development, it is many to study the DEM measurement that ground is carried out by using the measurement method that Sfm photographs, since its is portable and clever
Feature living, so that the measuring speed of DEM greatly improves.But due to the limitation of unmanned plane during flying, for shelter, for example build
The measurement for building object, grove etc. is more limited to, and therefore, it is difficult to restore original ground DEM terrain data, unmanned plane is continuous in addition
Boat limitation, so that unmanned plane can not be worked and be measured for a long time in a certain region, for needing appointing for real-time update
Business has significant limitation.
Summary of the invention
The autonomous cruise observation system based on Internet of Things that the technical problem to be solved in the present invention is to provide a kind of, can be realized
Autonomous cruise and automatic measurement in region carry out real-time monitoring and update area dem data and upload, and complete DEM and measure number
According to acquisition and be stored in server end, facilitate and carry out ground data and redraw.
In order to solve the above technical problems, the present invention adopts the following technical scheme that: it is of the invention it is a kind of based on Internet of Things from
Main cruise observation system, innovative point are: including data collection terminal, server end and client；The data collection terminal with
The server end interacts, and carries out data and order transmission using ICP/IP protocol therebetween, is regarded using UDP
Frequency is according to transmission；The client accesses to server end access by ICP/IP protocol and UDP, completes data and connects
It connects.
Preferably, the data collection terminal includes unmanned vehicle, main control chip, power supply, power plant module, nine axis MPU, GPS moulds
Block, high-definition camera, raspberry pie and external interface；The main control chip, power supply, power plant module, nine axis MPU, GPS module, height
Clear camera, raspberry pie and external interface are arranged on the unmanned vehicle, and the power supply respectively with the main control chip, dynamic
Power module, nine axis MPU, GPS module, high-definition camera, raspberry pie are connected with external interface；The main control chip respectively with it is described
Power plant module, nine axis MPU, GPS module, raspberry pie are connected with external interface；The raspberry pie is connect with the high-definition camera.
Preferably, the unmanned vehicle uses crawler-type unmanned bassinet structure.
Preferably, the main control chip uses STM32F103ZET6 main control chip；The power supply uses the lithium of 12V/10Ah
Battery；The power plant module includes motor drive module and two coding motors, one end of the motor drive module with it is described
Main control chip connection, and its other end is connect with each coding motor respectively；The nine axis MPU uses nine axis posture of GY99
Sensor module, and communicated using serial ports with the main control chip；The GPS module uses ATK1218-BD Beidou GPS
Bimodulus locating module, and communicated using serial ports with the main control chip；The high-definition camera uses resolution ratio for 1080p
USB camera, and connect with the raspberry pie by USB interface；The raspberry pie using serial ports and the main control chip into
Row communication.
Preferably, the motor drive module uses L298N motor drive module, and each coding motor is all made of
The coding motor of 12V/2A.
Preferably, the data collection terminal is interacted by raspberry pie and the server end, and is assisted using TCP/IP
View carries out data and order transmission, carries out video data transmission using UDP.
Preferably, the server end is the high-performance server that building is disposed on internal lan, and uses TCP/
IP and UDP are communicated.
Preferably, the server end includes Kafka, data producer, data consumer and SQL database；The number
It is connect by Kafka with the data consumer according to the producer, and the data consumer and the SQL database；The clothes
It is engaged in carrying out the production and consumption of data using Kafka inside device end, and is interacted with the SQL database.
Preferably, the client includes video end and order end, and is designed under VS environment based on C# language, and run
In on windows platform.
Beneficial effects of the present invention:
(1) present invention has filled up the blank for real-time update region DEM measurement.
(2) unmanned vehicle uses modularization assembling in the present invention, can be effectively applicable to several scenes and application.
(3) unmanned vehicle is designed using autonomous cruise in the present invention, and automatic detection for a long time is able to carry out in detection zone
Work, dramatically saves manpower, time and Material Cost.
(4) DEM measurement data is uploaded to server end in real time in the present invention, and combines the GPS information of corresponding region, can
Topography and geomorphology is effectively restored, the analysis and research to DEM landform provide strong data and support.
Detailed description of the invention
It, below will be to needed in the embodiment in order to more clearly illustrate the technical solution in the embodiment of the present invention
Attached drawing is simply introduced, it should be apparent that, the accompanying drawings in the following description is only some embodiments recorded in the present invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of overall structure figure of autonomous cruise observation system based on Internet of Things of the invention.
Fig. 2 is the work flow diagram of the power plant module of data collection terminal in Fig. 1.
Fig. 3 is that GPS module and the nine axis MPU of data collection terminal merge flow chart in Fig. 1.
Fig. 4 is the overall flow figure that the present invention communicates.
