Method of setting up mobile robot system wireless control channel and communication and data transmission system

FIELD: radio engineering, communication.

SUBSTANCE: method comprises, at the initial step, estimating and determining the required link throughput for telemetry and control command transmission, estimating and determining and determining the required link throughput for video transmission based on analysis of the quality of detectability of objects of different configuration after performing comparative analysis of video transmission and compression formats, selecting modes of the initial image and structure of the communication subsystem, performing analysis of frequency band characteristics and selecting the frequency band most suitable for application in the system, based on providing remote communication and specifications of the required equipment, forming the structure of the communication and data transmission system based on transmitting information in analogue and digital form.

EFFECT: high link reliability.

3 cl, 5 tbl, 3 dwg

 

Group of inventions relates to a remotely-controlled mobile robotic complexes, in particular to methods and devices for establishing wireless communications between on-Board computing system that is placed on the movable portion of the movable object - chassis, and control.

The known method of organization of work of the distributed information and control of complex moving objects (see patent RU No. 2232377 C1, G01C 23/00, B60C 15/00, G06F 19/00, 10.07.2004), adopted as a prototype. The method includes a channel of information exchange of complex equipped with transmission and reception of information between systems, including between the system of recognition of images, blocks of information processing, sensors and computing system of the complex.

From the same source known to the distributed management information complex moving objects, taken as a prototype. A distributed management information complex contains moving objects vzaimosoedinenii inputs-exits on the highway of information exchange systems radio navigation, surveillance and targeting tools, systems, pattern recognition, inertial sensors and systems, aircraft sensors and systems, indication-control device for a computing system of a complex that includes mutual�United on the highway of computational information exchange unit of the formation state parameters, the block of complex information processing, the block I / o and control information exchange, the other input-output of which is input-output computing system of the complex. The complex is further provided are included in a computer system complex unit casting information, the synthesis block motion parameters and status, the block of calculation of parameters of movements and deformations that are connected to each other and to block the formation of state parameters, with the power of integrated information processing, with a block I / o and control information exchange computing system via line computational information exchange.

The disadvantages of the prototype are:

- a large number of peripheral devices, leading to complication and increase the number of hardware;

- low efficiency of use of communication systems in areas with a large number of hampering factors;

- high configurationa the complexity of the system.

- the need for powerful computational tools;

- lack of reliability and stability of the communication system;

- low degree optimization of the technical characteristics of the communication channel that does not provide a sufficient level of quality of data transmission.

The proposed group of inventions solves the problem p� to improve the efficiency and reliability of robotic weapon systems.

The technical result obtained by carrying out the group of inventions is to provide a method for organizing wireless control channel of the mobile robotic complex and system communication and data transmission for the transmission of control commands and receiving telemetry, video image, the transmission of service information, upgrade firmware without increasing the complexity of the algorithm of functioning of communication systems and data transmission and use of technical means, while ensuring a high degree of reliability and stability of the communication channel.

Said technical result is achieved in that in the proposed method, the wireless control channel of the mobile robotic complex including a channel of information exchange of complex equipped with transmission and reception of information between systems, including between the system of recognition of images, blocks of information processing, sensors, and computing a complex system, what is new is that in the initial phase for wireless control channel of the mobile robotic complex is the assessment and determination of necessary bandwidth (connection speed) channel for transmission of control commands and telemetry in the second stage, Prov�converges assessment and determination of necessary bandwidth (connection speed) channel for transmission of video information with regard to quality analysis to improve recognition of objects of different configuration for the transmitted video information, the third stage is a comparative analysis of compression formats and video, the choice of modes of the original image and the overall design of the communications subsystem, the fourth stage of the analysis of characteristics of frequency bands and select the most appropriate for use in the MRC frequency range, based on the possibility of communication at a distance (2-3) km and specifications of necessary equipment, at the fifth stage, the structure of the communication system and data transmission based on the combined (integrated) method of transfer of information in analogue and digital form.

This way of organizing the wireless control channel of the mobile robotic complex is implemented in the proposed system of communication and transmission of data that contains a channel for information exchange, processing units of information, means for receiving and transmitting information computing system in which what is new is that in the communication system and transmitting data for transmission when mixed (complex) way of transmitting information used: cameras associated with matrix video switcher, analog block encryption that is associated with the video transmitter, trip computer, radio data installed on the mobile part of a mobile robotic complex, to receive data when with�ashannon (complex) method used: the receiver signal, associated with the analog block decoding, the computer control unit of the video capture unit data.

