CN107941277A - One kind is based on unpiloted multiple-sensor integration control and monitoring system and method - Google Patents
One kind is based on unpiloted multiple-sensor integration control and monitoring system and method Download PDFInfo
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- CN107941277A CN107941277A CN201711220428.7A CN201711220428A CN107941277A CN 107941277 A CN107941277 A CN 107941277A CN 201711220428 A CN201711220428 A CN 201711220428A CN 107941277 A CN107941277 A CN 107941277A
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C11/04—Interpretation of pictures
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The invention based on unpiloted multiple-sensor integration control and monitoring system and method, be made of sensing module networked control systems, data processing centre and big data computing platform；Several sensing modules of sensing module networked control systems at least gather the related data information of surrounding visible image information, meteorological gaseous environment, soil conditions, water conservancy water quality situation and equipment, obtain source signal and are transmitted to data processing module；Source signal is processed into image digitization information by data processing module, is transmitted to central processing unit；After the central processing unit of data processing centre is classified image digitization information, a part sends the local pretreatment system of data processing centre to；Remainder is respectively issued to display layer, storage layer and emission layer, and emission layer gives stored data sending to big data computing platform；Big data computing platform, which docks received data message, to be analyzed, and draws optimal processing scheme.Realize the monitoring of whole Unmanned Systems' relevant information.
Description
Technical field
The invention is related to information data monitoring field, more particularly to a kind of to be based on unpiloted multiple-sensor integration
Control and monitoring system.
Technical background
Monitoring technology make be information science an important composition, its with computer technology, automatically control and the communication technology
Etc. the integral framework that together form information technology.Enter today of information age in the mankind, all social activitieies of people are all
It is centered on acquisition of information and information conversion.It is to realize and sensor is as acquisition of information and the important means of information conversion
One of information-based basic technology, the viewpoint of " without sensor just without modernization science and technology " have been approved by the whole world.
Therefore, using sensor as core integrated control monitor system just as people nerve as sense organ, continuously to the mankind
Macroscopic view and a variety of information of microcosmos are provided, become people's knowledge of natural environment, nature remodeling tool, be widely used in
The fields such as industry, agricultural, national defence and scientific research.
With the association areas such as the appearance of modern unmanned technology, unmanned vehicle, unmanned boat, unmanned plane be increasingly becoming it is new
Developing direction.Certainly, the sensor accuracy higher of unmanned requirement, speed faster, reliability it is more steady, this be undoubtedly to whole
The bigger challenge of monitoring system.
The content of the invention
The purpose of the invention be to provide a kind of control and monitoring system based on unpiloted multiple-sensor integration and
Method, realize it is existing it is unmanned in three-dimensional environment, meteorological gaseous environment, soil environment, water quality monitoring, equipment in itself
Performance monitoring etc. unitized multi information monitoring, realize it is unmanned in centralized information perceive.
The present invention based on unpiloted multiple-sensor integration control and monitoring system, adopt the following technical scheme that in realization
State goal of the invention：
One kind is based on unpiloted multiple-sensor integration control and monitoring system, by sensing module networked control systems, data
Processing center and big data computing platform three parts composition；
The sensing module networked control systems include at least gathering surrounding visible image information, meteorological gaseous environment, soil
State, multiple sensing modules of water conservancy water quality situation and equipment element information and the information to collecting carry out conversion process
Data processing module；The sensing module of each individually key element corresponds to a data processing module, each key element each independence into
Row information gathers and data processing, to realize that modular unitization works；
The data processing centre includes central processing unit and local pretreatment system, and the central processing unit, which receives, to be perceived
The information for each modular unit that Modular control system is sent simultaneously is classified, and is sent to local pretreatment system and is carried out in advance
Processing；After the completion of pretreatment, local decision-making layer is sent result to, local decision-making layer can be made according to the information transmitted
Corresponding order decision-making；The central processing unit at the same time sends out the information that need not issue local pretreatment system of reception respectively
Give display layer, storage layer and emission layer；According to the situation of transmission bandwidth, emission layer is by required data sending to big number
According to computing platform；
The big data computing platform is used for the information that sends over central processing unit, at the calculating by computing platform
Reason, draws corresponding execution information, is sent to decision-making level's response.
Preferably to implement the invention, the display layer transfers obtained data message at any time, forms visualization
Display interface；The storage layer storage information, ensures the integrality of data.
The present invention's controls monitoring method based on unpiloted multiple-sensor integration, adopts the following technical scheme that：
One kind is included the following steps based on unpiloted multiple-sensor integration control monitoring method：
Step 101, some sensing modules of sensing module networked control systems at least gather surrounding visible image information, meteorology
Gaseous environment, soil conditions, the related data information of water conservancy water quality situation and equipment, obtain source signal；
Each sensing module sense of autonomy answers external information, and obtained corresponding source signal is passed at corresponding data
Module is managed, realizes the control mode of modular unit；
Gained source signal is carried out modularization conversion process into image digitization information, transmission by step 102, data processing module
To central processing unit；
After step 103, the central processing unit of data processing centre are classified the image digitization information of gained, a part
Send the local pretreatment system of data processing centre to, local information processing is carried out by local pretreatment system, after having handled
It is immediately sent to decision-making level and makes feedback；Remainder is respectively issued to display layer, storage layer and emission layer, and emission layer will be stored up
The data sending deposited gives big data computing platform；
Step 104, big data computing platform, which dock received data message, to be analyzed, and draws optimal processing scheme.
