路面工程机械机群实时信息的获取、传输与存储
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摘要
国家863基金项目“机群智能化工程机械”由徐州工程机械集团、东南大学、清华大学、重庆交通学院等单位共同承担研究和开发工作。本文在这样的背景下对压路机、摊铺机、自卸车和拌和站等多种工程机械的各种动态信息的获取、传输和存储进行了深入研究。针对工程机械的不同特点对数据传输网络进行了选型、设计和架构实现,完成工程机械下位机信息获取及通信软件、控制中心上位机通信软件的开发。
本文首先对控制中心对各种工程机械的信息需求进行了详细分析,针对这些信息需求和工程机械的不同特点,分别探讨了与控制中心不同的通信方式和通信网络架构实现。
对于压路机和摊铺机,选择GSM和WLAN作为与控制中心的路由方案,完成了无线局域网络的架构。根据不同的应用要求压路机和摊铺机下位机实现分别使用了基于嵌入式系统和基于工控机的两种不同的硬件平台,实现了与控制中心间的动态信息无线传输。通过对CAN信息和GPS定位信息格式进行深入研究,完成基于CAN总线的状态信息和GPS定位信息的获取;针对两种不同通信网络,完成数据的TCP封装和WLAN发送及数据的PDU格式封装和GSM网络发送。
选用现成GPS/GSM车载终端产品作为自卸车GPS定位信息获取和发送的下位机,控制中心完成对其短信息接收、解析。
对于沥青拌和站,深入研究并比较了多种串口通信技术,最终采用了RS-485网络作为拌和站和控制中心的信息通信接口,并设计了双方通信的协议和格式,实现了拌和站和控制中心间的信息通信。
为了实现远程视频监控功能,详细探讨了远程视频传输的两大关键技术:视频编码技术和实时传输技术。通过对多种视频编码标准的比较,选择使用MPEG-4编码技术;并针对本工程应用要求对实时传输协议RTP进行了简化和修改,同时提出了一些网络视频数据流量控制和减少抖动、延时的策略,实现了控制中心对移动工程机械的远程实时监控;最后对视频传输过程中出现的问题进行了分析并提出了相应的解决办法和一些建议。
最后,本文阐述了控制中心上位机和移动工程机械下位机的信息数据的存储策略,并针对存储策略对数据库的设计实现做了讨论。
Xuzhou Engineering Machinery Group, Southeast University, Tsinghua University have taken charge of the project of Intelligentized Engineering Machinery Group, of which is National 863 High Tech Plan. Based on the background, deep research in acquisition, transmission and storage of various dynamic information of different machinery including road roller、paving machine、hauler and mixer has been done in this dissertation. According to the difference of various machinery, selection, design and implementation of data transmission network is fulfilled. The software for information acquisition and communication between machinery and control center has been developed.
Firstly, control center’s information demands from various machinery are analyzed in detail. According to these information demands and characteristic of different machinery, different communication mode between control center and different machinery and implementation of communication network are studied respectively.
For roller and paving machine, GSM and WLAN are selected as communication network and WLAN has been built. Aimed at different application demands, vehicle terminals on roller and paving machine are designed based on embedded system and industrial computer to fulfill wireless communication. By studying format of CAN frame and GPS positioning information, acquisition of status information based on CAN bus and GPS positioning information is completed. According to different communication network, data encapsulation in TCP packet and transmission through WLAN, data encapsulation in PDU format and transmission through GSM are completed also.
For hauler, the product of GPS/GSM vehicle terminal is selected as the device acquiring and transmitting GPS positioning information through GSM. Reception and analysis of short message is completed in control center. For mixer, by studying and comparing various serial port communication technologies, RS-485 is employed as communication network between mixer and control center. Communication protocol and data format are designed also.
In order to fulfill remote video surveillance, two key technologies involved in video transport -- video encoding technology and real-time transport technology -- are further studied. MPEG-4 standard is selected as encoder by comparing various video coding standards. Aimed at application demands, RTP (Real-time Transport Protocol) is simplified and modified. Also, the strategy for congestion control on video stream on network and reducing jitter and delay is proposed. Finally, some problems found in video transport experiment are analyzed and corresponding resolution is proposed.
Finally, the strategy for data storage in both control center and machinery are elaborated, and then design and implementation of database is discussed.
