CN110221610A - The intelligent operation system and operational method of unmanned engineering machinery - Google Patents
The intelligent operation system and operational method of unmanned engineering machinery Download PDFInfo
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Abstract
The intelligent operation system and operational method of unmanned engineering machinery, it is related to unmanned and field of intelligent control, solve existing engineering machinery in application process, due to heavy workload and working environment is severe, lead to the waste of human resources, working efficiency is low and operation accuracy is poor, the problems such as seriously endangering the physical and mental health of driver simultaneously and cannot achieve intelligent operation, with 3D landform in system of the invention, vehicle-state, task progress, operation medium and actual scene are input, using vehicle energy consumption and operating efficiency as optimization aim, improvement device operation mode is constantly adjusted based on deep learning method.Deep learning is as a kind of important method of artificial intelligence, when can make unmanned engineering machinery in face of the working medias of different complexity, different operative scenarios and different operation mode, it can be according to the data itself acquired, dynamic reasonably changes its job task and operation mode, improves its working efficiency, operating accuracy and reduces operating power consumption.
Description
Technical field
The present invention relates to unmanned and field of intelligent control, are related to a kind of unmanned, multi-machine collaborative work and intelligence
The engineering machinery of industry can be turned into, and in particular to a kind of the intelligent operation system and operational method of unmanned engineering machinery.
Background technique
Engineering machinery mainly includes excavator, loading machine, road roller, crane etc., is widely used in architectural engineering, hands over
Logical transport, the fields such as agriculture, forestry, water conservancy.There are the following problems for current engineering machinery:
1, engineering machinery working environment is severe, and noise is big, pollution is big, and road surface is rugged and rough to easily cause overturn accident, sternly
The physical and mental health of driver is endangered again.
2, engineering machinery heavy workload, most of work belong to repeated labor for driver, cause manpower money
The waste in source.
3, when driver operation engineering mechanical solid applies job task, working efficiency is lower, and operation accuracy is poor, can not be
The mode of intelligent adjustment operation handle is in job task to achieve the purpose that save energy.
4, the intelligent operation of engineering machinery needs real-time perception work landform and environment, but only in engineering machinery
Camera is installed, has certain blind area, and the vibration of engineering machinery will affect shooting effect.
Summary of the invention
The present invention is to solve existing engineering machinery in application process, and due to heavy workload and working environment is severe, causes
The waste of human resources, working efficiency is low and operation accuracy is poor, at the same seriously endanger driver physical and mental health and can not
The problems such as realizing intelligent operation, provides the intelligent operation system and operational method of a kind of unmanned engineering machinery.
The intelligent operation system of unmanned engineering machinery, including unmanned plane, unmanned engineering machinery and be based on cloud computing
Control centre；
The unmanned plane is used to acquire the terrain data of unmanned engineering machine work, and the work terrain data of acquisition is passed
Transport to unmanned engineering machinery, the unmanned engineering machinery is by received data and itself collecting work terrain data, barrier
Data and self-operating status data be transmitted to the control centre based on cloud computing after being summarized, described based on cloud computing
Control centre is transmitted to user after being analyzed and processed to the data of received unmanned engineering machinery；
The unmanned engineering machinery by received data and itself collecting work terrain data, barrier data and from
Body running state data realizes unmanned navigation, intelligent barrier avoiding, multimachine co-ordination and intelligent operation；
The unmanned engineering machinery includes the first sensing module, the first central control module, first communication module and first
Execution module；
The unmanned plane includes the second sensing module, the second central control module, second communication module and the second execution mould
Block；
The second sensing module acquisition data are transmitted to the second central control module；
Second central control module is transmitted to second communication module after handling data, and to the fortune of unmanned plane
Row status data is handled；The real-time geographic position data of unmanned engineering machinery of second communication module transmission is received simultaneously；
And control instruction is sent to the second execution module；
The second communication module sends data to the first communication module of unmanned engineering machinery, and receives the first communication
The real-time geographic position data of unmanned engineering machinery of module transfer；
Second execution module receives the control instruction that the second central control module is sent, and realizes that the normal of unmanned plane flies
Row；
The data of first sensing module acquisition are transmitted to the first central control module, and the first communication module will be in first
All data in the control module of centre are uploaded to cloud computing control centre in real time, and receive cloud computing control centre assigns finger
It enables；
After first execution module receives the control instruction of the first central control module, realize that the unmanned of engineering machinery is led
Boat, intelligent barrier avoiding and intelligent operation.
