CN110308753B - Intelligent agricultural robot cloud control system and method - Google Patents
Intelligent agricultural robot cloud control system and method Download PDFInfo
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- CN110308753B CN110308753B CN201910489190.0A CN201910489190A CN110308753B CN 110308753 B CN110308753 B CN 110308753B CN 201910489190 A CN201910489190 A CN 201910489190A CN 110308753 B CN110308753 B CN 110308753B
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Abstract
The invention provides an intelligent agricultural robot cloud control system which comprises an intelligent terminal module, a protocol analysis module, an intelligent cloud module and an intelligent service module, wherein a user inputs an operation task to the system through the intelligent service module, the intelligent service module transmits task data to the intelligent cloud module, the intelligent cloud module transmits scheduling information to the intelligent terminal module through the protocol analysis module after decision is made, the intelligent terminal module can operate and upload the operation data, the data are uploaded to the intelligent cloud module through the protocol analysis module, the intelligent cloud module can adjust an operation plan according to the uploaded data and transmit the processed data to the intelligent service module for the user to check and monitor. Meanwhile, a control method of the intelligent agricultural robot cloud control system is provided. The invention can combine three technologies of cloud computing, artificial intelligence and big data, and effectively improve the automation degree and intelligence of the agricultural robot.
Description
Technical Field
The invention belongs to the technical field of control systems, particularly relates to a cloud control intelligent control system, and particularly relates to an intelligent agricultural robot cloud control system and method.
Background
With the aggravation of the aging of population and the change of labor force structure, the problem of 'who comes to land and how to land' of food safety in the relevant country becomes more prominent in China.
Through search and discovery, Chinese patent application publication No. CN109407667A, namely, an intelligent agricultural machinery control method and system, discloses an intelligent agricultural machinery solution based on a remote control technology, and the main content of the solution is that a sensor arranged on an agricultural machinery body acquires the position and the posture of the agricultural machinery, and then an operator remotely controls the agricultural machinery to operate according to information; chinese patent application publication No. CN108170104A, entitled "a highly intelligent agricultural machinery equipment and system", discloses an intelligent agricultural machinery system depending on a field track path, which can be used in cooperation with various types of agricultural machinery to complete various farmland operations, and primarily proposes the interconnection of agricultural machinery groups, but only information sharing. Through analysis of the published patent, it can be found that, up to now, the technical direction of the published intelligent agricultural machinery related technologies including the above retrieved patent applications is usually to remotely control agricultural machinery, and efficient interconnection among machines is not realized, so that information cannot be sufficiently shared, reasonable scheduling of an agricultural machinery group cannot be completed, and higher-level automation and unmanned realization cannot be realized.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an intelligent agricultural robot cloud control system and method, which can combine three technologies of cloud computing, artificial intelligence and big data, and effectively improve the automation degree and intelligence of an agricultural robot.
The invention is realized by the following technical scheme.
According to one aspect of the invention, an intelligent agricultural robot cloud control system is provided, which comprises an intelligent terminal module, a protocol analysis module, an intelligent cloud module and an intelligent service module; wherein:
the intelligent service module is used for uploading operation tasks to the intelligent cloud module;
the intelligent cloud module is used for making a decision on an input job task, generating scheduling information and outputting the scheduling information to the intelligent terminal module through the protocol analysis module; meanwhile, the protocol analysis module receives the operation data fed back by the intelligent terminal module, and adjusts the operation plan according to the operation data and outputs the operation plan to the intelligent service module through the protocol analysis module;
and the intelligent terminal module is used for executing the job task according to the scheduling information and uploading the job data to the intelligent cloud module through the protocol analysis module.
Preferably, the intelligent terminal module comprises an interconnection communication unit, an intelligent sensing unit, an edge calculating unit, a field control unit and an intelligent agricultural machinery unit; wherein:
the interconnection communication unit is used for realizing communication connection among the intelligent terminal module, the protocol analysis module and the intelligent cloud module;
the intelligent sensing unit is arranged on the intelligent agricultural machinery unit, comprises an agricultural machinery running state sensor and an environmental information sensor and is used for sensing the agricultural machinery running state and the environmental condition;
the edge calculation unit is used for preprocessing the sensor data and uploading the processed data to the intelligent cloud module;
and the field control unit controls the intelligent agricultural machinery unit to execute the operation task according to the scheduling information of the intelligent cloud module.
