CN107024601A - A kind of the Along Railway wind measurement method and control system of control of intelligently being continued a journey based on unmanned aerial vehicle group - Google Patents
A kind of the Along Railway wind measurement method and control system of control of intelligently being continued a journey based on unmanned aerial vehicle group Download PDFInfo
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- CN107024601A CN107024601A CN201710298265.8A CN201710298265A CN107024601A CN 107024601 A CN107024601 A CN 107024601A CN 201710298265 A CN201710298265 A CN 201710298265A CN 107024601 A CN107024601 A CN 107024601A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
- G01P5/001—Full-field flow measurement, e.g. determining flow velocity and direction in a whole region at the same time, flow visualisation
Abstract
The invention discloses a kind of based on the unmanned aerial vehicle group Along Railway wind measurement method that intelligently continuation of the journey is controlled and control system, this method is utilized by flexible and changeable unmanned aerial vehicle group continuation of the journey control method, realize to Along Railway a little so that multiple spot real-time measuring wind speed, time of measuring and target location can flexibly be selected according to task needs；By using the mobility of unmanned plane, the measurement range of measuring wind speed task has been obviously improved；Air monitoring large data center is estimated to the state of the unmanned plane wind speed measuring device in task interval before task starts, and incorporate the consideration influenceed on Along Railway wind direction on unmanned plane working condition, the unmanned plane wind speed measuring device progress task for being wherein most appropriate for task is found out, so as to further ensure the reliability of task；Air monitoring large data center remains the state estimation to unmanned plane wind speed measuring device to ensure being normally carried out for task during task progress.
Description
Technical field
It is more particularly to a kind of based on the unmanned aerial vehicle group railway that intelligently continuation of the journey is controlled the invention belongs to railroad track monitoring field
Wind measurement method and system along the line.
Background technology
With important all the more, the loss caused by natural calamity accident of track traffic institute's figure in national economy
Become a topic being extremely concerned by people.And particularly important aspect is made because of extreme wind weather among this
Into overturn accident, it turns into the hazards for threatening railway system normal operation already.
In order to mitigate or even avoid the railway security accident caused by strong wind, the wind speed along track is monitored be must
Indispensable.In recent years, the railway big country including China begins to focus on and builds a kind of novel railway high wind and monitor in real time in grinding
With early warning system.As German national railroad (Deutsche Bahn AG) grind the Nowcasting System strong wind built
Monitoring and warning system, the Windas system strong wind train early warning systems designed by company of East Japan Railway (JR-EAST), I
The gale monitoring and early warning system of the high wind circuits such as Lanzhou and Xinjiang, the Qinghai-Tibet of exploitation are presided over by the Guo Yuan Ministry of Railways.The work of this kind of early warning system
Make mechanism similar, be all that first high wind region sets a number of air measuring station along the railway, by gathering Along Railway in real time
Wind speed information, then road conditions (bridge/embankment/big curve) and train information (vehicle/load-carrying/road speed) along fusion, build
The vehicle overturning stability model under severe harsher wind conditions is found, to the bullet train of different model in different automatic Railway Condition/regions
With progress Real-Time Scheduling commander under wind speed rank.
However, an air measuring station of this kind of system can only be monitored to the certain point of Along Railway or regional area,
The data gathered in itself between spatial relationship be discrete.Therefore, wind speed prison is there may be in the air monitoring band of foundation
Control blind area.The presence of blind area shows following two aspects：1. the position beyond air measuring station measurement range can not be measured；2.
Being difficult to set up the position of air measuring station can not measure.If gathered data is comprehensive in order to strengthen, blind area is filled up, certainly will
Build as several huge air measuring stations, it spends and maintenance cost is huge.
The content of the invention
The present invention proposes a kind of based on the unmanned aerial vehicle group intelligently Along Railway wind measurement method of continuation of the journey control and control
System, it is intended that carrying out real-time measuring wind speed by introducing unmanned plane, railway dispatching part can obtain Along Railway
The real-time dynamic information of wind speed, the blind area filled up caused by existing e measurement technology means discrete type, stationarity.