The intelligent operation method of unmanned engineering machinery, is realized by following steps:
Step 1: the 3D landform of unmanned plane work machine working environment, and nothing is transmitted to by second communication module
People's engineering machinery；
Step 2: the unmanned engineering machinery receives the data and adopt in real time according to the first sensing module that unmanned plane is sent
Collect vehicle-state, 3D landform, task progress, operation medium, actual scene and barrier data, and above-mentioned data are real-time
It is transmitted to data processing module and the control centre based on cloud computing；
Step 3: the engineering machinery is planned according to data processing module, the dynamic task in the first central control module
The calculation process of module, unmanned navigation module and intelligent barrier avoiding module sends control instruction to the first execution module；
After first execution module receives instruction, unmanned engineering machinery realizes unmanned navigation and intelligent barrier avoiding,
Go to job site；
Step 4: intelligent operation module is according in deep learning model after the unmanned engineering machinery reaches job site
Convolutional neural networks model adjustment improve operation mode, realize the intelligent operation of unmanned engineering machine work device, and
By data processing module of the task progress Real-time Feedback into the first central control module；
First central control module passes through first communication module for the geographical location of unmanned engineering machinery, vehicle-state
Data and task progress msg are transmitted to the control centre based on cloud computing；
The unmanned engineering mechanical data uploaded based on the control centre of cloud computing according to the first central control module into
Row centralized management, and long-range control and multi-machine collaborative work order can be issued to unmanned engineering machinery.
Beneficial effects of the present invention:
The present invention is based on the methods of unmanned plane, unmanned, artificial intelligence and cloud computing, design one can nobody drive
It sails, the engineering machinery of multi-machine collaborative work and intelligent operation.The invention has the characteristics that:
One, intelligent operation system of the present invention realizes that unmanned plane and unmanned engineering machinery cooperate:
Unmanned plane utilizes the working environment 3D landform of video camera and the real-time gathering project machinery of camera, and is transferred to prosthetic
Journey is mechanical, it is assisted to complete dynamic task planning, unmanned navigation and equipment intelligent operation task.Unmanned plane and nothing
The collaborative work of people's engineering machinery can eliminate the shooting blind area of camera in engineering machinery, can also eliminate engineering machinery
Vibrate the influence for causing camera shake to bring shooting quality.
Two, intelligent operation system of the present invention can simultaneously cooperate with the unmanned engineering machinery of multi items multi-quantity and complete
Task: the present invention can realize the collaborative work to the unmanned engineering machinery of multi items multi-quantity, energy by cloud computing control centre
It is enough to rationalize distribution job task, the operating efficiency of numerous engineering machinery is improved, the activity duration is reduced, is reduced in operation process
Energy consumption.
Three, intelligent operation system of the present invention realizes unmanned navigation and the intelligent barrier avoiding energy of engineering machinery
The liberation for enough realizing human resources, also protects the influence for causing health to driver due to overturning, noise etc., and prosthetic
Journey machinery can be improved the working efficiency of engineering machinery with the work of whole day sleeplessness.
Four, it is situated between in intelligent operation system of the present invention with 3D landform, vehicle-state, task progress, operation
Matter and actual scene are input, using vehicle energy consumption and operating efficiency as optimization aim, are constantly adjusted and are changed based on deep learning method
Into equipment operation mode.Deep learning can make unmanned engineering machinery in face of not as a kind of important method of artificial intelligence
When with complicated working media (boulder, sundries, fine sand etc.), different operative scenarios and different operation mode, Dou Nenggen
According to itself acquire data, dynamic reasonably change its job task and operation mode, improve its working efficiency, operating accuracy and
Reduce operating power consumption.
Five, intelligent operation system of the present invention is based on cloud computing and manages unmanned engineering machinery concentratedly, can not only
Useful functional module is provided to different user, and can effectively solve the problem that big data storage and computational problem.Cloud computing control
The mode that center is charged with cloud service customizes different services to different user, can reduce the exploitation and administration fee of these users
With.And cloud computing control centre by useful data sharing to government department, manufacturer and component manufacturer etc., be convenient for him
To the reasonable employments of engineering machinery data.