Fig. 5 is the data flow figure in Fig. 1 inside server end.
Specific embodiment
Technical solution of the present invention will be clearly and completely described by specific embodiment below.
A kind of autonomous cruise observation system based on Internet of Things of the invention, including data collection terminal, server end and visitor
Family end；As shown in Fig. 1 ~ 5, data collection terminal is interacted by raspberry pie and server end, and uses TCP/IP therebetween
Agreement carries out data and order transmission, carries out video data transmission using UDP；The client passes through ICP/IP protocol and UDP
It accesses to server end access, completes data connection.
In the present invention data collection terminal include unmanned vehicle, main control chip, power supply, power plant module, nine axis MPU, GPS module,
High-definition camera, raspberry pie and external interface；As shown in Figure 1, unmanned vehicle uses crawler-type unmanned bassinet structure, and also divide on it
Not She You main control chip, power supply, power plant module, nine axis MPU, GPS module, high-definition camera, raspberry pie and external interface, pass through
Unmanned vehicle modularization assembling can be effectively applicable to several scenes and application.
As shown in Figure 1, power supply power supply use 12V/10Ah lithium battery, and respectively with main control chip, power plant module, nine axis
MPU, GPS module, high-definition camera, raspberry pie are connected with external interface, for powering.
In the present invention main control chip use STM32F103ZET6 main control chip, and respectively with power plant module, nine axis MPU,
GPS module, raspberry pie are connected with external interface；As shown in Figure 1, power plant module includes motor drive module and two coding electricity
Machine, motor drive module uses L298N motor drive module, and one end is connect with main control chip；Each coding motor is equal
It is connect using the coding motor of 12V/2A, and respectively with the other end of motor drive module；Nine axis MPU use nine axis posture of GY99
Sensor module, and communicated using serial ports with main control chip；GPS module is positioned using ATK1218-BD beidou GPS dual mode
Module, and communicated using serial ports with main control chip；High-definition camera uses resolution ratio for the USB camera of 1080p, and logical
USB interface is crossed to connect with raspberry pie；Raspberry pie is mainly responsible for the video acquisition work of data collection terminal, for sharing main control chip
Pressure, and communicated using serial ports with main control chip.
Wherein, as shown in Fig. 2, course line predetermined system, cruise system and communication module cooperate, at main control chip
Pwm signal is generated after reason, pwm signal generates coding motor control signal, control coding motor via L298N motor drive module
Rotation so that control data collection terminal movement.
As shown in figure 3, initial data of the main control chip by nine axis MPU and GPS module of acquisition, the error for calculating signal is mended
It repays, the signal under the same coordinate system is then converted the signal to by respective attitude algorithm, finally by mutually compensating and counting
It calculates to solve and obtains final signal data.
Server end is the high-performance server disposed on internal lan of building in the present invention, and using TCP/IP and
UDP is communicated；As shown in Figure 1, server end includes Kafka, data producer, data consumer and SQL database；Data
The producer is connect by Kafka with data consumer, and data consumer and SQL database；Make inside server end of the present invention
The production and consumption of data are carried out with Kafka, and are interacted with SQL database.
Client includes video end and order end in the present invention, as shown in Figure 1, client is based on C# language under VS environment
Design, mainly runs on windows platform, and user can check historical data by client, data collection terminal it is real-time
Video, and real-time control is carried out by connecting with server end.
As shown in figure 4, data and video are sent to server end using TCP/UDP by data collection terminal, server end makes
With dual-thread parallel processing, handle order and the video of data collection terminal respectively, then by the client on TCP/UDP and ground into
Row interaction, completes entire communication process.
As shown in figure 5, the data and video that receive from data collection terminal respectively enter corresponding processing thread, and will place
Data-pushing after reason enters Kafka Producer, and server from Kafka by carrying out Consumer, by server end
The altitude data of generation is sent into SQL database after GPU processing, while data will be sent to ground client by treated
End.
The invention has the following advantages:
(1) present invention has filled up the blank for real-time update region DEM measurement.
(2) unmanned vehicle uses modularization assembling in the present invention, can be effectively applicable to several scenes and application.
(3) unmanned vehicle is designed using autonomous cruise in the present invention, and automatic detection for a long time is able to carry out in detection zone
Work, dramatically saves manpower, time and Material Cost.
(4) DEM measurement data is uploaded to server end in real time in the present invention, and combines the GPS information of corresponding region, can
Topography and geomorphology is effectively restored, the analysis and research to DEM landform provide strong data and support.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to design of the invention
It is defined with range, without departing from the design concept of the invention, ordinary engineering and technical personnel is to this hair in this field
The all variations and modifications that bright technical solution is made should all fall into protection scope of the present invention, claimed skill of the invention
Art content is all documented in technical requirements book.
