CN108600346A - Intelligent carriage control system based on high in the clouds - Google Patents
Intelligent carriage control system based on high in the clouds Download PDFInfo
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- CN108600346A CN108600346A CN201810317828.8A CN201810317828A CN108600346A CN 108600346 A CN108600346 A CN 108600346A CN 201810317828 A CN201810317828 A CN 201810317828A CN 108600346 A CN108600346 A CN 108600346A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
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Abstract
Intelligent carriage control system based on high in the clouds, including high in the clouds control system and trolley competition platform, the trolley competition platform access the high in the clouds control system as server-side as client；The high in the clouds control system is equipped with high in the clouds and controls server, the high in the clouds control server includes high in the clouds data communication module, message transmitting module and movement decision-making module, and the trolley competition platform includes client data communication module, data perception module and Motor execution module.Moving of car and sensing data are analyzed by high in the clouds, powerful computing capability and intelligent decision analysis ability is provided for tradition trolley, helps to build more intelligent trolley competition platform.
Description
Technical field
The present invention relates to Study of Intelligent Robot Control fields, and in particular to a kind of intelligent carriage control system based on high in the clouds.
Background technology
Teen-age robot education has become important a member in domestic education of middle and primary schools market, combines robot in recent years
A variety of robot teaching products, especially robot car class product are extended in education.These products are main from form of play
Classification two major classes：Rider tournament and sports are matched, and rider tournament is mainly in conjunction with control, pattern-recognition, sensing technology, electronics, electrical, meter
The technology of multiple subjects such as calculation machine, machinery test car itself speed ability on single racing track.Athletic competition is then according to match
Scene is divided into robot soccer game, robot and mutually stabs every series such as balloon match, robot curling match.It is this kind of competing
The a certain spy of completion that skill is competed mainly in combination with the multiple technologies such as machine vision, pattern-recognition, communication, control or independence or group
Determine task.
Traditional intelligence trolley competition platform mostly uses the self-service decision scheme of conventional monomer trolley at present, that is, trolley itself of taking in competition
Have certain environment sensing ability, and complete data analysis and processing on this basis, finally realizes itself intelligent decision.But
The operational capability that is constrained to monomer trolley is insufficient, monomer trolley number of sensors is limited, dynamic sensing environment accuracy is insufficient
The problems such as so that the intelligent decision ability really realized by individual is limited, and it is not reasonable to show as trolley action planning.
Invention content
In view of situation above, in order to solve the problems, such as that above-mentioned technology exists, the present invention proposes one kind, and based on high in the clouds, (cloud is flat
Platform) intelligent carriage control system, effectively to enhance monomer trolley data acquisition, data analysis and the ability of intelligent decision.
To achieve the goals above, the intelligent carriage control system provided by the invention based on high in the clouds, it is competing in traditional trolley
It matches and increases high in the clouds control section in system-based, moving of car and sensing data are analyzed by high in the clouds, provided by force for tradition trolley
Big computing capability and intelligent decision analysis ability help to build more intelligent trolley competition platform.
Intelligent carriage control system according to the present invention based on high in the clouds, including high in the clouds control system and trolley contest are put down
Platform, the trolley competition platform access the high in the clouds control system as server-side as client；The high in the clouds control system is set
There is high in the clouds to control server, the high in the clouds control server includes that high in the clouds data communication module, message transmitting module and movement are determined
Plan module, the trolley competition platform include client data communication module, data perception module and Motor execution module；It is described
High in the clouds data communication module carries out data communication to obtain the biography of trolley in trolley competition platform with client data communication module
Feel data and exercise data, and moving of car instruction is issued to trolley competition platform by client data communication module；It is described
Message transmitting module is connect with high in the clouds data communication module and movement decision-making module to divide into row information real-time Transmission, message respectively
Hair and message subscribing；The movement decision-making module carries out data analysis, integrated decision-making and instruction and generates, and is forwarded by message
Module and high in the clouds data communication module are distributed to trolley competition platform；The data perception module passes through sensor connected to it
Module samples ambient condition information, and is sent to high in the clouds by user client communication module after sample information is digitized and controls
Control server；The Motor execution module receives the control that high in the clouds control system issues by client data communication module and refers to
It enables, and control instruction translation is transmitted to execution unit and drives vehicle motor.
Further, the sensor assembly includes that position sensor/velocity sensor/acceleration transducer/ultrasound passes
Sensor/infrared sensor/imaging sensor.
Preferably, the high in the clouds control server is connect by local area network/wireless network with trolley competition platform.
Preferably, the message transmitting module carries out long connection type message real-time Transmission free of discontinuities using MQTT agreements.
Preferably, the message transmitting module respectively specifies that the information that trolley competition platform uploads and downloads different
URL carries out Classification Management.
Preferably, the trolley competition platform passes through client data communication module and high in the clouds data communication module transmission hair
Trolley location/velocity/acceleration transducer information that cloth controls server to high in the clouds is opened as publicly-owned information towards all terminals
Subscription is put, ultrasound/infrared/image sensor information limits designated user as private information and subscribes to.