In the communication system and data transmission can be operated directional antennas receiving and transmitting from the control station and on the mobile part of mobile robotic complex.

Evaluation and selection of the necessary bandwidth (connection speed) channel for transmission of control commands and telemetry allows to determine the optimal performance of the transmitted information of the communication channel based on the volume of assigned tasks.

Evaluation and selection of the necessary bandwidth (connection speed) channel for transmission of video information with regard to quality analysis to improve recognition of objects of different configuration for the transmitted video information allows to provide image quality sufficient for solving problems on the identification of objects of different shape and size.

A comparative analysis of compression formats, the choice of modes of the original image and the overall design of the communications subsystem allows to determine the optimal type of compression format, compression ratio and resistance to disruption to the video.

Analysis of the characteristics of frequency bands and select the most appropriate for use in the IRAS band h�cies allows to provide reliable communication in different conditions while maintaining acceptable transmitter power and the optimal design of the antenna.

The formation of the structure of the communication system and data transmission based on the combined (integrated) method of transfer of information in analogue and digital form, ensures stable radio communication with a relative of circuit simplicity.

Technical solutions with the features distinguishing the claimed solution to the prototype, is not known explicitly from the prior art do not follow. This suggests that the proposed solution is new and inventive.

The invention is illustrated by drawings, where Fig. 1 shows a block diagram of the communications subsystem of Fig. 2 is a block diagram of the video transmission from the movable part of the mobile robotic complex multimodal data transmission, Fig. 3 - block diagram of the reception signal at the control point at the mixed data transfer.

Communication system and data transmission to transmit the mixed (complex) mode of transmission of the video data consists of a transmitting part are available on the mobile part of a mobile robotic system (Mrs), and the receiving part placed at the control point (CP).

The transmitting part contains a video camera (VC) 1, associated with matrix switchers (IAC) 2, the analog block encryption (BASH) 3, on-Board computer (BC) 4, the radio modem data (RMD) 5. BASH 3 is associated with the transmitter�ohms video (Purves) 6.

The host part contains the receiver signal (PRS) 7 associated with the analog block decoding (BUD) 8, the computer control (CPU) 9, a video capture unit (bus) 10, the radio modem data (RMD) 11.

In the communication system and data transmission can be operated directional antennas receive and transmit (not shown) of the PU and the movable part MRK.

Way of organizing a wireless control channel of the mobile robotic complex is implemented as follows.

A control system for a mobile robotic system (Mrs) can be divided into two modules:

- Board computer system - a set of software and hardware that solves the problem of control of MRK and placed on the movable part of the chassis;

- operator console - a set of hardware and software tools placed on the machine control or on the remote.

The channel of communication between these modules should provide the following set of functions:

- send control commands and receive telemetry;

- the transmission of the image;

- transmission of service information, updating the firmware.

The evaluation and determination of necessary bandwidth (connection speed) channel for transmission of control commands and telemetry

Transmission of control commands priem telemetry is a sequence of byte oriented Protocol, asynchronously. Then the volume of one package is 100·8=800 bits. The dependence of the transmission from the speed shown in table 1.

Table 1
The dependence of the transmission time from the connection speed
Connection speed, bits/sThe packet transmission time, withThe amount of data, KB transferred in 1 minute
48000,1635,1
96000,0870,3
144000,05105,4
192000,041140,6
288000,027210
336000,023246
384000,020281
576000,013421
115200843

Hence we can conclude that exceeds a connection speed above 19200 bps, no significant growth speed or performance of the information transferred over the communications channel.

Consequently, for satisfactory operation of the control system with proper organization of the exchange Protocol, primarily at the logical level there is no need to substantially increase the speed of the connection.

Assessment and determination of necessary bandwidth (connection speed) channel to transmit video

The video images are transmitted in digital form. Frame rate standard is 25 fps. a full-color Image. The resolution of the optical system of the camera is not worse than 520 TVL standard table control permissions.

The dependence of the volume information of the frame size (without compression) are shown in table 2.

