CN111862562A - Electric self-propelled multifunctional application platform based on real-time teleoperation and implementation method thereof - Google Patents
Electric self-propelled multifunctional application platform based on real-time teleoperation and implementation method thereof Download PDFInfo
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Abstract
The application discloses electronic self-propelled multifunctional application platform based on real-time teleoperation, including control end, execution end, high in the clouds server, control end and execution end pass through network module and connect the high in the clouds server, and the control end communicates through wireless network with the execution end. Has the following advantages: the real-time visual teleoperation technology is applied to remote monitoring and control of the on-site load self-walking device, manual remote control of site cleaning, sprinkling, patrol, security protection, plant protection, garden trimming, agriculture and forestry operation, engineering operation, traffic management operation and the like, and has a good promoting effect on improvement of mechanical automation degree in the fields of sanitation, garden, security protection, fire protection, epidemic prevention and the like.
Description
Technical Field
The invention relates to an electric self-propelled multifunctional application platform based on real-time teleoperation and an implementation method thereof, in particular to an electric self-propelled multifunctional application platform based on real-time teleoperation and an implementation method thereof, wherein the electric self-propelled multifunctional application platform is manually remotely controlled and used for site cleaning, watering, patrol, security, plant protection, garden trimming, agriculture and forestry operation, engineering operation, traffic management operation and the like.
Background
With the rapid economic growth of China, real estate, gardens, squares, large-scale enterprises, transportation and storage, agriculture and forestry fields, infrastructure, modern transportation facilities and other places are rapidly increased, and the new change cannot be met by manpower-based cleaning, patrol, security, plant protection, garden pruning, agriculture and forestry operation, engineering operation, traffic facility management and other works.
The rapid development of automation technology and communication technology makes it possible for mobile equipment to replace manpower. However, there are still some disadvantages that are not satisfactory from the viewpoint of recent development.
To summarize, this field can be broadly divided into the following three cases:
first, self-propelled devices are operated to work using manual field operations. The mode not only needs considerable expense in labor protection, protection and the like, but also has obvious defects in toxic and harmful places, epidemic situations and the like.
Second, remote control is used to operate the self-propelled device on site, but radio is the chosen remote control medium. The greatest disadvantage of this approach is the distance limitation between the handling end and the small autonomous device to be handled.
The third kind, the electronic self-propelled equipment of remote control load that is using in the existing market is mostly single function, and concentrates and be applied to the fire control field, and product cost is on the high side and the wasting of resources is serious.
In order to adapt to the development trend of the economy of China and make up for the technical requirements in the field, a multifunctional electric self-propelled equipment remote operation control platform based on a wireless network on the basis of a mobile phone communication channel is urgently needed.
Disclosure of Invention
The invention aims to solve the technical problems, and provides an electric self-propelled multifunctional application platform based on real-time teleoperation, which can remotely monitor and control the running and operation of a load execution end in real time, is communicated based on a wireless network, has low cost, utilizes the development result of the wireless communication technology, applies the real-time visual teleoperation technology to the remote monitoring and control of the on-site load execution end, manually remotely controls the field cleaning, sprinkling, patrol, security, plant protection, garden trimming, agriculture and forestry operation, engineering operation, traffic management operation and the like, and has good promotion effect on the improvement of the mechanical automation degree in the fields of environmental sanitation, garden, security, fire protection, epidemic prevention and the like.
In order to solve the technical problems, the invention adopts the following technical scheme:
an electric self-propelled multifunctional application platform based on real-time teleoperation comprises a control end, an execution end and a cloud server, wherein the control end and the execution end are connected with the cloud server through a network module and are communicated through a wireless network;
the cloud server is connected with the control end and the execution end through a network, serves as a transfer station for data interaction of the control end and the execution end, receives a command sent by the control end, receives information returned by the execution end, forwards the command sent by the control end to the execution end, and forwards the information returned by the execution end to the control end.
Furthermore, the control end comprises a teleoperation computer, an image display device for displaying the environment and the state of the execution end and an operation device for realizing man-machine interaction, and the teleoperation computer is respectively communicated with the image display device and the operation device;
the control device comprises a special control rocker, the output of the special control rocker is connected with a controller, and the controller is communicated with the teleoperation computer.