Preferably, each trolley in the high in the clouds control server for trolley competition platform is respectively provided with one group of movement
Decision and data analysis program, the movement decision and data analysis program subscribe to the private information of corresponding trolley and publicly-owned information
And the publicly-owned information of other trolleies, and synthesis makes a policy, generates instruction and be distributed to counterpart terminal trolley competition platform
On executed.
The intelligent carriage control system based on high in the clouds of the present invention, method are that high in the clouds control server can be respectively
The client trolley of trolley competition platform opens message and pushes thread, and client trolley is also separately turned on for uploading and reception disappears
The thread of breath；Client trolley is locally calling data perception module and sensor assembly connected to it respectively, collects surrounding
Environmental information and displacement information, and information data is uploaded to high in the clouds control service by the way of open or privately owned
Device is kept in local data base；High in the clouds controls the information data that each client of server analysis uploads, and formulates final fortune
Dynamic scheme；High in the clouds control server pushes the motion scheme according to the address that each client trolley is provided；Respectively
A client trolley executes the specified operation of motion scheme after receiving high in the clouds control server and pushing the message data assigned
Program instruction.
Further, it if client trolley keeps in the information data of collection to local data base, is serviced when high in the clouds controls
Device proceeds by when collecting data, data that client trolley will be cached by client data communication module in local data base
It is uploaded to high in the clouds and controls server into carry out Analysis of Policy Making.
Further, the information data that each client trolley of the high in the clouds control server analysis uploads, is formulated final
Motion scheme, including, high in the clouds control server analyze each client trolley institute respectively with the method for operation of multithreading first
The private information of upload, the process can be run in the respective decision-making process of each client trolley in the server；High in the clouds controls
Server analyzes the information that each client trolley is uploaded in public port again；Then high in the clouds controls server by public port
In the private information that is uploaded of information and each client trolley carry out comprehensive analysis, uploaded for each client trolley
Private information formulate final motion scheme.
Preferably, each client trolley is first after receiving high in the clouds control server and pushing the message data assigned
First message is judged and filtered, if judging no error in data, executes the program instruction of the specified operation of motion scheme.
According to the present invention is based on the intelligent carriage control systems in high in the clouds, trolley competition platform is as client access high in the clouds control
System processed is, it can be achieved that functions such as data acquisition, data upload, body movement controls.High in the clouds control system, can be real as server-side
Existing data summarization, data storage, data sharing, data analysis, control decision, instruction generates and the functions such as instruction issues.
To realize that the trolley control system based on high in the clouds, the present invention need to build cloud server, connect by local area network
Connect intelligent car systems.Divide high in the clouds, client and network transmission three parts specifically to introduce below and realizes step.
As a preferred solution of the present invention, PC machine can be used to build high in the clouds as server and access local for the present invention
Network, while intelligent car systems access consolidated network to realize that the data between cart system and high in the clouds are fast using wireless mode
Fast transfer function.
The present invention includes data communication module, message transmitting module, movement decision-making module in server-side.
Server-side data communication module of the present invention has the abilities such as agreement transmission, packet parsing, and high in the clouds and intelligence are realized with this
Data communication facility between energy cart system.It can get sensing data, the exercise data of trolley by communication module high in the clouds, together
When can issue moving of car instruction.
Server-side message transmitting module of the present invention has the functions such as information real-time Transmission, message distribution and message subscribing.Disappear
It ceases real-time Transmission and realizes that one using MQTT agreements Preferable scheme is that transmit, this mode using long connection type free of discontinuities
The real-time of message transmission can effectively be enhanced.Message distribution can realize sharing functionality of the same message between multiple client,
Multiple subscription addresses can be defined for different demands using the addresses URL subscribing manner, and it is total to help to realize different classes of information
Enjoy function.Message subscribing can subscribe to predefined permission on address according to different URL and determine user's access profile, effective guarantee
The safety of managing message distribution and distribution information.
Further, message transmitting module can use URL grouping managements according to type of message.One Preferable scheme is that will
The information that trolley competition platform uploads and downloads respectively specifies that different URL carries out Classification Management.Server-side is flat to trolley contest
The information of platform is generally action command information, is subscribed to such URL by trolley competition platform；Trolley competition platform extremely services
The information at end is generally data information, is issued by trolley competition platform, and corresponding data processor classification is subscribed to realize number
According to transmission and forwarding.Meanwhile trolley competition platform is published to the data information of server-side can also be divided into private information and publicly-owned letter
Two classes are ceased, the information such as position, speed, acceleration and the ultrasound of trolley itself can be used as publicly-owned information；Other sensors information
It can be used as private information.The URL of publicly-owned information publication can be subscribed to towards all open-destinations, and private information URL is only limited and referred to
Determine user subscription information.
