CN107065700A - A kind of intelligence control system - Google Patents
A kind of intelligence control system Download PDFInfo
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- CN107065700A CN107065700A CN201710410598.5A CN201710410598A CN107065700A CN 107065700 A CN107065700 A CN 107065700A CN 201710410598 A CN201710410598 A CN 201710410598A CN 107065700 A CN107065700 A CN 107065700A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of intelligence control system, including image capture module, sensor assembly, communication module, control module and memory module, described image acquisition module is connected with memory module transmits visual information, the sensor assembly is connected with memory module transmits perception information, the communication module is connected with memory module transmits the status information of the intelligent body in communication set, and the control module is connected with memory module transmits the oneself state information and environmental information of intelligent body；The data acquisition module includes infrared sensor, ultrasonic sensor, electronic compass, crash sensor and tachogenerator.The present invention passes through modular design method and multi-thread programming mode, design perfect in shape and function, the strong basic module of availability, the intelligence control system of foundation can provide the support of real system for the theoretical research of Collaborative Control, can simultaneously serve as the test platform at initial stage of application scheme popularization.
Description
Technical field
The invention belongs to intelligence system field, and in particular to a kind of intelligence control system.
Background technology
Multiagent system is the study hotspot that the current communications field and control field are combined.The application of multi-agent Technology
Field is boundless, including intelligent robot system, traffic control, manufacture system, many aspects such as distributed DSS.Its
In intelligent body be considered as a physics or entity that is abstract, being run under certain environment, it can act on itself and
Environment, and environment is made a response.And the set that multi-agent system is made up of multiple single intelligent bodies, the system can coordinate
The behavior of one group of intelligent body, synergistically to complete a task or Solve problems.
In research in recent years, people are directed to the path planning in multiple agent Collaborative Control, co-positioned and collaboration
The problems such as avoidance, proposes many theoretical and methods respectively, carries out simulating, verifying, also there is different degrees of practical application.But,
Every technology is integrated from overall angle, the multi-agent cooperative control system of utilitarian design is less in studying at present
The field being related to.
Found through being retrieved to existing literature, Chinese Patent Application No. is：200710044222.3, it is entitled based on how intelligent
The microcosmic traffic simulation system of body and non-adaptive behavior, the technology proposes a kind of traffic entity with accurate behavior description
With the microcosmic traffic simulation system of efficient behavior computation model.Chinese Patent Application No. is：200810207315.8, it is entitled
Multi-agent area road intersection signal integrated control simulation system, the technology proposes a kind of with multi-tier systematic structure
Each controller has the integrated control analogue system of the area road intersection signal of dynamic adjustment capability.But above technology is all only
It is the emulation aspect that relate to intelligent body Collaborative Control, actual system is not set up.
The content of the invention
It is an object of the invention to the above-mentioned deficiency for overcoming prior art, there is provided a kind of intelligence control system.The present invention is logical
Modular design method and multi-thread programming mode are crossed, perfect in shape and function, the strong basic module of availability, the intelligence of foundation is designed
Control system can provide the support of real system for the theoretical research of Collaborative Control, can simultaneously serve as application scheme popularization
Initial stage test platform.
In order to achieve the above object, the present invention is achieved through the following technical solutions：
A kind of intelligence control system, including image capture module, sensor assembly, communication module, control module and storage
Module, described image acquisition module is connected with memory module transmits visual information, and the sensor assembly is connected with memory module
Perception information is transmitted, the communication module is connected with memory module transmits the status information of the intelligent body in communication set, the control
Molding block is connected with memory module transmits the oneself state information and environmental information of intelligent body；
The data acquisition module includes infrared sensor, ultrasonic sensor, electronic compass, crash sensor and tested the speed
Sensor, the communication module includes server end communication module and client communication module, the server end communication module
Wirelessly be connected status information of the transmission as the intelligent body of server with memory module, the client communication module and storage mould
Block, which is wirelessly connected, transmits the status information of the intelligent body as client.
Further, the infrared sensor is connected with memory module transmits the range information that infrared sensor is measured, institute
Ultrasonic sensor is stated with memory module to be connected the range information that measures of transmission ultrasonic sensor, the electronic compass and storage
Module is connected transmission of angle information, and the crash sensor is connected transmission collision information, the tachogenerator with memory module
It is connected with memory module and transmits the velocity information of intelligent body.
Further, the tachogenerator is connected with self-positioning module transmits the velocity information of intelligent body, electronic compass
Be connected transmission of angle information with self-positioning module.
Further, the control module includes decision-making submodule and implementation sub-module, and the decision-making submodule is with performing
Submodule is connected transmission control command information, and the decision-making submodule is connected transmission environment information and multiple agent shape with memory module
State information, implementation sub-module is connected transport behavior information with memory module.