A kind of Along Railway wind measurement method for control of being continued a journey based on unmanned aerial vehicle group electricity, is comprised the following steps：
Comprise the following steps：
Step 1：It is equidistantly spaced work station along trackage, each work station sets several unmanned plane wind
Speed measuring device；
The unmanned plane wind speed measuring device is communicated with the work station, the work station, air monitoring big data
Center and ground control centre are communicated successively；
Step 2：When ground train controlling center to air monitoring large data center send measurement task sign on, wind speed
Monitor large data center and send task initialization instruction to measurement task region work station；
Step 3：Air monitoring large data center chooses work station out of measurement task interval and has the survey of unmanned plane wind speed under its command
Measure device and carry out railway measuring wind speed；
Judge whether task location coordinate is located in work station radius intersection region, if so, then calculating and task location phase
The electric quantity consumption coefficient ε for each unmanned plane wind speed measuring device that two adjacent work stations have under its commandi, choose electric quantity consumption coefficient most
Small unmanned plane wind speed measuring device, otherwise, each unmanned plane wind speed being had under its command in the work station where calculating task position are surveyed
Measure the electric quantity consumption coefficient ε of devicei, choose the minimum unmanned plane wind speed measuring device of electric quantity consumption coefficient；
The electricity for participating in the unmanned plane wind speed measuring device that electric quantity consumption coefficient is calculated is both needed to be more than completion monitoring task institute
Subfam. Spiraeoideae；
Wherein, εiRepresent the electric quantity consumption coefficient of i-th of unmanned plane wind speed measuring device；IiAnd ItiRepresent respectively i-th
Unmanned plane wind speed measuring device completes the electricity and current residual electricity of required by task consumption；Represent i-th of unmanned plane wind speed
Wind direction factor of influence of the measurement apparatus along flight path direction, SiRepresent work station where i-th of unmanned plane wind speed measuring device
Air line distance between task location coordinate；
Wind direction factor of influence decomposes unmanned plane wind according to the real-time wind speed of work station where unmanned plane wind speed measuring device
The wind speed of direction vector between speed measuring device and task coordinate, from the wind speed and direction factor of influence corresponding table prestored
It is middle to obtain；
Wind speed has direction, and unmanned plane wind speed measuring device flies to the heading and wind speed direction of task location in the same side
When, wind direction factor of influence is the factor with the wind；In not homonymy, wind direction factor of influence is the contrary wind factor；
Wind direction factor of influence is by measuring, and its calculation formula is as follows：
Wherein, E is that flight course consumes electricity, SIt is suitableWith SIt is inverseRepresent unmanned plane wind speed measuring device with the wind with contrary wind situation
Under the distance passed by.WithWhat is represented is the factor and the contrary wind factor with the wind respectively, and it is meant that unmanned plane wind speed measuring device
The electricity consumed during unit distance of passing by.
Step 4：Selected unmanned plane wind speed measuring device arrives at task location using vehicle-mounted GPS positioning system, surveys
The real-time wind speed of task location is measured, air speed data, time of measuring are returned into work station in real time together with the dump energy of the device,
The data that unmanned plane wind speed measuring device is returned are sent to air monitoring large data center by work station；
Air monitoring large data center is estimated according to obtained dump energy information to unmanned plane wind speed measuring device,
When device dump energy is not enough, carry out task reinitializes, repeat step 3；
Step 5：The mission bit stream that unmanned plane wind speed measuring device is returned during air monitoring large data center receives and stored.