The present invention services end motion decision-making module and has data analysis, integrated decision-making and instruction systematic function.This module
Positioned at server-side, interconnect with issue mechanism and trolley by the way that message is shared.For each competition trolley, server-side is right
Answer one group of movement decision and data analysis program, this decision and analysis program be responsible for subscribing to the private information of corresponding trolley and its
The publicly-owned information of his trolley, and comprehensive make a policy, generate to instruct and be distributed on counterpart terminal trolley competition platform and give
It executes.Respectively the corresponding analysis of competition trolley competition platform and decision-making process implementation method can be different from each other, and used match game
Verify the practical reasonability of each analysis and decision-making process.
Further, the present invention services the end motion decision-making module publicly-owned information ordered in decision and private information point
Position, operation and the perception state of trolley are not described.Wherein, the position comprising all competition trolleies in publicly-owned information, speed
And acceleration information；Private information includes mainly all kinds of heat transfer agents such as ultrasonic, the infrared and image of current trolley.
The present invention includes mainly data communication module, data perception module, Motor execution module in trolley competition platform.
Data communication module realizes data information mainly as client access service end in trolley competition platform of the present invention
In real time send and receive.One using MQTT agreements Preferable scheme is that complete both ends data transmission, this mode is in data
It can also be achieved client on the basis of real-time Transmission and ask communication function with server-side bi-directional data, convenient for data transmission and instruction
It sends, effectively enhances the flexibility of trolley remote control.
The main sensor die by being equipped on trolley competition platform of data perception module in trolley competition platform of the present invention
Block samples ambient condition information, realizes environmental information digitlization.One preferred embodiment is ultrasonic on trolley competition platform
Sensor is detecting target, infrared sensor to perceived position, imaging sensor observing ambient enviroment.The above sensing
The heat transfer agent collected can be distributed to server-side by device by communication module.
Motor execution module mainly receives what server-side issued by data communication module in trolley competition platform of the present invention
Control instruction, and motor driving instruction is translated into these instructions respectively and is transmitted to execution unit driving motor.By controlling electricity
The modes such as machine torque, exercise duration finally realize trolley control action.
After taking technology proposed by the present invention, the intelligent carriage control system according to the ... of the embodiment of the present invention based on high in the clouds
System, has the advantages that：
1) according to the present invention is based on the intelligent carriage control system in high in the clouds, enhance trolley data acquisition, data analysis with
And the ability of intelligent decision, it can more sufficiently and reasonably plan trolley action, the trolley contest for contributing to structure more intelligent is flat
Platform.
2) it according to the present invention is based on the intelligent carriage control systems in high in the clouds, is realized using the control model in high in the clouds a set of more
The automatic game playing system of trolley, each trolley is by sensor real-time collecting environmental information in system, and summarizes to cloud server, cloud
End server is responsible for each moving of car state of comprehensive analysis, and commands trolley real time kinematics behavior by default decision-making process.Base
Trolley control mode in high in the clouds can make full use of more extensive cloud computing resource in Analysis of Policy Making, to realize more
Add complicated decision motion algorithm, there is the artificial intelligence become apparent compared with traditional mode.Meanwhile moving of car decision part
It can independently define beyond the clouds, facilitate each contestant's real-time update decision-making process when building matching system.It is this to be based on high in the clouds
Control mode can shield the details of operation of low-level hardware, allow player to focus more on decision-making process design, give full play to each
The programming capability of player.
3) according to the present invention is based on the intelligent carriage control systems in high in the clouds, information can be passed through in service end motion decision-making module
Shared mechanism realizes real-time communication with corresponding trolley competition platform.It is put down in server-side rather than in trolley contest due to decision-making module
Platform one end so that decision-making module has more analysis advantages as compared with the past.First, it can be used in the analysis module of server-side
The server of x86 frameworks has abundanter analysis foundation frame compared with trolley end.Secondly, server-side can combine cloud meter
It calculates framework and transfers more parsers calculated and storage resource realization is more complicated.Again, it can be obtained in real time in server-side
All competition trolley shared subscription according to this and competition field environmental information, facilitate integrated decision-making to analyze.Finally, due to decision journey
Sequence and trolley competition platform are relatively independent, and each team participating in the contest is facilitated to obtain unified competition hardware and easily control interface.
Description of the drawings
Fig. 1 is the intelligent carriage control system Organization Chart based on high in the clouds of the embodiment of the present invention；
Fig. 2 is the data perception module status calculation procedure schematic diagram of the embodiment of the present invention；
Fig. 3 is the motion state computing function schematic diagram of the embodiment of the present invention；
Fig. 4 is that the information of the embodiment of the present invention calculates and execute instruction program schematic diagram；
Fig. 5 is the multithreading implementation flow chart of the client communication and execution of the embodiment of the present invention；
Fig. 6 is the multithreading implementation flow chart of the communication and decision of the server-side of the embodiment of the present invention；
Fig. 7 is the multi-thread transmission schematic diagram in the system of the embodiment of the present invention；
Fig. 8 is the information full dose shared mechanism schematic diagram of the embodiment of the present invention；
Fig. 9 is the message part shared mechanism schematic diagram of the embodiment of the present invention；
Figure 10 is the information delay shared mechanism schematic diagram of the embodiment of the present invention；
Figure 11 is that the information of the embodiment of the present invention combines shared mechanism schematic diagram；
Figure 12 is the operation schematic diagram of the embodiment of the present invention.