Six, intelligent operation system of the present invention has scalability, passes through the unmanned navigation of design, intelligence
Avoidance, intelligent operation, multimachine co-ordination, joint unmanned plane work and based on cloud computing centralized management the methods of can not only
Apply in engineering machinery, and can effective expanded application on agricultural machinery and mining machinery.
Detailed description of the invention
Fig. 1 is the functional block diagram of the intelligent operation system of unmanned engineering machinery of the present invention；
Fig. 2 is unmanned plane and unmanned engineering machine in the intelligent operation system of unmanned engineering machinery of the present invention
The structural block diagram of tool；
Fig. 3 is the functional block diagram of unmanned plane in the intelligent operation system of unmanned engineering machinery of the present invention；
Fig. 4 is the component relationship schematic diagram of the first sensing module in unmanned engineering machinery；
Fig. 5 is the component relationship schematic diagram of the first central control module in unmanned engineering machinery；
Fig. 6 is the model structure based on deep learning；
Fig. 7 is the component relationship schematic diagram based on cloud computing control centre；
Fig. 8 is the process using the intelligent operation system intelligent operation of unmanned engineering machinery of the present invention
Figure.
Specific embodiment
Specific embodiment one illustrates that present embodiment, the intelligence of unmanned engineering machinery are turned into conjunction with Fig. 1 to Fig. 7
Industry system, including unmanned plane, unmanned engineering machinery and based on the control centre of cloud computing；The corresponding nothing of every frame unmanned plane
People's engineering machinery；
The unmanned plane is transferred data in the form of TCP/IP using the camera collecting work terrain data carried
Unmanned engineering machinery；Then unmanned engineering machinery summarizes the operating status number of data and itself acquisition that unmanned plane is sent to
According to the data such as, barrier and work landform；Then unmanned engineering machinery realizes unmanned navigation, intelligence based on the data summarized
Avoidance, multimachine co-ordination and intelligent operation；Unmanned engineering machinery passes the data summarized in the form of TCP/IP simultaneously
It is defeated by cloud computing control centre；Last cloud computing control centre is analyzed and processed the data of numerous unmanned engineering machinery, with
The form of cloud service is supplied to user by cell phone client, plate client and computer client and uses.
Illustrate present embodiment in conjunction with Fig. 2 and Fig. 3, the unmanned plane by the second sensing module, the second central control module,
Second communication module and the second execution module composition；
Second sensing module is responsible for acquiring data and is transmitted to the second central control module, including video camera,
Four part of holder, camera and sensor group.Video camera and camera collecting work place 3D terrain data, camera are fixed on holder
On, holder is a kind of device of stabilized camera, the angle that can also be shot with rotating camera.Sensor group acquires unmanned plane operation
Status data, the GPS module including gathering geographic position information perceive the sensor of flying speed and collect triaxial attitude angle
Gyroscope.
Second central control module is the brain of unmanned plane, is equipped with core processor and peripheral circuit, on the one hand negative
The 3D terrain data perceived is handled and is transferred to second communication module by duty, on the other hand to the operating status of unmanned plane
Data carry out calculation process, while handling the geographical location information of the unmanned engineering machinery from second communication module, realize
To the real-time control of the second execution module, to reach the normal flight of control unmanned plane.
Second communication module includes the modules such as 2G/GPRS/3G/4G, on the one hand by 3D terrain data in the form of TCP/IP
It is transferred to the first communication module of unmanned engineering machinery.On the other hand, it is responsible for receiving unmanned engineering machinery in real time by its position
Data are simultaneously transferred to the second central control module.
Second execution module includes motor, propeller and wing, receives the control instruction of the second central control module
Afterwards, the normal flight of unmanned plane is realized.
The unmanned engineering machinery is held by the first sensing module, the first central control module, first communication module and first
Row module composition.The first communication module includes the modules such as 2G/GPRS/3G/4G, on the one hand by first in the form of TCP/IP
All data in central control module are uploaded to the control centre based on cloud computing in real time.On the other hand, receive to come from real time
Instruction is assigned in the control centre based on cloud computing.First execution module includes steering wheel, brake, throttle and operation bar
Deng realizing unmanned navigation, intelligent barrier avoiding and the intelligence of engineering machinery after the control instruction for receiving the first central control module
It is turned into industry.
Embodiment is described with reference to Fig. 4, and first sensing module is responsible for acquiring data and is transmitted in first
Control module, including the first three-dimensional laser radar, vehicle monitoring module, computer vision module and working media is entreated to perceive mould
Block.