Table 2
The dependence of the volume information of the frame size (uncompressed)
The frame resolutionThe size of a single frame bThe data stream MB/s without compression
176×144 (QCIF) 1091722,6
320 x 288 (QVGA)3094607,3
640×480 (VGA)95339222,7
720×576 (D1)1,27 MB31,75
800×600 (SVGA)1,47 MBof 36.75
1024×768 (XGA)2.3 MB57,5
1280×720 (HD)2.7 MB67,5

The dependence of the recognition of objects at a distance of 10 meters from the cameras of the frame size are shown in table 3.

td align="center"> 1024×768 (XGA)
Table 3
The dependence of the recognition of objects at a distance of 10 meters from the camera, from frame size
The frame resolutionRecognizability of large objects (truck side)Recognizability of secondary objects (a human)Recognition of small objects (cigarette pack) Complex object (a man in camouflage)
176×144 (QCIF)Good, identification depends on the skill of the operatorSatisfactory, difficult identificationImpossibleImpossible
320 x 288 (QVGA)Good, identification depends on the skill of the operatorGood, identification depends on the skill of the operatorSatisfactory, difficult identificationImpossible
640×480 (VGA)ExcellentGood, identification depends on the skill of the operatorGoodImpossible
720×576 (D1)ExcellentExcellentGoodSatisfactory
800×600 (SVGA)ExcellentExcellentExcellentGood, identification depends on the skill of the operator
ExcellentExcellentExcellentExcellent
1280×720 (HD)ExcellentExcellentExcellentExcellent

From table 3 it follows that the most appropriate is to set up the video cameras used on IRC, on the frame size 800×600 pixels, which provides image quality that is sufficient for most purposes.

The stage of the comparative analysis of compression formats and video, the choice of modes of the original image and the structure of subsystem of communication

Consider the most common formats of compression and transmission of video data.

Motion JPEG

Motion JPEG or M-JPEG digital video sequence consisting of a sequence of individual JPEG images. Display 16 or more frames per second is perceived visually as a video. Displaying to 30 (NTSC) or 25 (PAL) frames per second is perceived as full video.

One advantage of Motion JPEG is that each frame in the sequence is guaranteed quality is obtained on the compression level selected for camera or video encoder.

The lack of correlation between frames in Motion JPEG ha�antirust high reliability of this format, that is, the loss of one frame during transmission will not affect the quality of the rest of the video.

MPEG-4

The MPEG-4 compliant MPEG-4 Part 2, MPEG-4 Visual.

MPEG-4 is used in applications requiring high image quality, virtually unlimited bandwidth and no restrictions on frame rate.

N. 264 or MPEG-4 Part 10/AVC

N. 264 or MPEG-4 Part 10/AVC is the modern standard for encoding video signals. As expected, the standard N. 264 will become in the coming years the most popular video standard. Coder N. 264 without compromising image quality may reduce the size of a digital video file by more than 80% compared to Motion JPEG format and 50% compared with MPEG-4 standard, which means much less demand on bandwidth for transmission and memory storage of the video file. Or, on the other hand, the possibility of obtaining a much better video quality at the same data rate.

Comparative analysis of compression formats are shown in table 4.

Table 4
Comparative analysis of compression formats
The type of compression formatThe emergence of resistance to Arte�ctov traffic* Resistance to breakages of transmission channelThe degree of compression, the volume of data flow (average)

Motion JPEGLow, the emergence of the "squares" around moving objectsRelatively high, there is no delay when restoring channel, momentary loss of communication does not lead to loss or distortion of the image**60% - 80% of the uncompressed
MPEG-4Average, the appearance of "dropped out of lines"Average recovery time image (0.5 to 2) after the restoration of the canal, a momentary loss of connection leads to distortion of the image30% - 60% of the uncompressed
H. 264 or MPEG-4 Part 10/AVCHigh, artifacts are missingLow recovery time (2-10), intermittent loss of connection leads to loss of image20% - 40% of the uncompressed
* - distortion in the image that appears when a fast moving object in the frame;
** - and�obrajenie freezes on steadily last accepted frame.

Thus, for video the most appropriate of the following modes of transmission of the original image: the frame size 800×600 pixels, compression MPEG-4. The data rate should be no worse than 10 Mbps.

Taking into account the above defined General block diagram of the communications subsystem.

The analysis phase characteristics of frequency bands and select the most appropriate for use in the MRC frequency range

To transmit video digital communication channel must have a high speed and noise immunity. Currently, the dominant technology is the transmission of digital data by Wi-Fi.

Regardless of the frequency of the WiFi in the device inoperable in the absence of direct visibility "receiver - transmitter" improving power output signal does not significantly increase the communication range.

In urban environments it is possible to establish due to random reflections of the signal from the designs of buildings and structures, but to ensure the stability of the channel is not possible.

Outside of the urban environment, on open plains, Wi-Fi devices work reliably, provided that the antennas are placed at a height exceeding the height of bushes and folds of the terrain.