Specific implementation mode
The present invention is described in further detail for the embodiment provided below in conjunction with attached drawing.Described embodiment packet
It includes and helps the various details that understand, but they can only be counted as being illustratively a part of the embodiment of the invention, and
The embodiment being not all of.Unless otherwise defined, the technical term or scientific term used herein is should be belonging to the present invention
The ordinary meaning that the personage with general technical ability is understood in field.Meanwhile it in order to keep specification more clear succinct, will omit
Pair it is well known that technology, function, module and construction detailed description.
As shown in Figure 1, the intelligent carriage control system based on high in the clouds, including competition platform client 101 and high in the clouds control
Server 102.The competition platform client 101 is by the connection type of 4G or Wi-Fi, in a certain LAN or internet
It is connect with high in the clouds control server 102.
The competition platform client 101 further comprises client data communication module 103, data perception module
104, Motor execution module 105 and sensor assembly 106.The high in the clouds control server 102 further comprises high in the clouds data
Communication module 107, message transmitting module 108, movement decision-making module 109.
Further, the client data communication module 103 of competition platform client 101, main function are clients
Real-time reception and the transmission of data information are realized in access service end.This module can also be real on the basis of real-time data transmission
Existing client asks communication function with server-side bi-directional data, is sent convenient for data transmission and instruction.
Further, the data perception module 104 of competition platform client 101, main function are the rings around perception
Border information, the sensor assembly 106 being equipped with by competition platform client 101 sample ambient enviroment, the letter acquired
Breath can be distributed to server-side 102 by client data communication module 103, to realize environmental information digitization.
Further, the Motor execution module 105 of competition platform client 101, main function are to complete high in the clouds control
The decision instruction that server 102 is assigned, and the executable instruction of motor is translated into these instructions respectively, motor is transferred to execute,
It is final to realize trolley controlled motion.
Further, the high in the clouds data communication module 107 of high in the clouds control server 102, main function are to realize high in the clouds
Control the data communication facility between server 102 and competition platform client 101.This module controls server 102 beyond the clouds
In in sensing data, the exercise data for obtaining trolley, while can also assign movement instruction to trolley.
Further, the message transmitting module 108 of high in the clouds control server 102, main function is will to be needed between system
The message of transmission carries out real-time Transmission, effectively distribution, and the message subscribed to needs carries out stablizing the functions such as subscription.
Further, the movement decision-making module 109 of high in the clouds control server 102, main function are taken in competition to each
Trolley carries out movement decision and Data Analysis Services.This decision and analytic process be responsible for subscribing to the private information of corresponding trolley with
And the publicly-owned information of other trolleies, and comprehensive make a policy, generate instruction and pass through data communication module 107 and data forwarding module
108, it is distributed to counterpart terminal trolley competition platform client 101 and is executed.
Data perception module 104 is equipped with sensor assembly 106, is mainly used for realizing that game environment carries out information collection.
The module is mainly erected on client trolley, and trolley will be measured to ambient enviroment in gambling process and data are adopted
Collection, and by the information temporary storage sensed in local data base.When needing to upload environmental data or exercise data, client is small
Data in local data base are uploaded to server by Che Zehui by Wi-Fi communication modes, and are carried out by cloud server 206
Comprehensive analysis decision-making treatment.
As shown in Fig. 2, data perception module 104 is at least provided with an environment information acquisition submodule 201, the environment
Information collection submodule 201 includes 204 (machine vision of automatic tracking system 202, range-measurement system 203 and place sensory perceptual system
System), the module can be also associated with the motion state calculation procedure 205 being arranged in cloud server 206 in addition.The cloud
End server 206, which can be separately provided and control 102 data connection of server, or both with high in the clouds, to integrate.
Further, automatic tracking system 202, main function are the requirements that can complete part games, mainly
Sensor, which is acquired, by vehicle-mounted various environment completes automatic tracking function.
Further, range-measurement system 203, main function are incuded in time around oneself vehicle body in games progress
The range information of object.
Further, place sensory perceptual system 204, main function is to aid in vehicle perception competition area, by vehicle rich
It is limited within space for activities when playing chess.
Further, motion state calculation procedure 205 is also possessed in cloud service end 206, main function is to calculate ring
The moving of car information uploaded in border information collection submodule 201, can be required according to program to the speed of each trolley into
Row integral, obtains the traveling displacement of the trolley within certain time；Or acceleration is integrated, obtain the speed of trolley this moment
Information.
As shown in figure 3, the motion state computing function of high in the clouds control server 102, is mainly used for trolley in computing system
The exercise data uploaded, and the motion state by obtaining trolley at this time to the analysis of exercise data.Competition platform client
The home environment information database 301 of corresponding client is equipped in 101, with 302 data connection of cloud server, cloud server
Motion state calculation procedure 305 is set in 302.The cloud server 302 can be separately provided and control server with high in the clouds
102 data connections, or both integrate.