Preferably, the interconnection communication unit classifies and arranges the data and transmits the data according to a set plan.
Preferably, the site control unit controls the intelligent agricultural machinery unit to perform specific actions through the driver.
Preferably, the operating state of the agricultural machine at least comprises: any one or more of position, attitude, speed, direction, fuel or electricity, power, and coolant temperature.
Preferably, the environmental conditions comprise at least: any one or more of temperature, humidity, illumination, soil nutrient information and peripheral obstacle information.
Preferably, the edge calculation unit preprocesses the sensor data, and includes at least: any one or more items of judgment, data cleaning, desensitization, light weight deep report analysis, data caching, online synchronization and data compression.
Preferably, the protocol analysis module comprises a protocol feature library unit and an intelligent comparison analysis unit; wherein:
the protocol feature library unit is used for storing the transmission protocol data stream features;
and the intelligent comparison and analysis unit is used for comparing the uploaded data with the protocol data stream characteristics in the protocol characteristic library unit, analyzing the data into a uniform format after judging the protocol type and transmitting the uniform format.
Preferably, the smart cloud module includes: the system comprises a database, a knowledge base and an intelligent decision unit; wherein:
the database comprises an intelligent control algorithm library and an agricultural machinery control database, and the intelligent control algorithm library is used for storing an intelligent control algorithm; the agricultural machinery management and control database is used for storing intelligent terminal information and farmland environment information;
the knowledge base comprises a functional software generation base and a remote operation and maintenance model base, wherein the functional software generation base is used for storing development tools; the remote operation and maintenance model library is used for storing remote operation and maintenance models aiming at different agricultural environments;
the intelligent cloud module receives the operation tasks of the intelligent service module, under the condition of referring to the remote operation and maintenance model base of the knowledge base, the intelligent control algorithm base of the database and the agricultural machinery control database, the operation tasks are subjected to simulation calculation by using different control algorithms in the intelligent control algorithm base, the working time and the working quality of the operation tasks under the condition of using different control algorithms are obtained, and the working time and the working quality are output to the intelligent decision unit as calculation results;
the intelligent decision unit is used for comparing simulation calculation results of different control algorithms, namely working time and working quality, and selecting an optimal scheduling information from the simulation calculation results for use.
Preferably, the intelligent terminal information at least includes: any one or more of a data instruction transmission protocol, a type of operation task which can be completed, a size specification of an agricultural machine body and rated power of the agricultural machine.
Preferably, the intelligent decision unit further comprises a machine learning unit, and the machine learning unit is used for storing the generated scheduling information and providing a decision case for the intelligent decision unit to perform machine learning.
Preferably, the intelligent service module comprises an intelligent client unit, an intelligent operation and maintenance unit, a cluster scheduling unit, an equipment management unit and a resource management unit; wherein:
the intelligent client unit provides a management client for inputting job tasks;
the intelligent operation and maintenance unit reminds a user to maintain the intelligent terminal module according to the analysis of the operation data fed back by the intelligent terminal module by the intelligent cloud module;
the cluster scheduling unit realizes the scheduling of the intelligent terminal module by the user through the intelligent client unit;
the equipment management unit monitors the running state of the intelligent terminal module through the intelligent client unit;
and the resource management unit is used for managing farmland resources according to the farmland environment information stored in the intelligent cloud module.
Preferably, the intelligent terminal module comprises one or more intelligent agricultural robot devices.
Preferably, the protocol parsing module parses data according to different transmission protocols.
Preferably, the intelligent cloud module processes data and makes a decision by using a cloud computing technology.
Preferably, the intelligent service module provides a client for managing the whole system for a user.
According to a second aspect of the present invention, there is provided a control method of the intelligent agricultural robot cloud control system, which includes the following steps:
a user inputs an operation task through the intelligent service module and uploads the operation task to the intelligent cloud module;
the intelligent cloud module makes a decision on the job task, generates scheduling information and transmits the scheduling information to the intelligent terminal module through the protocol analysis module;
the intelligent terminal module carries out operation according to the scheduling information and uploads operation data to the intelligent cloud module in real time through the protocol analysis module;
the intelligent cloud module adjusts the operation plan in real time according to the uploaded operation data and outputs the operation plan to the intelligent service module through the protocol analysis module.