First three-dimensional laser radar is mounted on the surface and vehicle body two sides of engineering machinery driving cabin, before detecting
The distance and bearing information of side and two sides barrier.
The operating status of vehicle monitoring module real-time perception engineering machinery, including monitoring works machinery real-time geographical locations letter
The GPS module of breath obtains the real-time posture information of engineering machinery (inclination angle, pitch angle and each angular speed, each angular acceleration etc.)
Attitude transducer group, hydraulic relevant parameter in real-time perception engineering machinery (oil cylinder working-pressure, flow, the pressure of each fluid pressure line,
Flow, hydraulic oil temperature etc.) hydraulic control module, and collect engine related operating parameter (engine speed, coolant liquid
Temperature, oil temperature, fuel liquid level etc.) engine control module.
Computer vision module includes camera combination and image processing system, and camera combination includes multiple cameras,
For the 3D landform of gathering project machine work environment, image processing system is responsible for dividing the picture and video of working environment
Analysis processing.
The working media sensing module is used for the institute's operation in operation process of real-time gathering project machine work device
The relevant information of medium provides data base for the intelligent operation module based on deep learning in the first central control module
Plinth is made of the second three-dimensional laser radar, camera and ultrasonic wave hard sensor.Second three-dimensional laser radar Collecting operation is situated between
The distance and bearing information of matter, camera are used for the type (such as soil, rubble, wood, fine sand etc.) of discriminating job medium, surpass
The hardness of sound wave hardness transducer Collecting operation medium.Second three-dimensional laser radar, camera and supersonic hardness sensing
Device is mounted on equipment, and the equipment is exactly the mechanism of the execution operation of unmanned engineering machinery, such as: scraper bowl moves
Arm etc..
Embodiment is described with reference to Fig.5, and first central control module is the brain of unmanned engineering machinery, is equipped with core
Heart processor and peripheral circuit are based on artificial intelligence and unmanned technology, realize unmanned navigation, the intelligence of engineering machinery
The tasks such as avoidance and intelligent operation.First central control module include data processing module, dynamic task planning module, nobody
Driving navigation module, intelligent barrier avoiding module and intelligent operation module.
Data processing module be responsible for collect, processing the first sensing module transmission vehicle status data, operation media data,
The data such as Task Progress, working scene, 3D landform and obstacle information, and collect, the work of processing the second sensing module transmission
Make the 3D terrain data in environment.
Dynamic task planning module is according to operation medium, Task Progress, working scene and the 3D in data processing module
The data such as shape, dynamically plan the job task of engineering machinery in real time, and job task is transferred to intelligent operation module.With vehicle
State parameter is input, using vehicle energy consumption and operational efficiency as optimization aim, constantly adjusts improvement based on deep learning model
Unmanned air navigation aid makes engineering machinery constantly be driven to operation to constantly change the control to the first execution module
Place.Intelligent barrier avoiding module is in the unmanned navigation procedure of engineering machinery, based on the Chinese herbaceous peony and vehicle in data processing module
The obstacle distance and bearing data of body two sides constantly change the control to the first execution module, realize the intelligence of engineering machinery
Avoidance.The job task that the data and dynamic task planning module that intelligent operation module is detected with engineering machinery are assigned is defeated
Enter, using vehicle energy consumption and operating efficiency as optimization aim, is constantly adjusted based on the convolutional neural networks model in deep learning method
The intelligent operation for realizing engineering machinery into operation mode is rectified and improved, and gives task progress Real-time Feedback to data processing mould
Block.
Embodiment is described with reference to Fig.6, the first central control module by 3D landform, vehicle-state, task progress,
The data such as operation medium and actual scene are input in convolutional neural networks model as signal；It is extracted and is inputted based on convolution operation
The feature of signal obtains the important information in input signal, while filtering out unessential interference noise；Had based on pond operation handlebar
There is the adjacent node with identical information or close information to merge, the complexity of network model can be greatly reduced
And calculation amount, here the parameter information of input signal is abstracted and simplified by increasing pond layer after every layer of convolution；By repeating
After multiple convolution and pondization operation, intelligent operation module exports control instruction, and engineering machinery work is realized in drive magnetic valve work
The dynamic of device operation mode (such as different spading power, spading depth etc.) changes.