When a subtask is divided into multiple subtasks, subtask information wind speed is deposited in packet in temporal sequence in mission bit stream
Monitor large data center and one group information is returned into railway trains control centre；
Step 6：Railway trains control centre receives and stores the mission bit stream of air monitoring large data center return, according to
The information content is scheduled to train in real time；
Step 7：After the completion of measurement task, air monitoring large data center sends the signal that task is completed to work station,
Work station sends the signal that task is completed, the unmanned plane wind speed measuring device to the unmanned plane wind speed measuring device for carrying out the task
Return to work station and enter holding state.
Measuring wind speed task location can be selected as needed, for the position for being difficult to monitor with conventional meanses, utilize this
Method can also carry out the collection of data.These positions generally include a certain position in tunnel inner wall surface (such as top), it is difficult to frame
If the position (such as slope) of measurement apparatus.
Further, if the dump energy of selected unmanned plane wind speed measuring device can not complete task, air monitoring
Predecessor's business is divided into multigroup subtask by large data center, and sends subtask instruction to work station, and unmanned plane wind is chosen again
Speed measuring device.
Partition principle is the endurance for the unmanned plane being had under its command to greatest extent using task section work station.Subtask refers to
Order is identical with former assignment instructions in form.Air monitoring large data center has unmanned plane wind speed under its command to work station according to subtask
The continuation of the journey state of measurement apparatus carries out the capability evaluation based on electric quantity consumption coefficient, and work station, which is sent, meets electric quantity consumption coefficient most
Low unmanned plane wind speed measuring device goes to task location to perform measurement task.
Further, according to the ascending order of electric quantity consumption coefficient, top n unmanned plane wind speed measuring device pair is chosen
One section carries out measuring wind speed, 1<N<5.
Multigroup unmanned plane wind speed measuring device carries out section measuring wind speed, i.e., multigroup unmanned plane wind speed measuring device is located at same
Within one section, to reach the purpose that comprehensive measuring wind speed is carried out to a certain position on track, so as to a certain section on track
Wind conditions do one comprehensively assessment.Measuring wind speed is carried out to multiple sections when assigning multigroup unmanned plane wind speed measuring device
When, measuring wind speed cylinder is just formd, now unmanned plane wind speed measuring device group measurement is on track in a certain section of space
Real-time wind speed, the plane of measured zone from two dimension becomes three-dimensional space.
A kind of Along Railway measuring wind speed control system for control of intelligently being continued a journey based on unmanned aerial vehicle group, including：
Railway trains control centre, including train scheduling module, wind speed information memory module and the first wireless telecommunications mould
Block；
Air monitoring large data center, including unmanned plane scheduler module, task data memory module, CPU module
And second wireless communication module；
Work station, including unmanned plane operation module, Unmanned Aerial Vehicle Data storehouse, the 3rd wireless communication module, measuring wind speed module
And some unmanned plane wind speed measuring devices；
Wherein, each unmanned plane wind speed measuring device includes flight instruments and the ultrasonic wave wind being loaded on flight instruments
Fast instrument, train speed measurement apparatus, range sensor, Kinect sensor, the 4th wireless communication module and GPS module；
The air speed data of the real-time acquisition tasks position of unmanned plane wind speed measuring device；
Work station receives the message that unmanned plane wind speed measuring device is gathered in real time, and transfers a message to the big number of air monitoring
According to center, air monitoring large data center is analyzed and processed to message, is then sent to railway trains control centre；
The air monitoring large data center and railway trains control centre are according to the method described above to unmanned plane measuring wind speed
Device is controlled, so as to realize the measuring wind speed of Along Railway ad-hoc location.
Further, it is additionally provided with LED on the unmanned plane wind speed measuring device.