The client home environment information database 301 passes through wireless transmission connection type and the cloud service
Device 302 is connected.
The motion state computing function of the server-side further comprises, to the integral algorithm 304 of speed, to acceleration
Integral algorithm 305.
Further, the home environment information database 301 in client is mainly used for temporarily storing the client trolley
Measured environmental information and movable information, wherein environmental information are mainly the range information of car body and vehicle body surrounding objects,
And movable information is then mainly including the acceleration in the travel speed and motion process of client trolley at this time.
Further, the motion state calculation procedure 305 in cloud server is mainly used for calculating in client trolley institute
The movable information of biography, the speed of service that a certain moment trolley is calculated according to speed and accelerometer or client in certain time
Hold trolley traveling distance, can also be analyzed according to corresponding acceleration information the client trolley whether acceleration or deceleration.
As shown in figure 4, data communication module, main completion message is multipair as transfer function.This function module includes client
Hold trolley A407, client trolley B408 and cloud server 401.Described client trolley A408, B409 and cloud server
Realize that message is connected to by the way of wireless transmission between 401.The cloud server 401 can be separately provided and be controlled with high in the clouds
102 data connection of control server, or both integrates.
The client trolley A408, client trolley B409 further comprise environment information acquisition module 4010, visitor
The communication connection module 4011 at family end, Motor execution module.The message that the cloud server further comprises server-side connects
Receive and push away hair function module 402, judge filtering function 403, data information analysis calculating function module A404 sum numbers it is believed that
Breath analysis calculates function module B405.
Further, the data information analysis of server-side calculates function module A404, data information analyzes computing function mould
Block B405, mainly for the treatment of client trolley A408, client trolley the B409 environment uploaded or exercise data information, and
Its calculated speed of institute or displacement information are subjected to integrated decision-making together with environmental information, it is specific to show that trolley needs execute
Movement instruction.
Further, client trolley A408, the communication module 4010 of client trolley B409 and environment information acquisition mould
Block 4011 is mainly used for environment and motion information acquisition and upload, the data of Analysis of Policy Making is provided to high in the clouds so that client is small
Vehicle A408, client trolley B409 can execute relative motion instruction.
Further, the Motor execution module of client trolley A408, client trolley B409, is mainly used for executing service
The assigned movement instruction in end, client will use vehicle-mounted motor driving apparatus or other correlations in specific implementation process
Telecontrol equipment is completed instruction and is required in real time.
As shown in figure 5, client communication and the multithreading of execution are realized, client trolley is receiving the mistake with upload message
The method of operation of multithreading is used in journey, implementation step is as follows：
Step 501, environment information acquisition and record motion state are carried out, will be called in specific implementation process vehicle-mounted
Various sensor.
Step 502, judge whether to need to upload sensed environmental information, if yes then follow the steps 503, be uploaded to
In server, if it is otherwise, continuing information collection.
Step 504, while passing message on the client, client will open another thread, for receiving from clothes
The instruction that business end is sent out.
Step 505, dependent instruction is executed according to received message.
As shown in fig. 6, the communication of server-side and the multithreading of decision realize that cloud server is being collected and PUSH message
The method of operation of multithreading has been used in the process, and implementation step is as follows：
Step 601, it can establish and connect with the customer end A in system after server-side is opened.
Step 602, it can establish and connect with the customer end B in system after server-side is opened.
Step 603, it after establishing connection with customer end A, can monitor whether customer end A sends out message, and complete to disappear to sending out
The monitoring work of breath.
Step 604, it after establishing connection with customer end B, can monitor whether customer end B sends out message, and complete to disappear to sending out
The monitoring work of breath.
Step 605, server carries out comprehensive analysis filtering and decision-making treatment to the message received.
Step 606, customer end A will be pushed to suitable for the decision information of customer end A.
Step 607, customer end B will be pushed to suitable for the decision information of customer end A.
As shown in fig. 7, in system multithreading transmission mode, including client trolley and cloud server, this system exist
The communication control mode of multithreading is used between server-side and client, this multi-threaded architecture is in client trolley A701, visitor
Between family end trolley B702 and cloud server 703, can complete message push under the premise of be effectively prevented congestion information and
Situations such as transmission pipeline ruptures.The multi-threading correspondence framework includes client trolley A701, client trolley B702, high in the clouds
Server 703 runs on decision-making process 704 on server.The cloud server 703 can be separately provided and be controlled with high in the clouds
102 data connection of control server, or both integrates.
Further, client trolley A701, client trolley B702 will be uploaded to message in cloud server 703
Corresponding port, which can be public port or privately owned port, and is mainly used for client and transmits information to server-side.
Further, cloud server 703 is after receiving the message that each client trolley is uploaded, it will information unification
It gives decision-making process 704 and carries out analyzing processing, which has stronger motor pattern analysis ability, decision-making treatment ability etc..