Embodiment is described with reference to Fig.7, based on the control centre of cloud computing by data storage layer, data center's layer and use
Family application layer composition.Data storage layer includes router and database server group, and router receives unmanned engineering by network
The data that machinery uploads, database server group is made of more database servers, in a manner of load balancing, shared
Store the task that router uploads data.The data of data center's layer one side analyzing and processing data accumulation layer are simultaneously uploaded to user
On the other hand application layer assigns the instruction in user application layer to unmanned engineering machinery.User application layer is responsible for providing the user with
Weblication, including being suitable for tablet computer, the website of computer and mobile phone and APP.
User application layer provides a user long-range monitoring, long-range control, performance evaluation, Yong Huguan in the form of cloud service
Reason, task statistics, decision recommendation, multimachine coordinate and the function services such as toll administration.
The long-range monitoring mainly allows the vehicle status data of the unmanned engineering machinery of user's remote real time monitoring, operation medium
The data such as data, Task Progress data, working scene data, 3D terrain data and obstacle information.The function supports history number
According to inquiry, facilitate user trace history task.
Long-range control for breaking down when engineering machinery, can not unmanned navigation when, issue control to engineering machinery
Instruction, remote command engineering machinery drives and operation.
Vehicle status data and Task Progress data of the performance evaluation based on unmanned engineering machinery, the driving to engineering machinery
Performance and transaction capabilities are analyzed, and allow user that can select suitable engineering machine according to the performance analysis report of engineering machinery
Tool does different tasks.
User management mainly includes the management to users such as owner, component manufacturer, manufacturer and control centres, including
Additions and deletions user changes user information, the functions such as change user right.User can remotely monitor owned engineering machinery and
Its working performance is analyzed, engineering machinery is repaired in time and daily maintenance；Component manufacturer and manufacturer can be long-range
All engineering machinery and analysis working performance under itself are monitored, these engineering machinery are managed in time.Control centre
It is the developer of the user application layer, possesses highest permission, all functional modules can be operated, is responsible for applying user
Daily maintenance, upgrading update of layer etc..
Task statistics be responsible for activity duration during each unmanned engineering machinery of statistics implements job task, operating efficiency,
Energy consumed by operation and task performance etc..
The functional modules such as the integrated long-range monitoring of the function of decision recommendation, performance evaluation and task statistics as a result, to difference
User provides auxiliary in the decision processes such as fault diagnosis, maintenance management, engineering machinery selection and job task distribution and suggests.
The effect that multimachine is coordinated are as follows: when task needs the engineering machinery of multi items multi-quantity to cooperate, the mould
Block can combine the data remotely monitored, reasonable distribution job task, and Xiang Butong engineering machinery assigns different assignment instructions.
The functional module of toll administration rents the function services in user application layer to different users with certain amount of money,
Realize that online charging, timesharing rent (monthly payment, Bao Jidu, packet year etc.), network payment (wechat payment, Alipay payment, Jingdone district branch
Pay etc.) etc. functions.
Specific embodiment two, embodiment is described with reference to Fig.8, present embodiment is using one institutes of specific embodiment
A kind of operational method of the intelligent operation system for the unmanned engineering machinery stated；Specifically realized by following steps:
Step 1: the 3D landform of unmanned plane work machine working environment, and nothing is transmitted to by second communication module
People's engineering machinery；
Step 2: the unmanned engineering machinery receives the data and adopt in real time according to the first sensing module that unmanned plane is sent
Collect vehicle-state, 3D landform, task progress, operation medium, actual scene and barrier data, and above-mentioned data are real-time
It is transmitted to data processing module and the control centre based on cloud computing；
Step 3: the engineering machinery is planned according to data processing module, the dynamic task in the first central control module
The calculation process of module, unmanned navigation module and intelligent barrier avoiding module sends control instruction to the first execution module；
After first execution module receives instruction, unmanned engineering machinery realizes unmanned navigation and intelligent barrier avoiding,
Go to job site；
Step 4: intelligent operation module is according in deep learning model after the unmanned engineering machinery reaches job site
Convolutional neural networks model adjustment improve operation mode, realize the intelligent operation of unmanned engineering machine work device, and
By data processing module of the task progress Real-time Feedback into the first central control module；
First central control module passes through first communication module for the geographical location of unmanned engineering machinery, vehicle-state
Data and task progress msg are transmitted to the control centre based on cloud computing；
The unmanned engineering mechanical data uploaded based on the control centre of cloud computing according to the first central control module into
Row centralized management, and long-range control and multi-machine collaborative work order can be issued to unmanned engineering machinery.