Further, the memory module includes environmental information memory and multiple agent status register, the environment
Information-storing device is connected transmission environment information with image capture module and sensor assembly respectively, multiple agent status register point
Be not connected transmission multiple agent status information with sensor assembly, communication module and control module.
Further, the sensor assembly includes data acquisition module and self-positioning module, the data acquisition module
Block is connected transmission perception information with memory module, and be connected with self-positioning module transmission speed information and orientation of data acquisition module is believed
Breath, self-positioning module is connected with memory module transmits the current positional information of intelligent body.
Further, the server end communication module is wirelessly connected with client communication module intercourses intelligent body
Status information.
Preferably, described image acquisition module is camera.
The present invention has following beneficial effect：
(1) intelligence control system of the invention encapsulates the perception needed for multiple agent, communication, the function such as decision-making and control
Essential characteristic, design and Implement system according to modular design method；
(2) intelligence control system of the invention possesses good versatility, and its implementation process is independent of specific hardware
System, realization is designed according to above-mentioned architecture, realizes that simply can be quickly erect on a variety of hardware platforms is more
Multiagent system.
Brief description of the drawings
Accompanying drawing is used for providing a further understanding of the present invention, and constitutes a part for specification, the reality with the present invention
Applying example is used to explain the present invention together, is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the structured flowchart of the intelligence control system of a preferred embodiment of the present invention；
Fig. 2 is the structured flowchart of the intelligence control system of another preferred embodiment of the invention.
Marked in figure：1st, image capture module；2nd, sensor assembly；3rd, control module；4th, control module；5th, mould is stored
Block；6th, data acquisition module；7th, self-positioning module；8th, server end communication module；9th, client communication module；10th, decision-making
Module；11st, implementation sub-module；12nd, environmental information memory；13rd, multiple agent status register.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described.
As shown in figure 1, the present embodiment includes：Image capture module 1, sensor assembly 2, communication module 3, control module 4
With memory module 5, wherein：Image capture module 1 is connected with memory module 5 transmits visual information, sensor assembly 2 and storage mould
Block 5, which is connected, transmits perception information, and communication module 3 is connected with memory module 5 transmits the status information of the intelligent body in communication set, control
Molding block 4 is connected with memory module 5 transmits the oneself state information and environmental information of intelligent body.
Described image capture module 1 is camera, and it realizes the visually-perceptible of environment to external world.
Described sensor assembly 2, including：Data acquisition module 6 and self-positioning module 7, wherein：Data acquisition module 6
Be connected transmission perception information with memory module 5, and data acquisition module 6 is connected velocity information and azimuth information with self-positioning module 7,
Self-positioning module 7 is connected with memory module 5 transmits the current positional information of intelligent body.
Described data acquisition module 6 includes：Infrared sensor, ultrasonic sensor, electronic compass, crash sensor and
Tachogenerator, wherein：Infrared sensor is connected with memory module 5 transmits the range information that infrared sensor is measured, ultrasonic wave
Sensor is connected the range information that measures of transmission ultrasonic sensor with memory module 5, and electronic compass is connected biography with memory module 5
Defeated angle information, crash sensor is connected transmission collision information with memory module 5, and tachogenerator is connected biography with memory module 5
The velocity information of defeated intelligent body, tachogenerator be connected with self-positioning module 7 transmission intelligent body velocity information, electronic compass with
Self-positioning module 7 is connected transmission of angle information.
Described communication module 3, including：Server end communication module 8 and client communication module 9, wherein：Server end
Communication module 8 is wirelessly connected with memory module 5 transmits the status information of the intelligent body as server, client communication module 9
Wirelessly it is connected with memory module 5 and transmits the status information of the intelligent body as client, server end communication module 8 is led to client
Letter module 9, which is wirelessly connected, intercourses the status information of intelligent body.
Communication module 3 is two TL-WN510G 54M wireless network cards in the present embodiment.
Described control module 4, including：Decision-making submodule 10 and implementation sub-module 11, wherein：Decision-making submodule 10 is with holding
Row submodule 11 is connected transmission control command information, and decision-making submodule 10 is connected transmission environment information and many intelligence with memory module 5
Can body status information, implementation sub-module 11 is connected transport behavior information with memory module 5.
Control module 4 is ATOM mainboards, ARM plates and 12V drag cup reducing motors in the present embodiment.
Described memory module 5, including：Environmental information memory 12 and multiple agent status register 13, wherein：Environment
Information-storing device 12 is connected transmission environment information with image capture module 1 and sensor assembly 2 respectively, the storage of multiple agent state
Device 13 is connected with sensor assembly 2, communication module 3 and control module 4 respectively transmits multiple agent status information.