Preferably, the intelligent terminal module comprises an interconnection communication unit, an intelligent sensing unit, an edge calculating unit, a field control unit and an intelligent agricultural machinery unit; wherein:
sensor data obtained by sensing of the intelligent sensing unit are transmitted to the edge computing unit, the sensor data are transmitted to the interconnection communication unit after being preprocessed by the edge computing unit, the preprocessed data are uploaded to the intelligent cloud module through the protocol analysis module, the interconnection communication unit receives scheduling information sent by the intelligent cloud module analyzed by the protocol analysis module, the scheduling information is transmitted to the field control unit after being processed, and the field control unit controls the intelligent agricultural machinery unit to perform operation actions through the driver.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides an intelligent agricultural robot cloud control system and method, which are a cloud control technology of a robot intelligent agricultural machine, improve the technological content of science and technology in the agricultural industry through the application of Internet, artificial intelligence, big data and cloud computing, promote the change of the agricultural development mode in China from labor intensive type to intelligent science and technology type, simultaneously attract a great amount of high-knowledge and high-technology young people to engage in the agricultural industry, and effectively improve the automation degree and the intelligence of the agricultural robot.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic structural diagram and a schematic data information flow direction diagram of an intelligent agricultural robot cloud control system provided by an embodiment of the invention.
Detailed Description
The following examples illustrate the invention in detail: the embodiment is implemented on the premise of the technical scheme of the invention, and a detailed implementation mode and a specific operation process are given. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
The embodiment of the invention provides an intelligent agricultural robot cloud control system, and the system provided by the embodiment of the invention is explained in detail in the following by combining the accompanying drawings.
With reference to fig. 1, the system provided by the present invention has the following technical solutions:
as shown in fig. 1, the system provided in the embodiment of the present invention mainly includes four parts, namely, an intelligent terminal module, a protocol analysis module, an intelligent cloud module, and an intelligent service module, where the intelligent terminal module refers to an intelligent agricultural robot device (intelligent agricultural machine for short); the protocol analysis module is a module for analyzing different transmission protocols; the intelligent cloud module is a module for processing data information by using technologies such as cloud computing and making an intelligent decision; the intelligent service module provides a client for the user to manage the whole system. In the method provided by the embodiment of the invention, the data information flow among the modules flows as follows: the user inputs an operation task to the system through the intelligent service module, the intelligent service module transmits task data to the intelligent cloud module, the intelligent cloud module transmits scheduling information to the intelligent terminal module through the protocol analysis module after decision, the intelligent terminal module can carry out operation and implement uploading of the operation data, the data are uploaded to the intelligent cloud module through the protocol analysis module, the intelligent cloud module can adjust an operation plan according to the uploaded data and transmit the processed data to the intelligent service module for the user to check and monitor.
The intelligent terminal module mainly comprises five units, namely an interconnection communication unit, an intelligent sensing unit, an edge computing unit, a field control unit and an intelligent agricultural machine unit, wherein the interconnection communication unit is a unit which is communicated with the intelligent cloud module through a protocol analysis module, the intelligent sensing unit is various sensors arranged on an agricultural machine body in the intelligent agricultural machine unit, the edge computing unit is a part for preprocessing sensor data, the field control unit is a controller for directly controlling agricultural machine action in the intelligent agricultural machine unit, and the intelligent agricultural machine unit refers to an intelligent agricultural machine for agricultural operation. The data information flow between the units is as follows: the intelligent sensing unit senses the obtained sensor data and transmits the sensor data to the edge computing unit, the edge computing unit conducts preprocessing and then transmits the sensor data to the interconnection communication unit, the interconnection communication unit transmits the data to the intelligent cloud module through the protocol analysis module, the interconnection communication unit receives data information sent by the intelligent cloud module analyzed through the protocol analysis module and transmits the processed data information to the field control unit, and the field control unit controls the intelligent agricultural machinery unit to conduct specific actions through the driver. For each unit, the following is further explained: the intelligent agricultural machinery unit can be an intelligent agricultural machinery which is automatically modified by the existing common agricultural machinery, and can also be an unmanned agricultural machinery specially manufactured by manufacturers; the sensors in the intelligent sensing unit comprise an agricultural machinery running state sensor and an environmental information sensor, correspondingly, the information which can be sensed comprises two parts, one part is the running state of the agricultural machinery, including position, posture, speed, direction, fuel oil quantity or electric quantity, power, cooling liquid temperature and the like, the other part is environmental information, including temperature, humidity, illumination, soil nutrient information, peripheral obstacle information and the like, and the two parts of information are sensed by the corresponding sensors arranged on the body of the agricultural machinery; the edge computing unit is mainly used for preprocessing sensor data of the intelligent sensing unit, and preprocessing contents comprise judgment, data cleaning, desensitization, light-weight deep report analysis, data caching, online synchronization, data compression and the like; the field control unit is mainly used for carrying out field control, refining the instruction sent by the intelligent cloud module and carrying out specific behavior control on the intelligent agricultural machinery unit.