Intelligent operation method described in present embodiment, on the one hand by it is unmanned realize human resources liberation,
Protect the personal safety of driver；On the other hand the intelligent operation of engineering machinery equipment is realized based on artificial intelligence technology,
Improve the energy during homework precision, efficiency and saving job task.
In present embodiment, when task needs the unmanned engineering machinery intelligent work compound of multi items multi-quantity
When, by constructing the control centre based on cloud computing, numerous engineering machinery are managed and controlled by internet and cloud computing technology.
This cloud computing center can not only remote command dispatch numerous engineering machinery, and have long-range monitoring, long-range control, task
The functions such as statistics, performance evaluation and managerial integration.Cloud computing control centre is in the form of internet platform to unmanned engineering machinery
Producer, owner, repair company etc. provide the exploitation and administration fee that cloud service function reduces these users.
Claims (7)
1. the intelligent operation system of unmanned engineering machinery, including unmanned plane, unmanned engineering machinery and based on cloud computing
Control centre；It is characterized in that:
The unmanned plane is used to acquire the terrain data of unmanned engineering machine work, and the work terrain data of acquisition is transmitted to
Unmanned engineering machinery, the unmanned engineering machinery is by received data and itself collecting work terrain data, barrier data
And self-operating status data summarized after be transmitted to the control centre based on cloud computing, the control based on cloud computing
Center is transmitted to user after being analyzed and processed to the data of received unmanned engineering machinery；
The unmanned engineering machinery is by received data and itself collecting work terrain data, barrier data and itself transports
Row status data realizes unmanned navigation, intelligent barrier avoiding, multimachine co-ordination and intelligent operation；
The unmanned engineering machinery includes the first sensing module, the first central control module, first communication module and the first execution
Module；
The unmanned plane includes the second sensing module, the second central control module, second communication module and the second execution module；
The second sensing module acquisition data are transmitted to the second central control module；
Second central control module is transmitted to second communication module after handling data, and to the operation shape of unmanned plane
State data are handled；The real-time geographic position data of unmanned engineering machinery of second communication module transmission is received simultaneously；And to
Second execution module sends control instruction；
The second communication module sends data to the first communication module of unmanned engineering machinery, and receives first communication module
The real-time geographic position data of unmanned engineering machinery of transmission；
Second execution module receives the control instruction that the second central control module is sent, and realizes the normal flight of unmanned plane；
The data of first sensing module acquisition are transmitted to the first central control module, and the first communication module controls the first center
All data in molding block are uploaded to the control centre based on cloud computing in real time, and receive the control centre based on cloud computing
Assign instruction；
First execution module receive the first central control module control instruction after, realize engineering machinery unmanned navigation,
Intelligent barrier avoiding and intelligent operation.
2. the intelligent operation system of unmanned engineering machinery according to claim 1, which is characterized in that described first
Sensing module includes the first three-dimensional laser radar, vehicle monitoring module, computer vision module and working media sensing module；
First three-dimensional laser radar is mounted on the surface and vehicle body two sides of engineering machinery driving cabin, for detect front and
The distance and bearing information of two sides barrier；
The operating status of vehicle monitoring module real-time monitoring engineering machinery, including monitoring works machinery real-time geographical locations information
GPS module obtains the attitude transducer group of the real-time posture information of engineering machinery, the liquid of hydraulic parameter in real-time monitoring engineering machinery
Control module is pressed, and collects the engine control module of engine operating parameter；
The computer vision module includes camera group and image processing system, and the camera group includes multiple cameras,
For the 3D landform of gathering project machine work environment, image processing system is for dividing the picture and video of working environment
Analysis processing；
The working media sensing module includes the second three-dimensional laser radar, camera and ultrasonic wave hard sensor；Three-dimensional swashs
The distance and bearing information of optical radar Collecting operation medium, camera are used for the type of discriminating job medium, and the ultrasonic wave is hard
The hardness of matter sensor Collecting operation medium；Second three-dimensional laser radar, camera and supersonic hardness sensor are mounted on work
Make on device.
3. the intelligent operation system of unmanned engineering machinery according to claim 1, which is characterized in that described second
Sensing module includes video camera, holder, camera and sensor group；
The video camera and camera collecting work place 3D terrain data, camera are fixed on holder, and sensor group acquires nobody
The status data of machine operation；
The sensor group includes the GPS module of gathering geographic position information, obtains three axis of sensor and acquisition of flying speed
The gyroscope of attitude angle.