Further, decision-making process 704 can use the message distribution mode of multithreading after completing analysis decision, according to
The push address that each client trolley is provided pushes out message, is no longer interfered with each other between multithreading during push,
The steady transmission of message is ensured.
Further, when client trolley A701, client trolley B702 receive the message that server-side 703 is assigned again,
The mode for also using multithreading, realize on one side to server-side 703 send environmental information, on one side receive server-side 703 under
The movement instruction reached.
As shown in figure 8, the information full dose shared mechanism in message transmitting module, the mechanism are deployed in the communication link in system
Connection module includes client trolley and cloud server, may be implemented information between the rwo directly interconnect and visitor
Indirect messages connection between the trolley of family end.In addition under the mechanism, the information that each client trolley can also be uploaded
It is shared to carry out full dose so that each client trolley message and server-side transmitted between can receiving are assigned
Dependent instruction.
Described information full dose shared mechanism includes client trolley A701, client trolley B702, cloud server
703, the decision-making process 704 on server is run on.The cloud server 703 can be separately provided and be controlled with high in the clouds and be serviced
102 data connection of device, or both integrates.
Further, related news are uploaded to cloud server by client trolley A, and are integrated by cloud server
Analysis decision processing, push messages to client trolley A again after obtaining instruction results.
Further, it is shared to use full dose when to client trolley A push dependent instructions and data for cloud server
Mechanism, therefore other client trolleies in system will all receive the shared instruction and related data.Institute in system
There is client trolley by connecting the cloud server at central node, the indirect communication of information each other may be implemented.
Further, during full dose is shared, client trolley A701 and client trolley B702 can receive clothes
Business device is pushed to mutual all information, therefore the strategy of action imitation or synchronous traveling may be used in Analysis of Policy Making.
As shown in figure 9, the message part shared mechanism in message transmitting module, the mechanism is mainly by the communication mould in system
Block is completed, and includes client trolley A904, client trolley B905 and cloud server 901.Present mechanism is set up in client
Between server-side, intercommunication is realized by subscribing to related subject or publication related news each other, and message is realized using multiport
Receiving and transmitting mode, ensure can carry out message circulation between the two under the premise of, the portion of critical message in completion system
Divide shared.
Communication module between the client and server-side includes cloud server 901, the ends A integrated data processing work(
It can module 902, the ends B integrated data processing function module 903, client trolley A904, client trolley B905.The high in the clouds clothes
Business device 901, which can be separately provided and control 102 data connection of server, or both with high in the clouds, to integrate.
Further, client trolley A904, client trolley B905, main function are that each client trolley can root
The public port issued according to cloud server 901 uploads the information that can respectively disclose part；At the same time each client trolley
Also the information of Private Parts can be uploaded to cloud service according to the privately owned port that cloud server 901 is the setting of each trolley
Device 901.Therefore the communication module can also protect the privacy portion of respective client trolley while information discloses in safeguards system
Divide message privacy.
Further, the ends the A integrated data processing function module 902 in cloud server 901, the integrated data processing of the ends B
Function module 903, main function be carried out using all information that the analysis mode of multithreading uploads each trolley it is comprehensive
Analysis decision is closed, and can have been ensured each using the information received from privately owned port as important reference when Analysis of Policy Making
The decision that a client is made after analyzing with can receiving server adaptation to local conditions, combines environmental information, key component
Information and coordinate information formulate game strategies.
As shown in Figure 10, the information delay shared mechanism in message transmitting module, the mechanism are deployed in the communication in system
Include client trolley and cloud server in link block.Under present mechanism, client trolley can be directed in game and need
Message to be sharing is shared into line delay.So that rival is when moving decision, can not receive at the first time client it
Between timely information.
The shared function of the delay includes cloud server 1001, client trolley A1002, client trolley
B1003 is broadly divided into service end part and client part.The cloud server 1001 can be separately provided and be controlled with high in the clouds
102 data connection of control server, or both integrates.
Further, client trolley A1002 or client trolley B1003 uploads environmental information, main function be
Upload message simultaneously at the public port that cloud server is provided, and by the multithreading method of operation in client trolley,
Allow server in the first-hand message for received when integrated decision-making the client trolley and being uploaded.
Further, cloud server 1001 will not set delay when to client trolley upload information, directly to being received
Message carries out Analysis of Policy Making and relevant Decision information is pushed to corresponding client trolley A1002 or client trolley B1003.
Further, cloud server 1001 to game opponent's trolley when carrying out message push, it will open in push
Delay is set during data, the delay time set under normal circumstances does not exceed 1 second.Between this scheme will be
Know that other side's information collected sets obstacle, can ensure the timely and effective property of itself received data to a certain extent.
As shown in figure 11, the information in message transmitting module combines shared mechanism, which is deployed in the communication link of system
Include client trolley and cloud server in connection module, enumerate above-mentioned all information proclaiming mechanisms, such as full dose is total to
Enjoy 1101, partial sharing 1102, delay shared 1103.In the case where combining shared mechanism, client trolley can be according to needed for itself
The autonomy-oriented adjustment of shared mechanism is carried out with game strategies.