Beneficial effect
The present invention proposes a kind of based on the unmanned aerial vehicle group intelligently Along Railway wind measurement method of continuation of the journey control and control
System, is continued a journey by flexible and changeable unmanned aerial vehicle group and controlled, realize to Along Railway a little so that multiple spot real-time measuring wind speed,
Time of measuring can need flexibly to be selected with target location according to task.By using the mobility of unmanned plane, significantly
The measurement range of measuring wind speed task is improved, the aspect being difficult to even in conventional technical means such as has being difficult to erection
The place of line power network carries out prolonged measurement task, and this method can also have performance well；It is flexible and changeable in this method
Task object is selected and the mode of operation that can be split task when being necessary is in the degree of accuracy, reliability and coverage
Existing means are exceeded well over, the blind area of present presence has greatly been filled up；Air monitoring large data center is to task before task starts
The state of unmanned plane wind speed measuring device in interval is estimated, and is incorporated to Along Railway wind direction to unmanned plane work
The consideration of state influence, the unmanned plane wind speed measuring device for choosing the task that is most appropriate for carries out task, so as to be further ensured that
The reliability of task；Air monitoring large data center is remained to unmanned plane wind speed measuring device during task progress
State estimation to ensure being normally carried out for task：Correspondence step 4 in task reinitialize satisfaction assess when, the unmanned plane wind
Speed measuring device continues task；When being unsatisfactory for assessing, the unmanned plane wind speed measuring device for meeting assessment is sent to carry out connecing for task
Replace, this continuation of the journey control method ensure that being normally carried out for task, largely avoid the task caused by fortuitous event
Failure, improves reliability and accuracy；The Control system architecture is simple, is established by the measuring wind speed network covered comprehensively
Real-time air speed data flow network in Along Railway tremendous range, so as to reach to the comprehensive of Along Railway and near zone
Measurement, the big data studied for the increasingly complex foundation of Wind speed model precisely stablize and for relevant wind speed, which is handled, to be provided
Mass data, no matter this data quantitatively, in representativeness or in reliability will far be more than current art means.
Brief description of the drawings
Fig. 1 is task interval division schematic diagram；
Fig. 2 is primary air speed measuring mission flow diagram；
Fig. 3 is the structural representation of system of the present invention.
Embodiment
Below in conjunction with drawings and examples to the explanation of the invention done further.
A kind of Along Railway wind measurement method for control of intelligently being continued a journey based on unmanned aerial vehicle group, is illustrated in figure 2 First air
The flow of fast measurement task, comprises the following steps：
Step 1：It is equidistantly spaced work station along trackage, each work station sets several unmanned plane wind
Speed measuring device；
The unmanned plane wind speed measuring device is communicated with the work station, the work station, air monitoring big data
Center and ground control centre are communicated successively；
Step 2：When ground train controlling center to air monitoring large data center send measurement task sign on, wind speed
Monitor large data center and send task initialization instruction to measurement task region work station；
Step 3：Air monitoring large data center chooses work station out of measurement task interval and has the survey of unmanned plane wind speed under its command
Measure device and carry out railway measuring wind speed；
Judge whether task location coordinate is located in work station radius intersection region, if so, then calculating and task location phase
The electric quantity consumption coefficient ε for each unmanned plane wind speed measuring device that two adjacent work stations have under its commandi, choose electric quantity consumption coefficient most
Small unmanned plane wind speed measuring device, otherwise, each unmanned plane wind speed being had under its command in the work station where calculating task position are surveyed
Measure the electric quantity consumption coefficient ε of devicei, choose the minimum unmanned plane wind speed measuring device of electric quantity consumption coefficient；
The electricity for participating in the unmanned plane wind speed measuring device that electric quantity consumption coefficient is calculated is both needed to be more than completion monitoring task institute
Subfam. Spiraeoideae；
Wherein, εiRepresent the electric quantity consumption coefficient of i-th of unmanned plane wind speed measuring device；IiAnd ItiRepresent respectively i-th
Unmanned plane wind speed measuring device completes the electricity and current residual electricity of required by task consumption；Represent i-th of unmanned plane wind speed
Wind direction factor of influence of the measurement apparatus along flight path direction, SiRepresent work station where i-th of unmanned plane wind speed measuring device
Air line distance between task location coordinate；
Wind direction factor of influence decomposes unmanned plane wind according to the real-time wind speed of work station where unmanned plane wind speed measuring device
The wind speed of direction vector between speed measuring device and task coordinate, from the wind speed and direction factor of influence corresponding table prestored
It is middle to obtain；
When no device can accomplish a task all by oneself, air monitoring large data center should follow partition principle and task is entered
Row segmentation, is divided into multigroup subtask by predecessor's business, then repeats this step；
Step 4：Selected unmanned plane wind speed measuring device arrives at task location using vehicle-mounted GPS positioning system, surveys
The real-time wind speed of task location is measured, air speed data, time of measuring are returned into work station in real time together with the dump energy of the device,
The data that unmanned plane wind speed measuring device is returned are sent to air monitoring large data center by work station；
Air monitoring large data center is estimated according to obtained dump energy information to unmanned plane wind speed measuring device,
When device dump energy is not enough, carry out task reinitializes, repeat step 3；
Step 5：The mission bit stream that unmanned plane wind speed measuring device is returned during air monitoring large data center receives and stored.