Further, data processing centre's display layer can transfer obtained data message at any time, form visualization circle
Face；Storage layer storage information, ensures the integrality of data.
The main function of the invention is the monitoring for whole Unmanned Systems' relevant information, discloses body-ring
Collaborative work rule between border-annex, so as to establish the multi-sensor monitoring system of Efficient intelligent, is improved unmanned
Security, reliability, Accuracy and high efficiency.
Brief description of the drawings
Embodiment or technical solution of the prior art in order to illustrate more clearly of the invention, below will be to implementing
Example or attached drawing needed to be used in the description of the prior art do a simple introduction.
Fig. 1 is the structure diagram of unpiloted multiple-sensor integration control and monitoring system.
Fig. 2 is the individual module work flow diagram of unpiloted multiple-sensor integration control and monitoring system.
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 attached drawing, clear, complete description is carried out to the technical solution in the embodiment of the present invention, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art
The all other embodiment obtained without making creative work, belongs to the scope of protection of the invention.
The embodiment of the invention is provided based on unpiloted multiple-sensor integration control and monitoring system, Neng Goutong
Cross multiple sensors and gather various information, using modular control mode, information data that centralized displaying is perceived.Specifically
, including sensing module networked control systems, data processing centre and big data computing platform；Wherein sensing module networked control systems
Multiple sensing modules and the information to collecting including at least gathering meteorology, soil, environment and equipment element information carry out
The data processing module of conversion process；The sensing module of each individually key element corresponds to a data processing module, each key element
It is each independent to carry out information gathering and data processing, to realize that the sensing module networked control systems are worked with modular unit.
Data processing centre includes central processing unit and local pretreatment system, and central processing unit receives sensing module networked control systems hair
The information of each modular unit come is simultaneously classified, and is transferred to local pretreatment system respectively, display layer, storage layer and
Emission layer；Local pretreatment system is simply pre-processed, such as the image/video transmission caused by transmission bandwidth is asked
Topic, it is necessary to local carry out calculating processing, with realize it is unmanned in automatic obstacle-avoiding anticollision purpose.Display layer transfers institute at any time
Obtained data message, forms visualization display interface；Storage layer storage information, ensures the integrality of data.Emission layer is by institute
The data sending of storage gives big data computing platform；It cannot will carry out integrating fortune in the relevant information of local pretreatment system processing
Calculation is handled, and the data message of gained can be shown with synthesization and autonomy-oriented decision-making judges.Such as vibration analysis complete vehicle fault, according to
Frequency spectrum calculates coupled vibration rule, draws operating status of related components etc..The big data computing platform will receive number
It is believed that breath is analyzed, optimal processing scheme is drawn, then send decision-making level to.
With reference to Fig. 1, the invention embodiment provide based on unpiloted multiple-sensor integration control and monitoring system
During work, include the following steps：
Step 101, sensing module, that is, different sensors group are arranged at institute's carrying equipment and gather all relevant data in itself
Information, obtains source signal；
Sensor group meeting sense of autonomy answers external information, will obtain corresponding source signal and passes to corresponding data processing
Module.
Gained source signal is carried out modularization conversion process into image digitization information by step 102, data processing module；
Using the control mode of modular unit, each sensing module corresponds to respective data processing module.Each sense
Know that module is uniformly sent to central processing unit after completing respective task.
Such as in vision system, radar sends wave beam, wave beam runs into barrier and reflects, according to the feelings fired back
Condition, data processing module pass through computing, are shown as picture, and laser radar can accurately obtain the distance of barrier, millimetre-wave radar
Can accurate barrier position shape, infrared viewing device can perceive peripheral information, ultrasonic radar in the case of dark
More environment sensings applied under the harsh weather such as sleet, camera can be used cooperatively between each other with distinguishing colours information etc.,
The reliability of visual perception system, accuracy can be improved.
Step 103, the data transfer of central processing unit and processing；
After central processing unit is classified the information of gained, a part sends local pretreatment system to, by local pre-
Processing system carries out local information processing, and decision-making level is immediately sent to after having handled and makes feedback.Remainder is respectively issued to show
Show layer, storage layer and emission layer, display layer can transfer obtained data message at any time, form visualization interface.Storage
Layer storage information, ensures the integrality of data.Emission layer gives stored data sending to big data computing platform.
The analyzing and processing of step 104, big data computing platform；
The big data computing platform of the present embodiment, which docks received data message, to be analyzed, and draws optimal processing side
Case.
