| Since science and technology are developing rapidly,intelligent robots including intelligent balance vehicles have being given more and more missions,intelligent Balance vehicles are expected to play a bigger role in work and life,so a proper management software is becoming more and more important.Traditional control devices of balancing vehicles are not portable and not supported of remote control,also lack of independent work ability,the traditional equipment of video surveillance is not mobile,aim at above problems,intelligent balance vehicle of the secondary development and other intelligent equipment as the object,this paper designs and implements an supervision and control system of intelligent balance vehicle based on C Sharp,so that users can monitor the motion of the balance car on the PC and conduct remote control during its motion.In addition,the environment of the balance vehicles can be monitored by the on-board camera,balancing vehicles can also automatically find the path to complete the job with the help of the path planning algorithm.The system has low cost,good efficacy and rich functions.It can be combined with the popular areas such as smart home and Internet of things,it has a broad application scope and a good development prospect.Firstly,the paper introduces the core technologies needed for the supervision and control system of intelligent balanced vehicle,such as Baidu map API,H.264 coding protocol,the C#language and A*algorithm.The system as a whole includes the terminal intelligent balance vehicles of secondary development,client software and server.The server will send the geographic location information of the balancing vehicles,the environment video shot by the camera and other relevant information to the client,which will receive and display the positioning and play the video.The user can remotely control the balancing car according to the surrounding environment.Secondly,the paper completed development work of the supervision and control system by the Visual Studio development platform design based on module,use the Socket and TCP protocol send,receive data and remote control between the client and the server,through the Baidu map JavaScript API to realize the real-time positioning of the balance of the car and track playback,using FFmpeg code base and UDP protocol based on h.264 coding standard for video real-time playback.Baidu map JavaScript API to achieve the real-time balance vehicles' location and track playback.And FFmpeg code base and UDP protocol are used to realize real-time video playback.The paper mainly describes the difficulties encountered in the development process,such as the E-R relationship of tables in the database,Baidu coordinate batch conversion,smoothing track,video stream acceptance and analysis,control protocol implementation and so on.Then,in view of the functional requirements for autonomous work of vehicles,the paper propose the path planning algorithm,study the A*algorithm which is widely used and effective in path planning.According to advantages and disadvantages,an improvement scheme is proposed,and example simulation through the Matrix Laboratory.Experimental results demonstrate the feasibility of using the algorithm in complex road conditions,and implement the function in the software.Finally,the software and other parts of the system are tested in order to prove that the system software meets the requirements of the required function.The development of the system software is an exploration and practice in the field of intelligent equipment management and control,which is conducive to promoting and improving the construction of intelligent equipment management and control system in China. |
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