Remote control system for controlling reconnaissance robot

Abstract

The utility model belongs to the technical field of robot remote control systems, and discloses a remote control system of a one-control one-reconnaissance robot, which comprises a remote control module, an image data transmission module and an operating system display module which are integrally designed, and the remote control module is in communication connection with the operating system display module through a USB (Universal Serial Bus) serial port and a UART (Universal Asynchronous Receiver / Transmitter) serial port. The remote control module is in communication connection with the image data transmission module through a UART serial port, the operation system display module is in communication connection with the image data transmission module through a USB serial port, and the image data transmission module is in wireless communication connection with the reconnaissance robot through a wireless radio frequency transceiver circuit. According to the utility model, the communication delay problem of the image transmission module of the one-control-one-reconnaissance robot is solved, the image quality is improved, the communication distance is prolonged, and the anti-interference performance is enhanced; and meanwhile, the waterproof, dustproof and salt mist prevention requirements of a one-control one-reconnaissance robot product are met.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot remote control systems, and in particular relates to a remote control system for a one-control and one-reconnaissance robot. Background Art

[0002] like Figure 1 As shown in the figure, the robot remote control system is generally composed of a remote control module, an image data transmission module and an operating system. The remote control module and the image data transmission module mostly use WIFI (a wireless LAN technology created based on the IEEE 802.11 standard) or narrowband communication (narrowband communication is a communication technology before the emergence of broadband technology, and the theoretical transmission capacity is 56k / 8=7k / second) solutions. The remote control module and the operating system are separated into two parts. The operating system display needs to be connected to a mobile phone application to display the real-time transmitted image on the mobile phone screen.

[0003] At present, the image data transmission module of the remote control system commonly used in the market adopts WIFI or narrowband human-computer interaction communication solutions. The circuit module designed by WIFI technical solution has the disadvantages of low channel utilization, fixed technology that cannot be modified, and weak anti-interference; the narrowband solution technology has high delay, poor image quality (relying on interpolation to create false clarity parameters), short communication distance (several hundred meters or one kilometer); the operation and display system and image transmission all rely on external configuration mobile phones, the portability needs to be improved and it cannot be waterproof, dustproof, and salt spray-proof. Utility Model Content

[0004] In order to overcome the above technical problems, the utility model provides a remote control system of a one-control-one-reconnaissance robot, which solves the delay problem of communication of the image transmission module of the one-control-one-reconnaissance robot, improves image quality, extends the communication distance, and enhances its anti-interference ability; at the same time, it solves the needs of the one-control-one-reconnaissance robot product for waterproofing, dustproofing, and salt spray prevention.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A remote control system for controlling a reconnaissance robot comprises a remote control module, an image data transmission module and an operating system display module of an integrated design, wherein the remote control module is communicatively connected to the operating system display module via a USB serial port and a UART serial port, the remote control module is communicatively connected to the image data transmission module via a UART serial port, the operating system display module is communicatively connected to the image data transmission module via a USB serial port, and the image data transmission module is wirelessly connected to the reconnaissance robot using a wireless radio frequency transceiver circuit.

[0007] Several optional methods are also provided below, but they are not intended to be additional limitations on the above-mentioned overall solution, but are merely further supplements or preferences. Under the premise that there are no technical or logical contradictions, each optional method can be combined with the above-mentioned overall solution separately, and multiple optional methods can also be combined.

[0008] Preferably, the remote control module includes an MCU chip and a keyboard scanning driver chip;

[0009] The keyboard scanning driver chip is used to obtain the key operation signal of the key switch, obtain the remote control command according to the key operation signal, and send the key operation signal and the remote control command to the MCU chip;

[0010] The MCU chip is used to receive the key operation signal and remote control command sent by the keyboard scanning driver chip through the I2C bus, transmit the remote control command to the image data transmission module through the UATR serial port, and read the robot status data from the image data transmission module through the UART serial port;

[0011] The MCU chip is also used to send the key operation signal to the operating system display module through the USB serial port, and send the remote control command and image transmission protocol to the operating system display module through the UART serial port.

[0012] Preferably, the image data transmission module uses a frequency matching circuit to establish a connection with the reconnaissance robot, and uses a wireless radio frequency transceiver circuit to send remote control instructions to the reconnaissance robot, and simultaneously receives image data and robot status data sent by the reconnaissance robot;

[0013] The image data transmission module is also used to transmit the robot status data to the remote control module through the UART serial port, and read the remote control command from the remote control module through the UART serial port;

[0014] The image data transmission module is also used to send the image data to the operating system display module through the USB serial port.

[0015] Preferably, the image data transmission module adopts AR1002 chip.