Furthermore, the teleoperation computer is internally provided with a functional module for controlling the motion of the execution end, a graphic display functional module for realizing the remote display of the environment, a real-time image processing functional module for processing a video image of the real-time environment, a communication control functional module for realizing the remote data communication and a real-time state monitoring functional module for monitoring the real-time state of the execution end.
Furthermore, the execution end comprises a self-walking device, a video detection device, a state detection device, a direction execution device, a speed execution device and a control system are installed on the self-walking device, and the video detection device, the state detection device, the direction execution device and the speed execution device are all connected with the control system.
Furthermore, the video detection device comprises a front-mounted network camera arranged in front of the self-walking device and a rear-mounted network camera arranged behind the self-walking device, and the front-mounted network camera and the rear-mounted network camera are communicated with the remote operation computer through a wireless network.
Furthermore, the state detection device comprises a speed sensor, an infrared human body sensor, a steering position sensor and an ultrasonic ranging sensor or a laser ranging sensor, wherein the speed sensor is arranged on the self-walking device and used for acquiring walking speed during movement, the infrared human body sensor is used for sensing a human body, the steering position sensor is used for acquiring a steering position, and the ultrasonic ranging sensor or the laser ranging sensor is arranged at the front end of the self-walking device and used for ranging.
Further, the state detection device further comprises an ultrasonic liquid level sensor, a battery electric quantity sensor and a temperature and humidity sensor, wherein the ultrasonic liquid level sensor is installed in the self-walking device and used for detecting the liquid level of the water tank, the battery electric quantity sensor is used for detecting the electric quantity of the battery, and the temperature and humidity sensor is used for detecting the temperature and the humidity.
Further, the direction executing device comprises a direction driving mechanism, and the direction driving mechanism controls the steering of the self-walking device through the driving of the driving motor.
Furthermore, the speed executing device comprises an electric lock driving mechanism, a brake driving mechanism and a speed regulating driving mechanism, and the electric lock driving mechanism, the brake driving mechanism and the speed regulating driving mechanism are all driven by a driving motor to control the speed of the self-walking device.
Further, control system includes the CPU module, the CPU module is connected with communication module, output module, audible and visual alarm module, environmental information module and input module, control system communicates with the teleoperation computer through communication module, communication module includes the web camera, 4G network module and the wireless module of loRa, output module includes the drive electric lock unit, drive brake unit, the direction of drive unit, drive speed governing unit, the drive electric lock unit, drive brake unit, the direction of drive unit, drive speed governing unit all is connected with the driving motor unit, environmental information module includes speed detecting element, ultrasonic ranging unit, temperature and humidity detecting element and human response unit, input module is including turning to position detecting element, water tank liquid level detecting element and battery power detecting element.
By adopting the technical scheme, compared with the prior art, the invention has the following technical effects:
1. this patent electric self-propelled multifunctional application platform based on real-time teleoperation, can artifical long-range real-time safe operation, on-the-spot executive power is strong, the manifold remote control of safe and reliable function is from walking equipment, it is poor to be particularly suitable for site environment, and working range is wide, there is the condition of poisonous and harmful epidemic situation or personal danger, artifical remote control's place is cleaned, the watering, patrol, security, plant protection, gardens are maintained, agriculture and forestry operation, engineering operation, traffic management operation etc. can wide application in fields such as sanitation, gardens, security, fire control, epidemic prevention, agriculture and forestry crop management, engineering operation, traffic facilities management.
2. This patent is as on-the-spot self-propelled device's control main part with operating personnel, with the on-the-spot strong ability of meeting an emergency of operator and the fine combination of the on-the-spot strong executive capability of electronic self-propelled equipment together, it is concrete, operating personnel can be timely accurate know and give teleoperation instruction after making corresponding judgement through real-time video image to the on-the-spot condition, on-the-spot self-propelled device makes corresponding executive action after, gather data and feed back display device through video detection device and state detection device in real time, operating personnel can obtain the corresponding situation of change after the execution of own operation action immediately through display device, continuation that can be convenient or revise the operation of oneself.
3. By means of the level of the current mobile phone communication technology and the technical processing of the real-time remote control multifunctional self-walking device manual remote operation platform, after an operator sends an operation action instruction, the delay time of a field self-walking device video image obtained through a display device can reach millisecond level and far exceeds the execution operation speed of the self-walking device, so that the operator can control the execution operation of the self-walking device like the field operation, and the man-machine fusion degree is greatly improved.