Memory module 5 is ARM plates and ATOM (atom) mainboard in the present embodiment.
The hardware system structure connection figure of the present embodiment is as shown in Fig. 2 wherein：ATOM mainboards pass through serial ports and ARM plate phases
Even, ATOM mainboards are connected by USB with camera, and ATOM mainboards are connected by PCI with wireless network card, and ARM plates are total by RS485
Line slows down electric with ultrasonic sensor, infrared sensor, electronic compass, crash sensor, tachogenerator and drag cup respectively
Machine is connected.
Described ARM plates are realized to the driving of 12V drag cups reducing motor and the reading of sensing data.
Described ATOM mainboards realize the storage and processing of data, the motion control of motor and self-positioning.
The course of work of the present embodiment is：
The first step, is turned on the power switch, starting device, respectively to image capture module 1, sensor assembly 2, communication module
3rd, control module 4 and memory module 5 are initialized.
The described initialization of image capture module 1 refers to：Start immediately ahead of camera, adjustment camera angle to level.
Described sensor assembly 2 is initialized, including：Start infrared sensor, ultrasonic sensor, electronic compass, touch
Sensor and tachogenerator are hit, variable, constant and data type needed for each sensor is defined.
Described communication module 3 is initialized, and is comprised the following steps：
1) communication structure between multiple agent is defined；
2) role of each intelligent body in a network is determined according to communication structure；
3) client communication module 9 sends connection request to specified server end communication module 8；
4) server end communication module 8 is responded, and connection is set up, and generates Socket passages.
The initialization of control module 4 includes：Control method is arranged into decision-making submodule 10 and by 12V drag cup reducing motors
Speed is reset.The described initialization of memory module 5 is to define environmental information memory 12 and multiple agent status register 13, right
The normal data storage of ARM plates and ATOM mainboards, XML file is initialized.
Second step, while starting image capture module 1, sensor assembly 2 and communication module 3.
After described image capture module 1 starts, circulation performs following steps：
1) image obtained with the frequency collection camera of setting；
2) image is handled using target identification method；
3) result is sent to environmental information memory 12, and returned 1).
After described sensor assembly 2 starts, circulation performs following steps：
1) data acquisition module 6 is performed with the frequency of setting, including infrared sensor, ultrasonic sensor, electronic compass,
The numerical value of crash sensor and tachogenerator is read；
2) all types of sensor data values are sent to environmental information memory 12, while by electronic compass and testing the speed
The numerical value of sensor is sent to self-positioning module 7；
3) self-positioning module 7 exports the position coordinates of current time intelligent body, is sent to multiple agent status register 13,
And return 1).
After described communication module 3 starts, circulation performs following steps：
1) client request：Client communication module 9 is sent to server end communication module 8 obtains asking for its status data
Ask order；
2) server end is responded：Server end communication module 8 receives to ask and transfer in multiple agent status register 13
The part related to itself is sent to client communication module 9；
3) client process：Client communication module 9 receives information and is stored in the multiple agent status register 13 of oneself
Relevant portion；
4) client is responded：Client communication module 9 is by part related to itself in multiple agent status register 13
Send server end communication module 8 to；
5) server-side processes：Server end communication module 8 receives information and is stored in the multiple agent state storage of oneself
The relevant portion of device 13；
6) server end confirms：Server end communication module 8 is sent completely the letter of data interaction to client communication module 9
Number amount, and return 1).
3rd step, after three modules described in second step start one second, starts control module 4.
After described control module 4 starts, circulation performs following steps：
1) decision-making submodule 10 reads the environmental information in environmental information memory 12 and multiple agent status register 13
With multiple agent information；
2) data that decision-making submodule 10 is obtained according to system task to previous step are analyzed, and control command is sent to
Implementation sub-module 11；
3) implementation sub-module 11 makes corresponding behavior according to the control command received；
4) behavioural information is sent to multiple agent status register 13 by implementation sub-module 11, and is returned 1).