The present embodiment is monitored all relevant informations during unmanned, such as the working environment of automatic Pilot agricultural machinery
Humiture, moisture, beneficial gas concentration, the ph values of harmful gas concentration and soil, humiture, moisture, heavy metal and support
Divide content, the identification of agricultural machinery and implement and state Monitor in time.Abnormal sound and indirect vision ring when also carrying equipment works
The monitoring in border.By system described in innovation and creation, draw required relevant information data, pinpoint the problems in time, to solve agriculture
Produced problem provides reliable foundation in industry production.Its all relevant information is uploaded to agriculture big data computing platform, leads to
Cross the operational analysis of agriculture big data computing platform, so as to select optimum long-term cropping, give optimal Plant plane and
Production decision, improves Agricultural development quality and yield.
Equally, system described in the invention to unmanned boat (machine) also in this way, can be to ship (machine) body and ship (machine) body institute
The ambient water quality at place is monitored, and the hydrology (geography) environment is surveyed and drawn.
As shown in Fig. 2, when the invention embodiment turns to cell operation with individual module, include the following steps：Sensing
Device group gathers corresponding source information, and the source information of gained is carried out signal processing by its corresponding data processing module, obtains visual
Or readable image digitization information.Central processing unit is passed to, central processing unit classifies the image digitization information of gained, needs
Processing locality sends local pretreatment system to, and decision-making level is passed to after the completion of pretreatment.The storage for needing storage to show
Deposit display.Need to be sent to big data computing platform is sent to big data computing platform, and big data computing platform passes through a system
The complex calculation of row, draws corresponding conclusion, passes to decision-making level.
By the description of above example mode, those skilled in the art should be recognized that each embodiment can be by
Software adds the mode of necessary general hardware platform to realize.Based on such understanding, above-mentioned technical proposal is substantially in other words
The part to contribute to the prior art can be embodied in the form of software product, and software product can be stored in accordingly
On storage medium, such as computer equipment (personal computer, an intelligence can be used in CD, ROM/RAM, FR-1 and FR-2
Energy mobile phone, server, the network equipment, printed circuit board (PCB) etc.) perform described in some parts of each embodiment or embodiment
Method.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that；It still may be used
To modify to the technical solution described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic,
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical solution spirit and
Scope.
Claims (4)
1. one kind is based on unpiloted multiple-sensor integration control and monitoring system, it is characterized in that：Controlled by sensing moduleization and be
System, data processing centre and big data computing platform three parts composition；
The sensing module networked control systems include at least gathering surrounding visible image information, meteorological gaseous environment, soil conditions,
Water conservancy water quality situation and multiple sensing modules of equipment element information and the information to collecting carry out the data of conversion process
Processing module；The sensing module of each individually key element corresponds to a data processing module, and each key element is each independent into row information
Collection and data processing, to realize that modular unitization works；
The data processing centre includes central processing unit and local pretreatment system, the central processing unit receive sensing module
The information for each modular unit that networked control systems are sent simultaneously is classified, and is sent to local pretreatment system and is located in advance
Reason；After the completion of pretreatment, local decision-making layer is sent result to, local decision-making layer can make phase according to the information transmitted
The order decision-making answered；The central processing unit at the same time sends the information that need not issue local pretreatment system of reception respectively
To display layer, storage layer and emission layer；According to the situation of transmission bandwidth, emission layer is by required data sending to big data
Computing platform；
The big data computing platform is used for the information for sending over central processing unit, is handled by calculating, draws corresponding
Execution information, is sent to decision-making level's response.
2. according to claim 1 be based on unpiloted multiple-sensor integration control and monitoring system, it is characterized in that：It is described
Display layer transfers obtained data message at any time, forms visualization display interface；The storage layer storage information, ensures data
Integrality.
3. one kind controls monitoring method based on unpiloted multiple-sensor integration, it is characterized in that：Include the following steps：
Step 101, several sensing modules of sensing module networked control systems at least gather surrounding visible image information, meteorological gas
Body environment, soil conditions, the related data information of water conservancy water quality situation and equipment, obtain source signal；
Each sensing module sense of autonomy answers external information, and obtained corresponding source signal is passed to corresponding data processing mould
Block, realizes the control mode of modular unit；
Gained source signal is carried out modularization conversion process into image digitization information by step 102, data processing module, in being transmitted to
Central processor；
After step 103, the central processing unit of data processing centre are classified the image digitization information of gained, part transmission
To the local pretreatment system of data processing centre, local information processing is carried out by local pretreatment system, after having handled immediately
It is sent to decision-making level and makes feedback；Remainder is respectively issued to display layer, storage layer and emission layer, and emission layer will be stored
Data sending gives big data computing platform；
Step 104, big data computing platform, which dock received data message, to be analyzed, and draws optimal processing scheme.
4. it is according to claim 3 based on unpiloted multiple-sensor integration control monitoring method, it is characterized in that：It is described
Data processing centre's display layer can transfer obtained data message at any time, form visualization interface；The storage layer storage
Information, ensures the integrality of data.
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