When a subtask is divided into multiple subtasks, subtask information wind speed is deposited in packet in temporal sequence in mission bit stream
Monitor large data center and one group information is returned into railway trains control centre；
Step 6：Railway trains control centre receives and stores the mission bit stream of air monitoring large data center return, according to
The information content is scheduled to train in real time；
Step 7：After the completion of measurement task, air monitoring large data center sends the signal that task is completed to work station,
Work station sends the signal that task is completed, the unmanned plane wind speed measuring device to the unmanned plane wind speed measuring device for carrying out the task
Return to work station and enter holding state.
Wind speed has direction, and unmanned plane wind speed measuring device flies to the heading and wind speed direction of task location in the same side
When, wind direction factor of influence is the factor with the windIn not homonymy, wind direction factor of influence is the contrary wind factor
Wind direction factor of influence is by measuring, and its calculation formula is as follows：
Wherein, E is that flight course consumes electricity, SIt is suitableWith SIt is inverseRepresent unmanned plane wind speed measuring device with the wind with contrary wind situation
Under the distance passed by.WithWhat is represented is the factor and the contrary wind factor with the wind respectively, and it is meant that unmanned plane wind speed measuring device
The electricity consumed during unit distance of passing by.
Measuring wind speed task location can be selected as needed, for the position for being difficult to monitor with conventional meanses, utilize this
Method can also carry out the collection of data.These positions generally include a certain position in tunnel inner wall surface (such as top), it is difficult to frame
If the position (such as slope) of measurement apparatus.
Be as shown in Figure 1 the interval division schematic diagram of task, to a segment length in L section to be detected, using 5 groups without
The section partition is that small circle is work station set-point in 4 intervals, figure by man-machine wind speed measuring device, is worked with each
Stand and set up three-dimensional system of coordinate for origin.Each group of unmanned plane wind speed measuring device has the effective radius of clean-up of identical, in the area
It is R in section.One interval length is a, a=R.In order to which the section is completely covered, 4R >=L should ensure that.
For the section that any one segment length is L0, the section is covered using n group unmanned plane wind speed measuring devices, then should
There is (n-1) R >=L.
Partition principle is the endurance for the unmanned plane being had under its command to greatest extent using task section work station.Subtask refers to
Order is identical with former assignment instructions in form.Air monitoring large data center has unmanned plane wind speed under its command to work station according to subtask
The continuation of the journey state of measurement apparatus carries out the capability evaluation based on electric quantity consumption coefficient, and work station, which is sent, meets electric quantity consumption coefficient most
Low unmanned plane wind speed measuring device goes to task location to perform measurement task.
This method can carry out section measuring wind speed (i.e. multigroup unmanned plane wind speed measuring device is located within same section),
The purpose that comprehensive measuring wind speed is carried out to a certain position on track can be reached, so as to the wind conditions in a certain section on track
Do a comprehensively assessment.When assigning multigroup unmanned plane wind speed measuring device to carry out measuring wind speed to multiple sections, just formed
Measuring wind speed cylinder, now unmanned plane wind speed measuring device group measurement is real-time wind speed on track in a certain section of space,
The plane of measured zone from two dimension becomes three-dimensional space.