4. This patent is through the working method who faces the on-the-spot self-propelled device of real-time long-range teleoperation of field operation, has alleviateed operating personnel's intensity of labour greatly, has reduced expenses such as the labour protection that needs because of the field work, protection by a wide margin, has guaranteed labourer's personal safety to the at utmost, makes the applicable place of on-the-spot self-propelled device obtain very big expansion.
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In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a view showing the construction of an application platform according to the present invention;
FIG. 2 is a simplified diagram of the architecture of the application platform of the present invention;
FIG. 3 is a block diagram of a control terminal according to the present invention;
FIG. 4 is a block diagram of an implementation of the present invention;
fig. 5-7 are operation flow charts of the application platform implementation method of the present invention.
Detailed Description
The cloud server is connected with the control end and the execution end through a network, serves as a transfer station for data interaction of the control end and the execution end, receives a command sent by the control end, receives information returned by the execution end, forwards the command sent by the control end to the execution end, and forwards the information returned by the execution end to the control end.
The control end comprises a remote operation computer 3, an image display device 1 used for displaying the environment and the state of the execution end and an operation device 2 used for realizing man-machine interaction, wherein the remote operation computer 3 is respectively communicated with the image display device 1 and the operation device 2.
The control device 2 comprises a special control rocker 20, the output of the special control rocker 20 is connected with a controller 21, and the controller 21 is communicated with the teleoperation computer 3.
The teleoperation computer 3 is internally provided with a functional module for controlling the motion of the execution end, a graphic display functional module for realizing the remote display of the environment, a real-time image processing functional module for processing a video image of a real-time environment, a communication control functional module for realizing the remote data communication and a real-time state monitoring functional module for monitoring the real-time state of the execution end.
The control end is used for enabling an operator to obtain state information of the execution end through human-computer interaction (the computer and the display device), sending commands to be executed (such as starting, stopping, advancing, backing, steering, accelerating and decelerating and the like) to the computer through operating the control device, enabling the computer to be connected with the cloud server through a network, forwarding the commands to be executed to the cloud server, and meanwhile receiving state information (such as videos, audios, distances, water levels and the like) returned by the cloud end to be displayed on a screen, so that the operator of the control device can make response measures and send commands according to the state information.
The execution end is connected with the cloud server through the network module, receives a control end command forwarded by the cloud, executes corresponding actions, collects data such as audio, video and environmental information, returns the information data to the server through the network, forwards the information data to the control end, and can directly interact with the control end in a wireless mode under the abnormal condition of the network.
The execution end comprises a self-walking device 6, a video detection device 8, a state detection device 7, a direction execution device 9, a speed execution device 10 and a control system are installed on the self-walking device 6, and the video detection device 8, the state detection device 7, the direction execution device 9 and the speed execution device 10 are all connected with the control system.
The execution end is communicated with the teleoperation computer 3 through a wireless network and is used for acquiring the environment where the self-walking device 6 is located and self state data and executing and driving the self-walking device 6.
The video detection device 8 comprises a front-mounted network camera arranged in front of the self-walking device 6 and a rear-mounted network camera arranged behind the self-walking device 6, and the front-mounted network camera and the rear-mounted network camera are communicated with the teleoperation computer 3 through a wireless network.
The state detection device 7 comprises a speed sensor, an infrared human body sensor, a steering position sensor and an ultrasonic ranging sensor or a laser ranging sensor, wherein the speed sensor is arranged on the self-walking device 6 and used for acquiring walking speed during movement, the infrared human body sensor is used for sensing a human body, the steering position sensor is used for acquiring a steering position, and the ultrasonic ranging sensor or the laser ranging sensor is arranged at the front end of the self-walking device 6 and used for ranging.
The state detection device 7 further comprises an ultrasonic liquid level sensor, a battery electric quantity sensor and a temperature and humidity sensor, wherein the ultrasonic liquid level sensor is installed in the self-walking device 6 and used for detecting the liquid level of the water tank, the battery electric quantity sensor is used for detecting the electric quantity of the battery, and the temperature and humidity sensor is used for detecting the temperature and the humidity.
The direction actuator 9 includes a direction driving mechanism that controls the steering of the self-propelled device 6 by driving the motor.