[0016] Preferably, the operating system display module includes a power management chip and an ARM processor;

[0017] The power management chip is used to supply power to the ARM processor;

[0018] The ARM processor is used to read the image data from the image transmission module through the USB serial port;

[0019] The ARM processor is also used to read the remote control instructions and image transmission protocol from the remote control module through the URAT serial port, and read the key operation signal from the remote control module through the USB serial port.

[0020] Preferably, the ARM processor is connected to a display screen via a MIPI-DSI interface to display the image data; or, the ARM processor is connected to an external display screen via an HDMI interface to display the image data.

[0021] Compared with the prior art, the remote control system of the one-control-one-reconnaissance robot provided by the utility model has the following beneficial effects:

[0022] (1) The image data transmission module of the one-control-one-reconnaissance robot adopts a wireless baseband RF transceiver circuit, which realizes the long-distance communication transmission of high-definition video and has the advantages of low latency.

[0023] (2) The remote control (remote control system) of the one-control-one-reconnaissance robot integrates the remote control module, image data transmission module, and operating system display module inside the remote control, so that the remote control does not rely on external operating system displays such as mobile phones. The high integration is conducive to the product's waterproof, dustproof, and salt spray-proof. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The hardware block diagram of the existing robot remote control system;

[0025] Figure 2 The hardware block diagram of the remote control system of the one-control-one-reconnaissance robot of the utility model;

[0026] Figure 3 This is a hardware block diagram of the remote control module of the utility model;

[0027] Figure 4 This is a hardware block diagram of the image data transmission module of the utility model;

[0028] Figure 5 This is a hardware block diagram of the operating system display module of the utility model. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] It should be noted that when a component is referred to as being “connected” to another component, it may be directly connected to the other component or there may be a central component; when a component is referred to as being “fixed” to another component, it may be directly fixed to the other component or there may be a central component.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0032] This embodiment provides a remote control system for a one-control-one-reconnaissance robot. Figure 2 As shown, the overall design of the remote control system is divided into a remote control module, an image data transmission module and an operating system display module. In order to solve the problem that the existing remote control system cannot be waterproof, dustproof and salt spray-proof, this embodiment integrates the remote control module, the image data transmission module and the operating system display module into the remote control system to achieve an integrated design, which has the advantages of being waterproof, dustproof and salt spray-proof, and is also portable.

[0033] In the remote control system, the remote control module is connected to the operating system display module through the USB (Universal Serial Bus, a serial bus standard and also a specification of the input and output interface) serial port and the UART serial port, the remote control module is connected to the image data transmission module through the UART (Universal Asynchronous Receiver / Transmitter) serial port, the operating system display module is connected to the image data transmission module through the USB serial port, and the image data transmission module is connected to the reconnaissance robot wirelessly using a wireless radio frequency transceiver circuit.

[0034] (1) Remote control module

[0035] like Figure 3 As shown in the figure, the remote control module is mainly composed of MCU (Microcontroller Unit, which integrates the CPU memory, counter, USB, A / D conversion, UART, PLC, DMA and other interfaces on a single chip) chip and keyboard scanning driver chip. It is mainly used to control the actions of the reconnaissance robot and upload the button status of the remote control to the operating system display module.

[0036] In this embodiment, the MCU chip adopts the domestic Qinheng Electronics CH32F103C8T6, which integrates clock security mechanism, multi-level power management, general DMA controller, etc. It has 2 USB2.0 interfaces, 3 UART interfaces, multi-channel TouchKey, 12-bit DAC conversion module, multi-channel 12-bit ADC, multiple timers, 1 CAN communication controller, I2C / USART / SPI and other rich peripheral resources.

[0037] The MCU chip peripheral circuit of the remote control module mainly includes I2C control circuit and serial port UART, USB and other interface circuits. The core connection of the MCU chip is as follows:

[0038] 1. Read the key operation signals on the keyboard scan driver chip through the I2C (Inter-Integrated Circuit) bus, including status information such as joystick and button data, as well as remote control commands.

[0039] 2. Read the robot status data on the image transmission module through the serial UART bus.

[0040] 3. Transmit key operation signals and other data with the operating system display module through the USB serial port, mainly sending the key operation signals to the operating system display module through the USB serial port.

[0041] 4. The remote control commands and image transmission protocol are interactively transmitted with the operating system display module through the serial port UART bus.

[0042] 5. Transmit the remote control command to the image data transmission module through the UATR serial port.

[0043] The keyboard scan driver chip uses the domestic Tianwei Electronics TM1650, which supports single key 7x4bit (28 keys) and combination keys (4); segment drive current is greater than 25mA, bit drive current is greater than 150mA; high-speed 2-wire serial interface (supports I2C); built-in power-on reset and data latch circuits; strong anti-interference ability.