Real-time air speed data, time of measuring and dump energy pass sequentially through unmanned plane wind speed measuring device → work station →
Air monitoring large data center.
It is a kind of based on the unmanned aerial vehicle group Along Railway measuring wind speed control system that intelligently continuation of the journey is controlled as shown in Figure 3, including：
Railway trains control centre, including train scheduling module, wind speed information memory module and the first wireless telecommunications mould
Block；
Air monitoring large data center, including unmanned plane scheduler module, task data memory module, CPU module
And second wireless communication module；
Work station, including unmanned plane operation module, Unmanned Aerial Vehicle Data storehouse, the 3rd wireless communication module, measuring wind speed module
And some unmanned plane wind speed measuring devices；
Wherein, each unmanned plane wind speed measuring device includes flight instruments and the ultrasonic wave wind being loaded on flight instruments
Fast instrument, train speed measurement apparatus, range sensor, Kinect sensor, the 4th wireless communication module and GPS module；
The air speed data of the real-time acquisition tasks position of unmanned plane wind speed measuring device；
Work station receives the message that unmanned plane wind speed measuring device is gathered in real time, and transfers a message to the big number of air monitoring
According to center, air monitoring large data center is analyzed and processed to message, is then sent to railway trains control centre；
The air monitoring large data center and railway trains control centre are according to the method described above to unmanned plane measuring wind speed
Device is controlled, so as to realize the measuring wind speed of Along Railway ad-hoc location.
LED is additionally provided with the unmanned plane wind speed measuring device.
By using scheme of the present invention, railway dispatching part no longer needs to install a large amount of high costs along the railway
Air monitoring point, filled up the blind area caused by existing measurement means discreteness and stationarity.
The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, although with reference to above-described embodiment pair
The present invention is described in detail, those of ordinary skills in the art should understand that：Still can be to the specific of the present invention
Embodiment is modified or equivalent substitution, and any modification or equivalent substitution without departing from spirit and scope of the invention,
It all should cover among scope of the presently claimed invention.
Claims (5)
1. it is a kind of based on the unmanned aerial vehicle group Along Railway wind measurement method that intelligently continuation of the journey is controlled, it is characterised in that including following
Step：
Step 1：It is equidistantly spaced work station along trackage, each work station sets several unmanned plane wind speed to survey
Measure device；
The unmanned plane wind speed measuring device is communicated with the work station, the work station, air monitoring large data center
Communicated successively with ground control centre；
Step 2：When ground train controlling center to air monitoring large data center send measurement task sign on, air monitoring
Large data center sends task initialization instruction to measurement task region work station；
Step 3：Air monitoring large data center chooses work station out of measurement task interval and has unmanned plane measuring wind speed dress under its command
Put progress railway measuring wind speed；
Judge whether task location coordinate is located in work station radius intersection region, if so, then calculating adjacent with task location
The electric quantity consumption coefficient ε for each unmanned plane wind speed measuring device that two work stations have under its commandi, choose electric quantity consumption coefficient minimum
Unmanned plane wind speed measuring device, otherwise, each unmanned plane measuring wind speed dress being had under its command in the work station where calculating task position
The electric quantity consumption coefficient ε puti, choose the minimum unmanned plane wind speed measuring device of electric quantity consumption coefficient；
The electricity for participating in the unmanned plane wind speed measuring device that electric quantity consumption coefficient is calculated is both needed to be more than completion monitoring required by task electricity
Amount；
Wherein, εiRepresent the electric quantity consumption coefficient of i-th of unmanned plane wind speed measuring device；IiAnd ItiI-th of unmanned plane is represented respectively
Wind speed measuring device completes the electricity and current residual electricity of required by task consumption；Represent i-th of unmanned plane measuring wind speed dress