本文首先对控制中心对各种工程机械的信息需求进行了详细分析,针对这些信息需求和工程机械的不同特点,分别探讨了与控制中心不同的通信方式和通信网络架构实现。
对于压路机和摊铺机,选择GSM和WLAN作为与控制中心的路由方案,完成了无线局域网络的架构。根据不同的应用要求压路机和摊铺机下位机实现分别使用了基于嵌入式系统和基于工控机的两种不同的硬件平台,实现了与控制中心间的动态信息无线传输。通过对CAN信息和GPS定位信息格式进行深入研究,完成基于CAN总线的状态信息和GPS定位信息的获取;针对两种不同通信网络,完成数据的TCP封装和WLAN发送及数据的PDU格式封装和GSM网络发送。
选用现成GPS/GSM车载终端产品作为自卸车GPS定位信息获取和发送的下位机,控制中心完成对其短信息接收、解析。
对于沥青拌和站,深入研究并比较了多种串口通信技术,最终采用了RS-485网络作为拌和站和控制中心的信息通信接口,并设计了双方通信的协议和格式,实现了拌和站和控制中心间的信息通信。
为了实现远程视频监控功能,详细探讨了远程视频传输的两大关键技术:视频编码技术和实时传输技术。通过对多种视频编码标准的比较,选择使用MPEG-4编码技术;并针对本工程应用要求对实时传输协议RTP进行了简化和修改,同时提出了一些网络视频数据流量控制和减少抖动、延时的策略,实现了控制中心对移动工程机械的远程实时监控;最后对视频传输过程中出现的问题进行了分析并提出了相应的解决办法和一些建议。
最后,本文阐述了控制中心上位机和移动工程机械下位机的信息数据的存储策略,并针对存储策略对数据库的设计实现做了讨论。
Xuzhou Engineering Machinery Group, Southeast University, Tsinghua University have taken charge of the project of Intelligentized Engineering Machinery Group, of which is National 863 High Tech Plan. Based on the background, deep research in acquisition, transmission and storage of various dynamic information of different machinery including road roller、paving machine、hauler and mixer has been done in this dissertation. According to the difference of various machinery, selection, design and implementation of data transmission network is fulfilled. The software for information acquisition and communication between machinery and control center has been developed.
Firstly, control center’s information demands from various machinery are analyzed in detail. According to these information demands and characteristic of different machinery, different communication mode between control center and different machinery and implementation of communication network are studied respectively.
For roller and paving machine, GSM and WLAN are selected as communication network and WLAN has been built. Aimed at different application demands, vehicle terminals on roller and paving machine are designed based on embedded system and industrial computer to fulfill wireless communication. By studying format of CAN frame and GPS positioning information, acquisition of status information based on CAN bus and GPS positioning information is completed. According to different communication network, data encapsulation in TCP packet and transmission through WLAN, data encapsulation in PDU format and transmission through GSM are completed also.
For hauler, the product of GPS/GSM vehicle terminal is selected as the device acquiring and transmitting GPS positioning information through GSM. Reception and analysis of short message is completed in control center. For mixer, by studying and comparing various serial port communication technologies, RS-485 is employed as communication network between mixer and control center. Communication protocol and data format are designed also.
In order to fulfill remote video surveillance, two key technologies involved in video transport -- video encoding technology and real-time transport technology -- are further studied. MPEG-4 standard is selected as encoder by comparing various video coding standards. Aimed at application demands, RTP (Real-time Transport Protocol) is simplified and modified. Also, the strategy for congestion control on video stream on network and reducing jitter and delay is proposed. Finally, some problems found in video transport experiment are analyzed and corresponding resolution is proposed.
Finally, the strategy for data storage in both control center and machinery are elaborated, and then design and implementation of database is discussed.