The client trolley further includes user's access function, and the cloud server includes related judge or competition
The access function of player.
Further, user's access function in client trolley, main function are to provide voluntarily to adjust for entrant
The interface of whole client trolley data sharing degree and sharing mode, allows contestant to be absorbed in the deployment of strategy and tactics, more
Focus on improving code writing level.
Further, several alternative shared mechanisms under composition mechanism, 1) full dose shared 1101 will be information
The all clients trolley being pushed in system, 2) partial sharing 1102 will will according to specific data and relative clients end trolley
Data push targeted specifically, and 3) it is delayed to share 1103 and decision information or other data informations can be delayed and share again after a certain period of time
Give other client trolleies.
Further, delay shared 1103 can be real under the premise of carrying out full dose shared 1101 or 1102 ground of partial sharing
The strategy of delay is applied, such as message full dose is shared in system, some client also sets delay and shares, although message is final
Plenary session is known by opponent, but receives only client of relevant Decision information at the first time.
Further, full dose shared 1101 and partial sharing 1102 can alternately, by using the operation of multithreading
Mode, which is realized, to be alternateed, to the more data of opponent to achieve the effect that interfere its conventional Analysis of Policy Making.
Such as the operation schematic diagram that Figure 12 is the embodiment of the present invention, may be implemented simply to be won between the trolley of access system
The effect played chess.
Assuming that it is respectively trolley A, trolley B to have accessed two trolleies in this system.Cloud server can be respectively two visitors
Family end trolley opens message and pushes thread, and client trolley can also be separately turned on the thread for uploading and receiving message.
Trolley A first, trolley B can be respectively in local transfer environment information acquisition systems, for collecting the institute around trolley
There is the movable information of environmental information and oneself, and message is uploaded to cloud server by the way of open or privately owned.It receives
Collect after can be used for the data of decision, it will be temporarily stored in home environment information database.
When cloud server, which proceeds by, collects data, client trolley can allow in local data base in the data cached
It is transmitted to cloud server and carries out Analysis of Policy Making.
Then, the cloud server meeting each client of comprehensive analysis, detailed process are：Cloud server can be used more first
The method of operation of thread analyzes the private information that A, B vehicle are uploaded respectively, the process can A, B vehicle in the server each self-decision
It is run in program.Then cloud server analyzes the information that A, B vehicle are uploaded in public port again, and cloud server can be by this portion
Divide information and previous private information comprehensive analysis.The last result of decision will integrate the information of all clients upload, and
Final motion scheme is formulated for the private information that specific client is uploaded.
Then server-side can carry out scheme according to the address that trolley A, B are provided after obtaining final motion scheme
Push.Trolley A, B will judge message and be filtered, and specify this and disappear first after receiving the message that server-side is assigned
Breath because of transmission without leading to error in data, it is possible to prevente effectively from the data jump and data brought because of hardware fault is unstable
Fixed, the result obtained after differentiation will be the program instruction that trolley is finally run.
Such as trolley A senses that there is object in car body front, at the same time vehicle-mounted related sensor or electric appliance can be shown
The speed of service and acceleration of trolley A at this time.But trolley B, which is not sensed in front of car body, at this time object, vehicle-mounted electric appliance
Can real-time display trolley B at this time the speed of service and acceleration.
Then, the environmental information sensed and the movable information monitored can be temporarily stored into home environment information by trolley A
In database, related data is uploaded again in the uplink time of setting.The movable information that trolley B then can will only be monitored
It is temporarily stored into local data base, again uploads data in the uplink time of setting.
Then after cloud server receives trolley A, the data that trolley B is uploaded, according to their speed and acceleration
Degree calculates separately out the vehicle traveling displacement in the speed of service and certain section of setting time of a certain moment trolley.And basis respectively
Their acceleration show that trolley is in the state of acceleration or deceleration.
Then the decision-making process in cloud server can be believed according to motion state current trolley A and the environment sensed
Breath, and the motion state of trolley B is combined to carry out game instruction decision.Therefore server-side attack forward and can give it the gun
Instruction is directly pushed to A vehicles, and this message delay is shared to trolley B.At the same time server-side can directly be pushed to trolley B
It is accelerated forwardly the instruction that traveling is hidden, and this message delay is shared to trolley A.
Then when trolley A sensing is more and more closer at a distance from the trolley B of car body front, trolley A can be by this information from local
Database is uploaded to cloud server, is assigned to trolley A via server after cloud server integrated decision-making and evades backward and subtract
The instruction of speed traveling, this information will not share to trolley B by as the private message in partial sharing.Therefore trolley B is still
Traveling can be accelerated forwardly.
Above process can briefly embody Comprehensive Control of this system to trolley so that be carried out between each trolley
Game strategy is crossed swords or is defended, and therefrom embodies by the lower games with diversity and enjoyment of high in the clouds control, preferably
Play educational training effect.