After the completion of 4th step, the task of multi-agent cooperative control system, log off, comprise the following steps：
1) decision-making submodule 10 judges after the completion of going out on missions that transmission is ceased and desisted order to implementation sub-module according to mission requirements
11；
2) 12V drag cup reducing motor speed is set to zero by implementation sub-module 11；
3) behavioural information is sent to multiple agent status register 13 by implementation sub-module 11；
4) decision-making submodule 10 is according to the information in the multiple agent status register of renewal, make log off certainly
Plan, closes application program.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, although with reference to foregoing reality
Apply example the present invention is described in detail, for those skilled in the art, it still can be to foregoing each implementation
Technical scheme described in example is modified, or carries out equivalent substitution to which part technical characteristic.All essences in the present invention
God is with principle, and any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (8)
1. a kind of intelligence control system, it is characterised in that including image capture module, sensor assembly, communication module, control mould
Block and memory module, described image acquisition module is connected with memory module transmits visual information, the sensor assembly and storage
Module, which is connected, transmits perception information, the state letter for the intelligent body that the communication module is connected with memory module in transmission communication set
Breath, the control module is connected with memory module transmits the oneself state information and environmental information of intelligent body；
The data acquisition module includes infrared sensor, ultrasonic sensor, electronic compass, crash sensor and the sensing that tests the speed
Device, the communication module includes server end communication module and client communication module, and the server end communication module is with depositing
Module is stored up wirelessly to be connected status information of the transmission as the intelligent body of server, the client communication module and memory module without
Line, which is connected, transmits the status information of the intelligent body as client.
2. a kind of intelligence control system according to claim 1, it is characterised in that the infrared sensor and memory module
The range information that the transmission infrared sensor that is connected is measured, the ultrasonic sensor is connected with memory module transmits supersonic sensing
The range information that device is measured, the electronic compass is connected transmission of angle information with memory module, the crash sensor and storage
Module, which is connected, transmits collision information, and the tachogenerator is connected with memory module transmits the velocity information of intelligent body.
3. a kind of intelligence control system according to claim 2, it is characterised in that the tachogenerator and self-setting die
Block is connected the velocity information of transmission intelligent body, and electronic compass is connected transmission of angle information with self-positioning module.
4. a kind of intelligence control system according to claim 1, it is characterised in that the control module includes decision-making submodule
Block and implementation sub-module, the decision-making submodule be connected with implementation sub-module transmission control command information, the decision-making submodule with
Memory module is connected transmission environment information and multiple agent status information, and the implementation sub-module transport behavior that is connected with memory module is believed
Breath.
5. a kind of intelligence control system according to claim 1, it is characterised in that the memory module includes environmental information
Memory and multiple agent status register, the environmental information memory respectively with image capture module and sensor assembly phase
Even transmission environment information, multiple agent status register is connected transmission with sensor assembly, communication module and control module respectively
Multiple agent status information.
6. a kind of intelligence control system according to claim 1, it is characterised in that the sensor assembly includes number
According to acquisition module and self-positioning module, the data acquisition module is connected with memory module transmits perception information, data acquisition module
Be connected transmission speed information and azimuth information with self-positioning module, self-positioning module be connected with memory module transmission intelligent body it is current
Positional information.
7. a kind of intelligence control system according to claim 1, it is characterised in that the server end communication module and visitor
Family end communication module, which is wirelessly connected, intercourses the status information of intelligent body.
8. a kind of intelligence control system according to claim 1, it is characterised in that described image acquisition module is shooting
Head.
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| CN201710410598.5A CN107065700A (en) | 2017-06-03 | 2017-06-03 | A kind of intelligence control system |
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| CN201710410598.5A CN107065700A (en) | 2017-06-03 | 2017-06-03 | A kind of intelligence control system |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101853006A (en) * | 2010-04-17 | 2010-10-06 | 上海交通大学 | Multi-agent cooperative control system |
| CN104345652A (en) * | 2014-09-23 | 2015-02-11 | 燕山大学 | Multi-agent parallel control communication system |
| CN205594576U (en) * | 2016-01-15 | 2016-09-21 | 中山市欧丽莎珠宝首饰有限公司 | Control ring is felt to agent |
| CN106227208A (en) * | 2016-07-29 | 2016-12-14 | 浙江大学 | A kind of intelligence control system based on multiple agent and method |
| CN106444771A (en) * | 2016-10-25 | 2017-02-22 | 吉林大学 | ZigBee-based simulated multi-agent coordination controlling method |
-
2017
- 2017-06-03 CN CN201710410598.5A patent/CN107065700A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101853006A (en) * | 2010-04-17 | 2010-10-06 | 上海交通大学 | Multi-agent cooperative control system |
| CN104345652A (en) * | 2014-09-23 | 2015-02-11 | 燕山大学 | Multi-agent parallel control communication system |
| CN205594576U (en) * | 2016-01-15 | 2016-09-21 | 中山市欧丽莎珠宝首饰有限公司 | Control ring is felt to agent |
| CN106227208A (en) * | 2016-07-29 | 2016-12-14 | 浙江大学 | A kind of intelligence control system based on multiple agent and method |
| CN106444771A (en) * | 2016-10-25 | 2017-02-22 | 吉林大学 | ZigBee-based simulated multi-agent coordination controlling method |
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