引文
[1] 饶运涛,邹继军,郑勇芸. 现场总线 CAN 原理与应用技术[M]. 北京:北京航空航天大学出版社,2003:18-26
[2] 李现勇. Visual C++ 串口通信技术与工程实践[M]. 北京:人民邮电出版社,2002
[3] 阳宪惠. 工业数据通信与控制网络[M]. 北京:清华大学出版社,2003:79-83
[4] 陈坚,陈伟. Visual C++网络高级编程[M]. 北京:人民邮电出版社,2001
[5] 钟玉琢,沈洪,吕小星. 多媒体技术及应用[M]. 北京:机械工业出版社,2003
[6] Fred Halsall. 多媒体通信[M]. 北京:人民邮电出版社,2004
[7] IETF. RTP: A Transport Protocol for Real-Time Applications (RFC3550)[EB/OL]. http://www.ietf.org/rfc/rfc3550.txt?number=3550. 2003,7
[8] 潘海鸿等. CAN 总线技术在自动摊铺机中的应用[J],工程机械,2001,8:22-24
[9] FURUNO. GPS Receiver GN-79 Specification/Protocol Manual[EB]. FURUNO,2001
[10] 沈利锷,叶桦. GPS 在机群智能化工程机械中的应用[J]. 电子工程师,2002,28(10):35-38
[11] 栗大超,宋光德,靳世久. GPS 通信技术及其在测控系统中的应用[J] .计算机自动测量与控制,2001,9(2):30-32
[12] 向卫华,李九发. GPS 串口编程应用[J]. 江苏测绘,2002,25(3) ,14-16
[13] GSM 11.11 GSM Technical Specification[EB], ETSI TC-SMG, December 1995
[14] Siemens. MC35 Siemens Cellular Engines AT Command Set Ver5.0 [EB/OL]. Siemens, 2002.7
[15] 郑钢,何香玲,曲天培. 基于 GSM 的车辆定位监控系统及短信息通信方法[J]. 计算机测量与控制,2003,11(11):887-889
[16] 宣彩平,王皓,邹国良. 利用 GSM 无线模块发送端消息[J]. 计算机应用,2004,24,5:148-150
[17] 朱光喜,张耀华. 如何解析 GSM 短消息[J]. 通信技术,2003,3:54-56
[18] 陆其明. DirectShow 开发指南[M]. 北京:清华大学出版社,2004
[19] 陆其明. DirectShow 实务精选[M]. 北京:科学出版社,2004
[20] 潘爱民. COM 原理与应用[M]. 北京:清华大学出版社,1999:92-95
[21] 林志勇,张昱,陈意云. DirectShow 在 MPEG-1 流式播放器中的应用[J]. 计算机工程,2001,21(6):140-142
[22] 徐进. 基于 IP 组播的分布式数字视频监控系统[J]. 计算机工程,2003,29(11):134-136
[23] 刘宪坤. MPEG 系统的功能与数据结构[J]. 电子世界,1999,(2):9-14
[24] 王建颖等. MPEG 中基于对象的视频编码[J]. 计算机应用研究,2000 ,(11):42-46
[25] 罗明宇,陶孜谨,卢锡城. RTP 在网络视频传输中的实现研究[J]. 计算机工程,1999,26(9):65-66
[26] 王军,吕海宝,许国梁. 基于 RTP/RTCP 的远程视频传输软件的设计[J]. 电视技术,2002,12:19-21
[27] 周磊,余兆明. 一种基于因特网的 MPEG-4 视频流端到端传输方案[J]. 电视技术,2002,8:24-27
[28] 曹小飞等. 微机多串口通信在监控系统中的应用[J]. 武汉理工大学学报,2003,25(2):80-83
[29] 连光耀,黄考利,郑思龙. 远程分布式测控系统的 RS485 总线通信[J]. 兵工自动化,2004,23(3):40-41
[30] 王永铭,邵之江. 工业监控中的无线网络设计与应用[J]. 工业仪表与自动化装置,2003,4:6-10
[31] 白杉等. 无线局域网(WLAN)应用方案[J]. 西部广播电视,2003,2:18-22
[32] Mark Mitchell, Jeffery Oldham, Alex Samuel, Advanced Linux Programming[M], New Rides Publishing, June 11, 2001
[33] D. Nystrom, A. Tesanovic, C. Norstrom, J. Hansson, N-E. Bankestad, Data Management Issues In Vehicle Control Systems: A Case Study, IEEE,Proceedings of the 14 th Euromicro Conference on Real-TimeSystems (ECRTS.02), [EB/OL],2002
[34] A. Tesanovic, D. Nystrom, J. Hansson, and C. Norstrom. Embedded databases for embedded real-time systems: A component-based approach. Technical report, Dept. of Computer Science, Linkoping University, and Dept. of Computer Engineering, Malardalen University, [EB/OL],2002.