Claims (10)
1. a kind of intelligent carriage control system based on high in the clouds, which is characterized in that flat including high in the clouds control system and trolley contest
Platform, the trolley competition platform access the high in the clouds control system as server-side as client；
The high in the clouds control system is equipped with high in the clouds and controls server, and the high in the clouds control server includes high in the clouds data communication mould
Block, message transmitting module and movement decision-making module, the trolley competition platform includes client data communication module, data perception
Module and Motor execution module；
The high in the clouds data communication module carries out data communication to obtain in trolley competition platform with client data communication module
The sensing data and exercise data of trolley, and moving of car is issued to trolley competition platform by client data communication module and is referred to
It enables；
The message transmitting module is connect with high in the clouds data communication module and movement decision-making module to be passed in real time into row information respectively
Defeated, message distribution and message subscribing；
The movement decision-making module carries out data analysis, integrated decision-making and instruction and generates, and passes through message transmitting module and cloud
End data communication module is distributed to trolley competition platform；
The data perception module samples ambient condition information by sensor assembly connected to it, and sampling is believed
High in the clouds is sent to by user client communication module after breath digitlization and controls server；
The Motor execution module receives the control instruction that high in the clouds control system issues by client data communication module, and will
The control instruction translation is transmitted to execution unit driving vehicle motor.
2. a kind of intelligent carriage control system based on high in the clouds according to claim 1, which is characterized in that the sensor
Module includes in position sensor/velocity sensor/acceleration transducer/sonac/infrared sensor/imaging sensor
One or more kinds of combinations.
3. a kind of intelligent carriage control system based on high in the clouds according to claim 1 or 2, which is characterized in that the cloud
End control server is connect by local area network/wireless network with trolley competition platform.
4. a kind of intelligent carriage control system based on high in the clouds according to claim 1 or 2, which is characterized in that described to disappear
It ceases forwarding module and long connection type message real-time Transmission free of discontinuities is carried out using MQTT agreements.
5. a kind of intelligent carriage control system based on high in the clouds according to claim 1 or 2, which is characterized in that described to disappear
The information that trolley competition platform uploads and downloads is respectively specified that different URL carries out Classification Management by breath forwarding module.
6. a kind of intelligent carriage control system based on high in the clouds according to claim 2, which is characterized in that the trolley is competing
Match platform is published to the trolley that high in the clouds controls server by client data communication module and the transmission of high in the clouds data communication module
Location/velocity/acceleration transducer information is subscribed to as publicly-owned information towards all open-destinations, ultrasound/infrared/image sensing
Device information limits designated user as private information and subscribes to.
7. a kind of intelligent carriage control system based on high in the clouds according to claim 6, which is characterized in that the high in the clouds control
Each trolley in control server for trolley competition platform is respectively provided with one group of movement decision and data analysis program, the fortune
Dynamic decision and data analysis program subscribe to the publicly-owned information of the private information and publicly-owned information and other trolleies of corresponding trolley, and
It is comprehensive to make a policy, generate to instruct and be distributed on counterpart terminal trolley competition platform and executed.
8. a kind of intelligent carriage control system based on high in the clouds according to claim 1, method are, high in the clouds control clothes
Business device can be respectively that the client trolley of trolley competition platform opens message push thread, and client trolley, which is also separately turned on, to be used for
Upload and receive the thread of message；
Client trolley is locally calling data perception module and sensor assembly connected to it respectively, collects the environment of surrounding
Information and displacement information, and information data is uploaded to high in the clouds control server or temporary by the way of open or privately owned
It deposits to local data base；
High in the clouds controls the information data that each client of server analysis uploads, and formulates final motion scheme；If client is small
Vehicle keeps in the information data of collection to local data base, when high in the clouds, control server proceeds by collection data, client
Trolley by client data communication module by the data cached in local data base be uploaded to high in the clouds control server into
Row Analysis of Policy Making；
High in the clouds control server pushes the motion scheme according to the address that each client trolley is provided；
Each client trolley executes motion scheme and refers to after receiving high in the clouds control server and pushing the message data assigned
Surely the program instruction run.
9. a kind of intelligent carriage control system based on high in the clouds according to claim 8, which is characterized in that the high in the clouds control
Control server analyzes the information data that each client trolley uploads, and formulates final motion scheme, including, high in the clouds control service
Device analyzes the private information that each client trolley is uploaded respectively with the method for operation of multithreading first, which can service
It is run in the respective decision-making process of each client trolley in device；High in the clouds control server is analyzed each client trolley and is uploaded again
To the information in public port；Then control server in high in the clouds is uploaded the information in public port with each client trolley
Private information carry out comprehensive analysis, the private information uploaded for each client trolley formulates final motion scheme.
10. a kind of intelligent carriage control system based on high in the clouds according to claim 8, which is characterized in that each client
It holds trolley after receiving high in the clouds control server and pushing the message data assigned, message is judged and is filtered first,
If judging no error in data, the program instruction of the specified operation of motion scheme is executed.
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Application publication date: 20180928 |