4. the intelligent operation system of unmanned engineering machinery according to claim 1, which is characterized in that described first
Central control module include data processing module, dynamic task planning module, unmanned navigation module, intelligent barrier avoiding module and
Intelligent operation module；
Vehicle status data, operation media data, task of the data processing module for the transmission of the first sensing module of acquisition process
Progress, working scene, 3D landform and obstacle information data, and the building ring for the transmission of the second sensing module of acquisition process
3D terrain data in border；
Dynamic task planning module is according to operation media data, Task Progress, working scene and the 3D in data processing module
Shape and obstacle information data, dynamically plan the job task of engineering machinery in real time, and the job task is transferred to intelligence
It can operation module；
The unmanned navigation module is consumed energy and is transported with vehicle using the vehicle status parameters in data processing module as input
Line efficiency is optimization aim, using the method for adjusting unmanned navigation based on deep learning model, realizes and executes mould to first
The control of block, makes engineering machinery be driven to operating location；
Intelligent barrier avoiding module is in the unmanned navigation procedure of engineering machinery, based on the Chinese herbaceous peony and vehicle body two in data processing module
Engineering machinery is realized in control of the obstacle distance and bearing data and the first central control module of side to the first execution module
Intelligent barrier avoiding；
Intelligent operation module receives the job task of dynamic task planning module transmission and the vehicle shape of data processing module transmission
State data, operation medium, Task Progress, working scene and 3D terrain data, using vehicle energy consumption and operating efficiency as optimization aim,
The mode for improving operation is constantly adjusted based on the convolutional neural networks model in deep learning method, realizes the intelligence of engineering machinery
It is turned into industry.
5. the intelligent operation system of unmanned engineering machinery according to claim 1, which is characterized in that the intelligence
Operation module is input to volume using 3D landform, vehicle-state, task progress, operation medium and actual scene data as signal
In product neural network model；The feature of input signal is extracted based on convolution operation, obtains the information in input signal, is based on pond
Operation handlebar is merged with the adjacent node with identical information or close information, by being repeated as many times convolution sum pond
After operation, intelligent operation module exports control instruction, drives the electromagnetic valve work in unmanned engineering machine work device, realizes nothing
The dynamic of artificial journey machine work device operation mode changes.
6. the intelligent operation system of unmanned engineering machinery according to claim 1, which is characterized in that described first
Execution module includes steering wheel, brake, throttle and operation handle, after the control instruction for receiving central control module 1, realizes work
Unmanned navigation, intelligent barrier avoiding and the intelligent operation of journey machinery.
Second execution module includes motor, propeller and wing, after the control instruction for receiving the second central control module, realizes nothing
Man-machine normal flight.
7. the operational method of the intelligent operation system of unmanned engineering machinery according to claim 1, characterized in that
This method is realized by following steps:
Step 1: the 3D landform of unmanned plane work machine working environment, and prosthetic is transmitted to by second communication module
Journey is mechanical；
Step 2: the unmanned engineering machinery receives the data that unmanned plane is sent and according to the real-time collecting vehicle of the first sensing module
State, 3D landform, task progress, operation medium, actual scene and barrier data, and by above-mentioned real-time data transmission
To data processing module and based on the control centre of cloud computing；
Step 3: the engineering machinery according in the first central control module data processing module, dynamic task planning module,
The calculation process of unmanned navigation module and intelligent barrier avoiding module sends control instruction to the first execution module；
After first execution module receives instruction, unmanned engineering machinery realizes unmanned navigation and intelligent barrier avoiding, goes to
Job site；
Step 4: intelligent operation module is according to the volume in deep learning model after the unmanned engineering machinery reaches job site
Product neural network model adjustment improves the mode of operation, realizes the intelligent operation of unmanned engineering machine work device, and by work
Make data processing module of the Task Progress Real-time Feedback into the first central control module；
First central control module passes through first communication module for the geographical location of unmanned engineering machinery, vehicle status data
And task progress msg is transmitted to the control centre based on cloud computing；
It is described to be collected based on the control centre of cloud computing according to the unmanned engineering mechanical data that the first central control module uploads
Middle management, and long-range control and multi-machine collaborative work order can be issued to unmanned engineering machinery.
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