[0044] The keyboard scan driver chip is used for joystick control. Its peripheral circuit consists of a dedicated IC for driver control with a keyboard scan interface and resistors and capacitors. The core work of the joystick control circuit is as follows:

[0045] The external operation buttons and joystick status are connected to the driver control chip TM1650 through a connector. TM1650 looks up Table 1 according to the key operation signal received from the outside, outputs the remote control command corresponding to Table 1, and transmits the corresponding key operation signal and remote control command to the MCU chip through the I2C signal. The MCU chip transmits the remote control command to the image data transmission module through the serial port UART. The image data transmission module issues the remote control command to the robot through the internal antenna.

[0046] Table 1 Correspondence of remote control commands

[0047] KI DIG4 DIG3 DIG2 DIG1 A / KI1 47H 46H 45H 44H B / KI2 4F 4EH 4DH 4CH C / KI3 57H 56H 55H 54H D / KI4 5F 5E 5DH 5CH E / KI5 67H 66H 65H 64H F / KI6 6FH 6E 6DH 6CH G / KI7 77H 76H 75H 74H KI1+KI2 7F 7E 7D 7CH

[0048] In Table 1, DIG1-DIG4 are the bit / key scan output pins of the TM1650 chip, LED bit driver output, low level is valid, keyboard scan output, high level is valid. In addition, A / KI1-G / KI7 are the segment output / key scan input pins of the TM1650 chip, LED segment driver output, high level is valid, keyboard scan input, high level is valid, and built-in pull-down. KI1+KI2 is a combination of A / KI1 and B / KI2, indicating that the keys are pressed at the same time. And 47H-7CH is the code corresponding to the key operation signal. After receiving the key operation signal, the TM1650 chip looks up Table 1 to obtain the code corresponding to the key operation signal in 47H-7CH, and sends the code as a remote control command to the MCU chip. The code is used for the reconnaissance robot to perform corresponding actions after identification, and is also used for the operation of the display interface (such as the Android interface) in the operating system display module.

[0049] In the same DIG, the KI1+KI2 combination has the highest priority. In addition, if multiple keys are pressed at the same time, the key with the smallest code will take priority. If they are not pressed at the same time, the key pressed first will take priority.

[0050] (2) Image data transmission module

[0051] like Figure 4As shown in the figure, the image data transmission module is designed based on the domestic cool core microchip AR1002, powered by 5V, and has a power consumption of about 2.5W. AR1002 is a highly integrated single-frequency 2.4G 2*2MIMO wireless video transceiver chip with built-in H.264 encoder, SDRAM, dual-core Cortex-M7, wireless baseband and 2.4G RF transceiver. The image data transmission module is based on AR1002 as the core chip, using key technologies such as OFDM and MIMO. While improving the utilization of the frequency band, it can also achieve an ultra-long transmission distance of more than 3KM without interference in line of sight, realizing long-distance and low-latency wireless video monitoring. The RF channel bandwidth is 10MHz, the remote control channel delay is less than 30ms, and the image channel delay is about 200ms. The frequency matching circuit of the image data transmission module is used for the initial frequency matching between the remote control and the remote monitoring device.

[0052] The core connection of the image data transmission module is as follows:

[0053] 1. The image data transmission module uses a frequency matching circuit to establish a connection with the reconnaissance robot, and uses a wireless RF transceiver circuit to send remote control commands to the reconnaissance robot, while receiving image data and robot status data sent by the reconnaissance robot.

[0054] 2. The image data transmission module transmits the robot status data to the MCU chip of the remote control module through the UATR3 serial port, and reads the remote control instructions from the remote control module through the UART1 serial port.

[0055] 3. The image data transmission module sends the image data to the operating system display module through the USB serial port. The image data is transmitted to the operating system display module through a pair of USB protocols. The use of USB protocol transmission can save board space while ensuring signal stability.

[0056] (3) Operating system display module

[0057] like Figure 5As shown, the operating system display module is designed based on the domestic Rockchip RK3568 chip. RK3568 is a quad-core ARM low-power high-performance processor with an embedded 3D GPU, supporting 4K video decoding and 1080P multi-format video encoding and decoding. It supports RGB, LVDS, MIPI-DSI, and eDP display interfaces, with a maximum resolution of 2048*1536, and supports HDMI2.0 display interface, which can achieve 4K 60HZ display. The memory supports DDR3, DDR3L, LPDDR3, DDR4, LPDDR4, and LPDDR4X. It supports NAND Flash, eMMC4.51, and SPI Flash. In addition, it also has built-in MIPI CSI, SDIO, Ethernet MAC, USB, I2C, I2S, UART, SPI and other interfaces and protocols.