Outside of the urban environment, in a wooded months�ness, WiFi devices unsuitable for reliable communication. According to various sources one meter crown attenuates the signal by 4 to 8 dB. The trees have a greater impact on the attenuation and scattering of the signal than the trunks. If necessary, ensure connection via WiFi, subject to the availability of individual trees it is advisable to mount the antenna below the tree canopy.

Comparative characteristics of the frequency bands given in table 5.

Table 5
Comparative characteristics of the frequency bands
Frequency rangeThe possibility of communication over long distancesThe antenna lengthThe transmitter power
3-30 GHzTheoretical - 200-500 km, the dispersion inhomogeneities in the troposphere*. Almost up to 500 m in line of sightWithin 10 cm1 W
300 MHz - 3 GHzPractical - 10 kmWithin 4 metersUp to 10 W
30-300 MHz Practical - 50 km or moreWithin 10 metersHundreds of watts or more
* - requires special design of antennas, the exact relative position of the receiving and transmitting antennas, complex signal processing.

From table 5 it follows that the most suitable for use in the MRC is the range of decimeter waves. In this range remains acceptable transmitter power, and at the same time, when working in this range almost lost to the problem of communication in the city and open countryside, forests, at ranges up to (2-3) km.

The stage of formation of the structure of the communication system and data transmission based on the combined (integrated) method of transmitting information in digital and analog format

At the same time, it becomes impossible transmission of video signal in digital form, but a well-proven are the patterns of transmission of the video signal in analog form, and also there are radio modems for low-speed serial data transmission (mixed or integrated method of data transfer).

In the scheme of data transmission in a mixed way: VK 1 - sources of analog video format Composite Video or HS, MVK 2 - integrated chip that harmonize levels with�of galov VC 1, the formation of strong horizontal and vertical blanking and the input signals to the input of the BASH-3. The main objective of the ERM 2 - fetch the currently active VC 1 team BC 4 and the signal for further transmission. BASH 3 - provides protection of the signal from the decoding in intercepting radio. Protection is achieved by shifting the signal levels from the standard levels Composite Video and change the delays in the signals of the horizontal and vertical sweep. The Purves 6 transmits the encoded analog signal on the air.

In the scheme of reception of data in a mixed way: PRS 7 receives the encoded video signal, and transmitting the low frequency signal to the input of the BUD 8. BAD 8 restores the levels of the video signal to a standard Composite Video signal, regenerates the horizontal synchronization signals and vertical blanking, transmits a signal to the unit bus 10. Bus 10 converts the analog signal to digital for further processing and rendering on the CPU 9.

It follows from the foregoing that the most reliable radio channel is performed on the mixed scheme with analog video transmission and digital transmission of control commands and telemetry, operating in the range of decimeter waves.

The use of directional antennas receiving and transmitting from the control station and on the mobile part MRK

For higher�Oia reliability and stability of the communication channel may use directional antennas to be placed on the control point and the movable part MRK.

This technical solution allows to significantly improve the secrecy of the work of the MRC, and to provide a solution to the problem of navigation, because the antenna of the control point is the reference point and the known orientation of the bearing to the antenna of the control unit and the rotation angle of the transmitter antenna relative to the housing of the movable part MRK. In combination with the data odometry and Autonomous navigation systems these data are sufficient to solve the problem of localization systems MRK.

Thus, the proposed group of inventions solves the problem of achieving a technical result, which consists in creating a method of organizing wireless control channel of the mobile robotic complex and system communication and data transmission for the transmission of control commands and receiving telemetry, video image, the transmission of service information, upgrade firmware without increasing the complexity of the algorithm of functioning of communication systems and data transmission and use of technical means, while ensuring a high degree of reliability and stability of the communication channel.

1. Way of organizing a wireless control channel of a mobile robotic system (Mrs), comprising a channel of information exchange of complex equipped with transmission and reception of information between the systems of the complex, in �ohms between recognition system images blocks of information processing, sensors, and computing a complex system, characterized in that at the initial stage for wireless control channel of the mobile robotic complex is the assessment and determination of necessary bandwidth speed channel for transmission of control commands and telemetry, in the second stage assessment and determination of necessary bandwidth speed channel for transmission of video information with regard to quality analysis to improve recognition of objects of different configuration on the transmitted video data, the third stage is a comparative analysis of compression formats and video, the choice of modes of the original image and structure of the communications subsystem, in the fourth stage the analysis of characteristics of frequency bands and select the most appropriate for use in the MRC frequency range, based on the possibility of communication at a distance and technical characteristics of the necessary equipment, at the fifth stage, the structure of the communication system and data transmission based on the combined integrated method of information transmission in analog and digital form.