The speed executing device 10 comprises an electric lock driving mechanism, a brake driving mechanism and a speed regulating driving mechanism, and the electric lock driving mechanism, the brake driving mechanism and the speed regulating driving mechanism are all driven by a driving motor to control the speed of the self-walking device 6.
The control system comprises a CPU module, the CPU module is connected with a communication module, an output module, an audible and visual alarm module, an environment information module and an input module, the control system is communicated with the remote operation computer 3 through the communication module, the communication module comprises a network camera, a 4G network module and a LoRa wireless module, the output module comprises a driving electric lock unit, a driving brake unit, a driving direction unit and a driving speed regulation unit, the driving electric lock unit, the driving brake unit, the driving direction unit and the driving speed regulation unit are all connected with a driving motor unit, in addition, the output module can also be provided with a water spray pump unit, a cleaning motor unit and the like according to the functional requirements of the electric self-propelled equipment, the environment information module comprises a speed detection unit, an ultrasonic ranging unit, a temperature and humidity detection unit and a human body induction unit, the input module comprises a steering position detection unit, a water tank liquid, the sound and light alarm module comprises a horn control unit, a lighting lamp control unit and an alarm lamp control unit.
The drive electricity lock unit is used for controlling an electricity lock driving mechanism, the drive brake unit is used for controlling a brake driving mechanism, the drive speed regulation unit is used for controlling a speed regulation driving mechanism, the drive direction unit is used for controlling a direction driving mechanism, the steering position detection unit is used for controlling a steering position sensor, the water tank liquid level detection unit is used for controlling an ultrasonic liquid level sensor, the battery electric level detection unit is used for controlling a battery electric level sensor, the speed detection unit is used for controlling a speed sensor, the ultrasonic distance measurement unit is used for controlling an ultrasonic distance measurement sensor, the temperature and humidity detection unit is used for controlling a temperature and humidity sensor, and the human body induction unit is used for.
This patent electric self-propelled multifunctional application platform based on real-time teleoperation, can artifical long-range real-time safe operation, on-the-spot executive power is strong, the manifold remote control of safe and reliable function is from walking equipment, it is poor to be particularly suitable for site environment, and working range is wide, there is the condition of poisonous and harmful epidemic situation or personal danger, artifical remote control's place is cleaned, the watering, patrol, security, plant protection, gardens are maintained, agriculture and forestry operation, engineering operation, traffic management operation etc. can wide application in fields such as sanitation, gardens, security, fire control, epidemic prevention, agriculture and forestry crop management, engineering operation, traffic facilities management.
As shown in fig. 5-7, the method for implementing the real-time teleoperation-based electric self-propelled multifunctional application platform includes the following steps:
firstly, the teleoperation computer 3 acquires a real-time environment video image of the self-walking device 6 collected by the video detection device 8 through a wireless network;
secondly, after the teleoperation computer 3 is analyzed, the real-time image is further processed through a real-time image processing module and a graphic display module, and finally, an environment real-time video image is restored in the display device 1;
thirdly, the data of the state detection device 7 is transmitted to the communication control module through a wireless network, is analyzed by the teleoperation computer 3, is further processed through the real-time image processing module and the image display module, and finally is displayed in the display device 1;
and fourthly, the teleoperation computer 3 acquires real-time video images of the environment right in front of the self-walking device 6 acquired by the video detection device 8 through a wireless network, a special control rocker 20 transmits direction operation instructions of an operator to the controller 21 through an output end, the instructions are transmitted to a motion control module in the teleoperation computer 3 for further processing after being processed by the controller 21, and the decomposed specific instruction actions are transmitted to a communication control module for processing and then are communicated with the direction execution device 9 through the wireless network to be converted into steering actions of the self-walking device 6.
And step five, the teleoperation computer 3 acquires real-time video images of the environment right in front of the self-walking device 6 acquired by the video detection device 8 through a wireless network, the special control rocker 20 transmits acceleration and deceleration operation instructions of an operator to the controller 21 through an output end, the instructions are processed by the controller 21 and then transmitted to a motion control module in the teleoperation computer 3 for further processing, and the decomposed specific instruction actions are processed by the communication control module and then communicated with the speed execution device 10 through the wireless network to be converted into the acceleration and deceleration actions of the self-walking device 6.