[2] 李现勇. Visual C++ 串口通信技术与工程实践[M]. 北京:人民邮电出版社,2002
[3] 阳宪惠. 工业数据通信与控制网络[M]. 北京:清华大学出版社,2003:79-83
[4] 陈坚,陈伟. Visual C++网络高级编程[M]. 北京:人民邮电出版社,2001
[5] 钟玉琢,沈洪,吕小星. 多媒体技术及应用[M]. 北京:机械工业出版社,2003
[6] Fred Halsall. 多媒体通信[M]. 北京:人民邮电出版社,2004
[7] IETF. RTP: A Transport Protocol for Real-Time Applications (RFC3550)[EB/OL]. http://www.ietf.org/rfc/rfc3550.txt?number=3550. 2003,7
[8] 潘海鸿等. CAN 总线技术在自动摊铺机中的应用[J],工程机械,2001,8:22-24
[9] FURUNO. GPS Receiver GN-79 Specification/Protocol Manual[EB]. FURUNO,2001
[10] 沈利锷,叶桦. GPS 在机群智能化工程机械中的应用[J]. 电子工程师,2002,28(10):35-38
[11] 栗大超,宋光德,靳世久. GPS 通信技术及其在测控系统中的应用[J] .计算机自动测量与控制,2001,9(2):30-32
[12] 向卫华,李九发. GPS 串口编程应用[J]. 江苏测绘,2002,25(3) ,14-16
[13] GSM 11.11 GSM Technical Specification[EB], ETSI TC-SMG, December 1995
[14] Siemens. MC35 Siemens Cellular Engines AT Command Set Ver5.0 [EB/OL]. Siemens, 2002.7
[15] 郑钢,何香玲,曲天培. 基于 GSM 的车辆定位监控系统及短信息通信方法[J]. 计算机测量与控制,2003,11(11):887-889
[16] 宣彩平,王皓,邹国良. 利用 GSM 无线模块发送端消息[J]. 计算机应用,2004,24,5:148-150
[17] 朱光喜,张耀华. 如何解析 GSM 短消息[J]. 通信技术,2003,3:54-56
[18] 陆其明. DirectShow 开发指南[M]. 北京:清华大学出版社,2004
[19] 陆其明. DirectShow 实务精选[M]. 北京:科学出版社,2004
[20] 潘爱民. COM 原理与应用[M]. 北京:清华大学出版社,1999:92-95
[21] 林志勇,张昱,陈意云. DirectShow 在 MPEG-1 流式播放器中的应用[J]. 计算机工程,2001,21(6):140-142
[22] 徐进. 基于 IP 组播的分布式数字视频监控系统[J]. 计算机工程,2003,29(11):134-136
[23] 刘宪坤. MPEG 系统的功能与数据结构[J]. 电子世界,1999,(2):9-14
[24] 王建颖等. MPEG 中基于对象的视频编码[J]. 计算机应用研究,2000 ,(11):42-46
[25] 罗明宇,陶孜谨,卢锡城. RTP 在网络视频传输中的实现研究[J]. 计算机工程,1999,26(9):65-66
[26] 王军,吕海宝,许国梁. 基于 RTP/RTCP 的远程视频传输软件的设计[J]. 电视技术,2002,12:19-21
[27] 周磊,余兆明. 一种基于因特网的 MPEG-4 视频流端到端传输方案[J]. 电视技术,2002,8:24-27
[28] 曹小飞等. 微机多串口通信在监控系统中的应用[J]. 武汉理工大学学报,2003,25(2):80-83
[29] 连光耀,黄考利,郑思龙. 远程分布式测控系统的 RS485 总线通信[J]. 兵工自动化,2004,23(3):40-41
[30] 王永铭,邵之江. 工业监控中的无线网络设计与应用[J]. 工业仪表与自动化装置,2003,4:6-10
[31] 白杉等. 无线局域网(WLAN)应用方案[J]. 西部广播电视,2003,2:18-22
[32] Mark Mitchell, Jeffery Oldham, Alex Samuel, Advanced Linux Programming[M], New Rides Publishing, June 11, 2001
[33] D. Nystrom, A. Tesanovic, C. Norstrom, J. Hansson, N-E. Bankestad, Data Management Issues In Vehicle Control Systems: A Case Study, IEEE,Proceedings of the 14 th Euromicro Conference on Real-TimeSystems (ECRTS.02), [EB/OL],2002
[34] A. Tesanovic, D. Nystrom, J. Hansson, and C. Norstrom. Embedded databases for embedded real-time systems: A component-based approach. Technical report, Dept. of Computer Science, Linkoping University, and Dept. of Computer Engineering, Malardalen University, [EB/OL],2002.
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