The protocol analysis module mainly comprises a protocol feature library unit and an intelligent comparison analysis unit. The protocol feature library unit is a database storing various transmission protocol data stream features, and the intelligent comparison and analysis unit compares data uploaded by the intelligent terminal module with protocol features in the protocol feature library unit, analyzes the data after judging the protocol type, and uploads the data to the intelligent cloud module after analyzing the data into data with a uniform format. The module has the function that the whole system can be compatible with more intelligent agricultural machinery hardware, and has no strict requirements on the transmission protocol of the intelligent agricultural machinery and even manufacturers.
The intelligent cloud module mainly comprises three parts, namely a database, a knowledge base and an intelligent decision unit. The database comprises an intelligent control algorithm library and an agricultural machinery control database, wherein different intelligent control algorithms are stored in the intelligent control algorithm library, the intelligent cloud module is connected with a job task of the operation scheduling service platform, under the condition of referring to the knowledge base and the database, the different intelligent control algorithms in the intelligent control algorithm library can be used for calculating the task, and the intelligent decision unit can compare results of the different algorithms, including completion time, completion quality and the like, and select an optimal scheduling scheme from the results for use. The agricultural machinery management and control database mainly stores different types, different manufacturers and information of intelligent equipment terminals with different purposes, and comprises a data instruction transmission protocol, operation types which can be completed, the size and the specification of a machine body and the like. The knowledge base stores a functional software generation base and a remote operation and maintenance model base, wherein the functional software generation base mainly stores some development tools, and a user can call components in the functional software generation base according to the actual needs of the user to customize the working program of the user, so that the purpose of customization is achieved. The storage has the long-range fortune dimension model to different agricultural environment in the long-range fortune dimension model storehouse, agricultural operation environment is very complicated, the north is mostly the dry land, and the south is mostly the paddy field, some operation environment is the plain, the topography is flat, and some operation environment are the mountain region, the topography is rugged, the sensor of intelligent terminal module is after uploading environmental data, intelligence high in the clouds module can be judged the environment, call corresponding model from the long-range fortune dimension model storehouse and use, in order to reach best operation effect. The intelligent decision part mainly refers to or calls contents in a database and a knowledge base to intelligently make an optimal decision, wherein machine learning is involved, and the intelligent decision part can learn previous good decision cases which can be obtained by a user in practice or can make a good result feedback through the machine decision.
The intelligent service module consists of an intelligent client unit, an intelligent operation and maintenance unit, a cluster scheduling unit, an equipment management unit and a resource management unit. The intelligent client unit refers to a system management application which can be installed on a client terminal such as a personal computer, a smart phone, a tablet computer, an intelligent wearable device and the like, and the intelligent operation and maintenance unit, the cluster scheduling unit, the device management unit and the resource management unit are all functions which can be realized by a user in the application to the whole system. The user can upload job tasks through the intelligent client unit, the job tasks are an entrance for interaction between the whole system and the user, and meanwhile, the user can call the rest four units through the intelligent client unit. The intelligent operation and maintenance unit is used for reminding a user of maintaining the intelligent agricultural machine through analysis of the intelligent cloud module on the operation data of the intelligent agricultural machine. The cluster scheduling unit can realize the scheduling of the intelligent farm machine cluster by the user through simple operation of the intelligent client unit. The device management unit is used for allowing a user to clearly see the running state of the device on the client unit only. The resource management unit is used for managing resources visually by a user through farmland environment information stored in the intelligent cloud module, such as soil information, crop information and the like.
The embodiment of the invention also provides a control method of the intelligent agricultural robot cloud control system, which comprises the following steps:
a user inputs an operation task through the intelligent service module and uploads the operation task to the intelligent cloud module;
the intelligent cloud module makes a decision on the job task, generates scheduling information and transmits the scheduling information to the intelligent terminal module through the protocol analysis module;
the intelligent terminal module carries out operation according to the scheduling information and uploads operation data to the intelligent cloud module in real time through the protocol analysis module;
the intelligent cloud module adjusts the operation plan in real time according to the uploaded operation data and outputs the operation plan to the intelligent service module through the protocol analysis module.