The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (10)
1. The utility model provides an electronic self-propelled multifunctional application platform based on real-time teleoperation which characterized in that: the cloud server is connected with the control end and the execution end through a network module, and the control end and the execution end are communicated through a wireless network;
The cloud server is connected with the control end and the execution end through a network, serves as a transfer station for data interaction of the control end and the execution end, receives a command sent by the control end, receives information returned by the execution end, forwards the command sent by the control end to the execution end, and forwards the information returned by the execution end to the control end.
2. The real-time teleoperation-based electric self-propelled multifunctional application platform of claim 1, wherein: the control end comprises a teleoperation computer (3), an image display device (1) for displaying the environment and the state of the execution end and an operation device (2) for realizing man-machine interaction, wherein the teleoperation computer (3) is respectively communicated with the image display device (1) and the operation device (2);
the operating device (2) comprises a special control rocker (20), the output of the special control rocker (20) is connected with a controller (21), and the controller (21) is communicated with the teleoperation computer (3).
3. The real-time teleoperation-based electric self-propelled multifunctional application platform of claim 2, wherein: the teleoperation computer (3) is internally provided with a functional module for controlling the motion of an execution end, a graphic display functional module for realizing the remote display of the environment, a real-time image processing functional module for processing a video image of a real-time environment, a communication control functional module for realizing the remote data communication and a real-time state monitoring functional module for monitoring the real-time state of the execution end.
4. The real-time teleoperation-based electric self-propelled multifunctional application platform of claim 2, wherein: the execution end comprises a self-walking device (6), a video detection device (8), a state detection device (7), a direction execution device (9), a speed execution device (10) and a control system are installed on the self-walking device (6), and the video detection device (8), the state detection device (7), the direction execution device (9) and the speed execution device (10) are all connected with the control system.
5. The real-time teleoperation-based electric self-propelled multifunctional application platform of claim 4, wherein: the video detection device (8) comprises a front-mounted network camera arranged in front of the self-walking device (6) and a rear-mounted network camera arranged behind the self-walking device (6), and the front-mounted network camera and the rear-mounted network camera are communicated with the remote operation computer (3) through a wireless network.
6. The real-time teleoperation-based electric self-propelled multifunctional application platform of claim 4, wherein: the state detection device (7) comprises a speed sensor, an infrared human body sensor, a steering position sensor and an ultrasonic ranging sensor or a laser ranging sensor, wherein the speed sensor is arranged on the self-walking device (6) and used for acquiring walking speed during movement, the infrared human body sensor is used for sensing a human body, the steering position sensor is used for acquiring a steering position, and the ultrasonic ranging sensor or the laser ranging sensor is arranged at the front end of the self-walking device (6) and used for ranging.
7. The real-time teleoperation-based electric self-propelled multifunctional application platform of claim 4, wherein: the state detection device (7) further comprises an ultrasonic liquid level sensor, a battery electric quantity sensor and a temperature and humidity sensor, wherein the ultrasonic liquid level sensor is installed in the self-walking device (6) and used for detecting the liquid level of the water tank, the battery electric quantity sensor is used for detecting the electric quantity of the battery, and the temperature and humidity sensor is used for detecting the temperature and the humidity.
8. The real-time teleoperation-based electric self-propelled multifunctional application platform of claim 4, wherein: the direction executing device (9) comprises a direction driving mechanism, and the direction driving mechanism controls the steering of the self-walking device (6) through the driving of a driving motor.
9. The real-time teleoperation-based electric self-propelled multifunctional application platform of claim 4, wherein: the speed executing device (10) comprises an electric lock driving mechanism, a brake driving mechanism and a speed regulating driving mechanism, and the electric lock driving mechanism, the brake driving mechanism and the speed regulating driving mechanism are all driven by a driving motor to control the speed of the self-walking device (6).
10. The real-time teleoperation-based electric self-propelled multifunctional application platform of claim 4, wherein: control system includes the CPU module, the CPU module is connected with communication module, output module, audible and visual alarm module, environmental information module and input module, control system carries out the communication through communication module and teleoperation computer (3), communication module includes the IP camera, 4G network module and the wireless module of loRa, output module includes the drive electric lock unit, drive brake unit, the direction of drive unit, drive speed governing unit, the drive electric lock unit, drive brake unit, the direction of drive unit, drive speed governing unit all is connected with the driving motor unit, environmental information module includes speed detecting element, ultrasonic ranging unit, humiture detecting element and human response unit, input module is including turning to position detecting element, water tank liquid level detecting element and battery power detecting element.
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