Put the wind direction factor of influence along flight path direction, SiWork station distance is appointed where representing i-th of unmanned plane wind speed measuring device
Air line distance between business position coordinates；
Wind direction factor of influence decomposes the survey of unmanned plane wind speed according to the real-time wind speed of work station where unmanned plane wind speed measuring device
The wind speed of the direction vector between device and task coordinate is measured, is obtained from the wind speed and direction factor of influence corresponding table prestored
Take；
Step 4：Selected unmanned plane wind speed measuring device arrives at task location using vehicle-mounted GPS positioning system, and measurement is appointed
The real-time wind speed of business position, work station is returned to by air speed data, time of measuring in real time together with the dump energy of the device, is worked
The data for returning to unmanned plane wind speed measuring device of standing are sent to air monitoring large data center；
Air monitoring large data center is estimated according to obtained dump energy information to unmanned plane wind speed measuring device, works as dress
When putting dump energy deficiency, carry out task reinitializes, repeat step 3；
Step 5：The mission bit stream that unmanned plane wind speed measuring device is returned during air monitoring large data center receives and stored.When one
When subtask is divided into multiple subtasks, subtask information air monitorings are deposited in packet in temporal sequence in mission bit stream
One group information is returned to railway trains control centre by large data center；
Step 6：Railway trains control centre receives and stores the mission bit stream of air monitoring large data center return, according to information
Content is scheduled to train in real time；
Step 7：After the completion of measurement task, air monitoring large data center sends the signal that task is completed to work station, work
Stand and send the signal that task is completed to the unmanned plane wind speed measuring device for carrying out the task, the unmanned plane wind speed measuring device is returned
Work station enters holding state.
2. method according to claim 2, it is characterised in that if being selected can not completing for unmanned plane wind speed measuring device
During task, predecessor's business is divided into multigroup subtask by air monitoring large data center, and sends subtask instruction, weight to work station
It is new to choose unmanned plane wind speed measuring device.
3. method according to claim 2, it is characterised in that according to the order that electric quantity consumption coefficient is ascending, chooses
Top n unmanned plane wind speed measuring device carries out measuring wind speed, 1 to a section<N<5.
4. it is a kind of based on the unmanned aerial vehicle group Along Railway measuring wind speed control system that intelligently continuation of the journey is controlled, it is characterised in that including：
Railway trains control centre, including train scheduling module, wind speed information memory module and the first wireless communication module；
Air monitoring large data center, including unmanned plane scheduler module, task data memory module, CPU module and
Second wireless communication module；
Work station, including unmanned plane operation module, Unmanned Aerial Vehicle Data storehouse, the 3rd wireless communication module, measuring wind speed module and
Some unmanned plane wind speed measuring devices；
Wherein, each unmanned plane wind speed measuring device includes flight instruments and the ultrasonic wind speed being loaded on flight instruments
Instrument, train speed measurement apparatus, range sensor, Kinect sensor, the 4th wireless communication module and GPS module；
The air speed data of the real-time acquisition tasks position of unmanned plane wind speed measuring device；
Work station receives the message that unmanned plane wind speed measuring device is gathered in real time, and transfers a message in air monitoring big data
The heart, air monitoring large data center is analyzed and processed to message, is then sent to railway trains control centre；
The air monitoring large data center and railway trains control centre are according to the method described in power any one of 1-3 to unmanned plane
Wind speed measuring device is controlled, so as to realize the measuring wind speed of Along Railway ad-hoc location.
5. system according to claim 4, it is characterised in that be additionally provided with LED on the unmanned plane wind speed measuring device
Lamp.
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| CN109085374A (en) * | 2018-07-27 | 2018-12-25 | 江苏科技大学 | The multiple spot speed measuring device and its speed-measuring method for slow-speed of revolution system based on kinect |
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