Claims (9)
1. a kind of autonomous cruise observation system based on Internet of Things, it is characterised in that: including data collection terminal, server end and visitor
Family end；The data collection terminal is interacted with the server end, and therebetween using ICP/IP protocol carry out data and
Order transmission carries out video data transmission using UDP；The client is by ICP/IP protocol and UDP to the server end
Access accesses, and completes data connection.
2. a kind of autonomous cruise observation system based on Internet of Things according to claim 1, it is characterised in that: the data
Collection terminal includes unmanned vehicle, main control chip, power supply, power plant module, nine axis MPU, GPS module, high-definition camera, raspberry pie and outer
Portion's interface；The main control chip, power supply, power plant module, nine axis MPU, GPS module, high-definition camera, raspberry pie and external interface
Be arranged on the unmanned vehicle, and the power supply respectively with the main control chip, power plant module, nine axis MPU, GPS module, height
Clear camera, raspberry pie are connected with external interface；The main control chip respectively with the power plant module, nine axis MPU, GPS module,
Raspberry pie is connected with external interface；The raspberry pie is connect with the high-definition camera.
3. a kind of autonomous cruise observation system based on Internet of Things according to claim 2, it is characterised in that: it is described nobody
Vehicle uses crawler-type unmanned bassinet structure.
4. a kind of autonomous cruise observation system based on Internet of Things according to claim 2, it is characterised in that: the master control
Chip uses STM32F103ZET6 main control chip；The power supply uses the lithium battery of 12V/10Ah；The power plant module includes electricity
Machine drive module and two coding motors, one end of the motor drive module are connected with the main control chip, and its other end
It is connect respectively with each coding motor；The nine axis MPU use nine axis attitude transducer module of GY99, and using serial ports with
The main control chip is communicated；The GPS module uses ATK1218-BD beidou GPS dual mode locating module, and uses serial ports
It is communicated with the main control chip；The high-definition camera uses resolution ratio for the USB camera of 1080p, and is connect by USB
Mouth is connect with the raspberry pie；The raspberry pie is communicated using serial ports with the main control chip.
5. a kind of autonomous cruise observation system based on Internet of Things according to claim 4, it is characterised in that: the motor
Drive module uses L298N motor drive module, and each coding motor is all made of the coding motor of 12V/2A.
6. a kind of autonomous cruise observation system based on Internet of Things according to claim 2, it is characterised in that: the data
Collection terminal is interacted by raspberry pie and the server end, and carries out data and order transmission using ICP/IP protocol, is made
Video data transmission is carried out with UDP.
7. a kind of autonomous cruise observation system based on Internet of Things according to claim 1, it is characterised in that: the service
Device end is the high-performance server that building is disposed on internal lan, and is communicated using TCP/IP and UDP.
8. a kind of autonomous cruise observation system based on Internet of Things according to claim 7, it is characterised in that: the service
Device end includes Kafka, data producer, data consumer and SQL database；The data producer by Kafka with it is described
Data consumer connection, and the data consumer and the SQL database；It is carried out inside the server end using Kafka
The production and consumption of data, and interacted with the SQL database.
9. a kind of autonomous cruise observation system based on Internet of Things according to claim 1, it is characterised in that: the client
End includes video end and order end, and is designed under VS environment based on C# language, and run on windows platform.
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| CN201910748009.3A CN110493214A (en) | 2019-08-14 | 2019-08-14 | A kind of autonomous cruise observation system based on Internet of Things |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105704453A (en) * | 2016-02-21 | 2016-06-22 | 国网江西省电力科学研究院 | Raspberry Pi-based power grid equipment video monitoring device |
| CN206922943U (en) * | 2017-05-25 | 2018-01-23 | 宿迁学院 | Mobile monitor platform |
| CN108919711A (en) * | 2018-07-11 | 2018-11-30 | 燕山大学 | A kind of remote information interactive system based on built-in Linux |
| CN109857121A (en) * | 2019-03-19 | 2019-06-07 | 西安工业大学 | Indoor inspection mobile robot |
-
2019
- 2019-08-14 CN CN201910748009.3A patent/CN110493214A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105704453A (en) * | 2016-02-21 | 2016-06-22 | 国网江西省电力科学研究院 | Raspberry Pi-based power grid equipment video monitoring device |
| CN206922943U (en) * | 2017-05-25 | 2018-01-23 | 宿迁学院 | Mobile monitor platform |
| CN108919711A (en) * | 2018-07-11 | 2018-11-30 | 燕山大学 | A kind of remote information interactive system based on built-in Linux |
| CN109857121A (en) * | 2019-03-19 | 2019-06-07 | 西安工业大学 | Indoor inspection mobile robot |
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