2. Communication system and data transmission containing a channel for information exchange, processing units of information, means for receiving and re�ACI information computing system, characterized in that in the communication system and transmitting data for transmission in a mixed comprehensive information transmission method used: cameras associated with matrix video switcher, analog block encryption that is associated with the video transmitter, trip computer, radio data installed on the mobile part of a mobile robotic complex, for receiving data at a mixed comprehensive method is used: the receiver signal associated with the analog block decoding, the computer control unit of the video capture unit data.

3. Communication system and data transmission according to claim 2, characterized in that in the communication system and data transmission can be operated directional antennas receiving and transmitting from the control station and on the mobile part of mobile robotic complex.



 

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9 cl, 3 dwg

FIELD: radio engineering.

SUBSTANCE: device for radio-controlled automatic systems comprises radio receiver, which is connected to electric motor or to electric switch intended for opening/closing of doors etc. or switching light or electric appliances on/off, and comprising at least one radio transmitter for remote opening/closing, besides radio receiver comprises switching facility to switch electric motor or electric switch on the basis of content of switching radio signal, which goes out of at least one radio transmitter, radio receiver comprises nonvolatile storage, which stores certificate for identification of radio receiver, and which is tuned to provide a permission to perform any operation in radio receiver, switching facility comprises saved commands to perform operation, if switching signal that goes out of radio transmitter, comprises a coded certificate in addition to code of radio transmitter recognition code and control code, which corresponds to operation to be performed.

EFFECT: provision of device reliability, improved convenience of its use.

23 cl, 7 dwg

FIELD: information technologies.

SUBSTANCE: invention relates to method of wireless transfer of control commands in system of load-lifting mechanism control, when wireless facilities of operative control have specified unambiguously recognised address, and receiving device of load-lifting mechanism - selected identification code. Besides facilities of operative control are tuned only for this receiving facility of load-lifting mechanism. Operations are provided to tune facilities of operative control so that its commands are sensed by according receiving device: creation of address identification mark from address of operative control facilities and special identification code of receiving device; transfer by means of operative control of tuning message, containing address identification mark; receiving sent tuning message by receiving device and tuning operative control facilities for receiving device, if receiving device is in "non-tuned" condition, by recording address identification mark in memory of this receiving device.

EFFECT: unambiguous recognition of mutual compliance between facilities of operative control and receiving device of wireless system of control commands transfer.

65 cl, 2 dwg

FIELD: information technologies.

SUBSTANCE: method includes stages, at which information of process parametres is obtained, selectively intensity of data transfer signal is identified for multiple providers of data transfer service available for the field device, and information of process parametres is sent by means of one data transfer service provider selected of many at least partially on the basis of intensity of the signal of selected data transfer service provider; event information related to connection to selected data transfer service provider is saved, besides event information is accumulated to provide for communication history with the help of any of data transfer service provider; and history is analysed, and at the same time selection of selected data transfer service supplier is partially based on analysis.

EFFECT: improved reliability of data transfer from field devices.

12 cl, 6 dwg

FIELD: medicine.

SUBSTANCE: group of inventions relates to medical equipment, namely, to devices for measurement of arterial pressure and methods of remote control and monitoring. Device comprises collar connected to unit for creation and collapse of pressure in collar, connected to one of inlets and outlets of arterial pressure detection unit, clock microelectronic circuit and control unit. Outlets of pressure detection unit, clock microelectronic circuit and control unit are connected to inlets of processor, outlets of which are connected to display unit, unit of arterial pressure detection and clock microelectronic circuit. Device includes cellular module arranged with the possibility to send and receive SMS messages, inlet and outlet of which are connected to one of inlets and outlets of processor. Control unit is equipped with switches to program mode of data transfer. Method for remote control and monitoring of arterial pressure consists in setting parametres of measurement mode and control of arterial pressure metre, measurement and analysis of data of arterial pressure in patient, reproduction and transfer of data. At the same time a digital identifier is previously assigned to metre of arterial pressure, and cellular module is installed in it. Results of measurements are periodically sent to individual page of medical Internet site user, where identification is carried out by digital identifier and internal identifier of cellular module.

EFFECT: using group of inventions makes it possible to improve convenience of arterial pressure monitoring.

10 cl, 4 dwg

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