[0058] The operating system display module uses an external 12V power supply, and the core chip RK3568 is powered by the power management chip RK809. RK809 is a power management chip with 5 BUCKs, 9 LDOs, and an internal integrated codec, which not only meets the power supply requirements of RK3568, but also provides audio and MIC functions for the operating system display module.

[0059] The operating system display module core connections are as follows:

[0060] (1) The operating system display module is mainly responsible for the Android system operation part on the remote control. The user can understand the relevant status of the robot, view images, and set the operation mode based on this system.

[0061] (2) RK3568 receives image data from the image transmission module via USB. USB data transmission uses differential transmission, which can resist signal interference and attenuation and improve the stability and reliability of image data. The USB2.0 rate can reach up to 480Mbps, allowing image data to be quickly transmitted to the operating system display module. After processing, the image data transmitted by USB can be connected to the display screen through the MIPI-DSI protocol to display the data, or it can be connected to an external display screen through the HDMI interface to display the image data.

[0062] (3) RK3568 transmits image transmission protocol and remote control commands to the remote control module through UART, mainly reading remote control commands and image transmission protocol from the remote control module through URAT serial port. The operating system display module can verify and provide operation prompts by obtaining the above information.

[0063] (4) RK3568 receives key operation signals and other data information from the remote control module through the USB interface, so that the operating system display module can verify and perform subsequent operations based on the above information.

[0064] The image data transmission module of the one-control-one-reconnaissance robot of this embodiment adopts a wireless baseband radio frequency transceiver circuit, which realizes the advantages of long-distance communication transmission of high-definition video and low latency arrival. The remote control module, image data transmission module, and operating system display module are integrated inside the remote control, so that the remote control does not rely on external operating system display such as mobile phones, and high integration is conducive to product waterproof, dustproof, and salt spray proof. In addition, the internal connection and data transmission method of the remote control module, image data transmission module, and operating system display module are designed to significantly improve the data transmission speed and reliability.

[0065] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0066] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A remote control system for a one-control-one-reconnaissance robot, characterized in that: It includes an integrated remote control module, an image data transmission module and an operating system display module. The remote control module is connected to the operating system display module through a USB serial port and a UART serial port. The remote control module is connected to the image data transmission module through a UART serial port. The operating system display module is connected to the image data transmission module through a USB serial port. The image data transmission module is connected to the reconnaissance robot through wireless communication using a wireless radio frequency transceiver circuit.

2. The remote control system of a one-control-one-reconnaissance robot according to claim 1, characterized in that: The remote control module includes an MCU chip and a keyboard scanning driver chip; The keyboard scanning driver chip is used to obtain the key operation signal of the key switch, obtain the remote control command according to the key operation signal, and send the key operation signal and the remote control command to the MCU chip; The MCU chip is used to receive the key operation signal and remote control command sent by the keyboard scanning driver chip through the I2C bus, transmit the remote control command to the image data transmission module through the UATR serial port, and read the robot status data from the image data transmission module through the UART serial port; The MCU chip is also used to send the key operation signal to the operating system display module through the USB serial port, and send the remote control command and image transmission protocol to the operating system display module through the UART serial port.

3. The remote control system of a one-control-one-reconnaissance robot according to claim 1, characterized in that: The image data transmission module uses a frequency matching circuit to establish a connection with the reconnaissance robot, and uses a wireless radio frequency transceiver circuit to send remote control instructions to the reconnaissance robot, and at the same time receives image data and robot status data sent by the reconnaissance robot; The image data transmission module is also used to transmit the robot status data to the remote control module through the UART serial port, and read the remote control command from the remote control module through the UART serial port; The image data transmission module is also used to send the image data to the operating system display module through the USB serial port.

4. The remote control system of a one-control-one-reconnaissance robot according to claim 1, characterized in that: The image data transmission module adopts AR1002 chip.

5. The remote control system of a one-control-one-reconnaissance robot according to claim 1, characterized in that: The operating system display module includes a power management chip and an ARM processor; The power management chip is used to supply power to the ARM processor; The ARM processor is used to read the image data from the image data transmission module through the USB serial port; The ARM processor is also used to read the remote control instructions and image transmission protocol from the remote control module through the URAT serial port, and read the key operation signal from the remote control module through the USB serial port.

6. The remote control system of a one-control-one-reconnaissance robot according to claim 5, characterized in that: The ARM processor is connected to a display screen via a MIPI-DSI interface to display the image data; or, the ARM processor is connected to an external display screen via an HDMI interface to display the image data.

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