In the system and method provided by the above embodiment of the present invention:
a user inputs an operation task to the system through the intelligent service module;
the intelligent service module transmits the task data to the intelligent cloud module;
the intelligent cloud module makes a decision;
the intelligent cloud module gives scheduling information;
the scheduling information is transmitted to the intelligent terminal module through the protocol analysis module;
the intelligent terminal module carries out operation according to the scheduling information;
the intelligent terminal module uploads operation data in real time;
the data is uploaded to the intelligent cloud module through the protocol analysis module;
the intelligent cloud module can adjust the operation plan according to the uploaded data;
and the intelligent cloud module transmits the processed data to the intelligent service module for a user to check and monitor.
The intelligent terminal module is intelligent agricultural robot equipment;
the protocol analysis module is a module for analyzing and processing different transmission protocols;
the intelligent cloud module is a module for processing data information by using technologies such as cloud computing and the like to make an intelligent decision;
the intelligent service module is used for enabling a user to manage the client of the whole system.
The intelligent terminal module mainly comprises five units, namely an interconnection communication unit, an intelligent sensing unit, an edge calculating unit, a field control unit and an intelligent agricultural machinery unit.
The interconnection communication unit is a unit which communicates with the intelligent cloud module through the protocol analysis module.
The intelligent sensing unit is various sensors arranged on the intelligent agricultural machinery body.
The edge calculation unit is part of the preprocessing of the sensor.
The field control unit is a controller for directly controlling the intelligent agricultural machinery to act.
The intelligent agricultural machine unit refers to an intelligent agricultural machine for agricultural operation.
And the sensor data sensed by the intelligent sensing unit is transmitted to the edge computing unit.
And the edge computing unit preprocesses the sensor data and transmits the preprocessed sensor data to the interconnection communication unit.
And the interconnected communication unit classifies and arranges the data and sends the data according to a set plan.
And the interconnection communication unit receives the instruction sent by the protocol analysis module, processes the instruction and then transmits the processed instruction to the field control unit.
The field control unit controls the intelligent agricultural machinery unit to perform specific actions through the driver.
The intelligent agricultural machinery unit can be an intelligent agricultural machinery which is automatically modified by the existing common agricultural machinery, and can also be an unmanned agricultural machinery which is specially manufactured by manufacturers.
The information that the sensor that intelligence perception module indicates can the perception includes two parts, and one part is the running state of agricultural machinery itself, including position, gesture, speed, direction, fuel oil volume or electric quantity, power, coolant liquid temperature etc. and another part is the information of environment, including temperature, humidity, illumination, soil nutrient information, peripheral obstacle information etc. and these two part information all need carry out the perception in the corresponding sensor of fuselage installation.
The edge computing unit is mainly used for preprocessing sensor data of the intelligent sensing unit, and preprocessing contents comprise judgment, data cleaning, desensitization, light-weight deep report analysis, data caching, online synchronization and data compression.
The field control unit is mainly used for carrying out field control, and needs to refine the instruction sent by the intelligent cloud module and carry out specific behavior control on the intelligent agricultural machinery unit.
The protocol analysis module mainly comprises a protocol feature library unit and an intelligent comparison analysis unit.
The protocol feature library unit is a database storing various transport protocol data stream features.
The intelligent comparison and analysis module is used for comparing the data uploaded by the intelligent terminal module with the protocol features in the protocol feature library unit.
The protocol analysis module has the functions of analyzing the data after judging the protocol type, and uploading the data to the intelligent cloud module after analyzing the data into data with a uniform format.
The intelligent cloud module mainly comprises three parts, namely a database, a knowledge base and an intelligent decision.
The database stores two parts including an intelligent control algorithm library and an agricultural machinery control database.
Different intelligent control algorithms are stored in the intelligent control algorithm library, the intelligent cloud module receives the operation tasks of the intelligent service module, and under the condition of referring to the knowledge base and the database, the tasks can be calculated by using the different control algorithms in the intelligent control algorithm library.
The intelligent decision can compare results of different algorithms, including completion time, completion quality and the like, and an optimal scheduling scheme is selected from the results for use.
The agricultural machinery management and control database mainly stores information of intelligent equipment terminals of different types, different manufacturers and different purposes, and comprises a data instruction transmission protocol, operation types capable of being completed, machine body size specifications, rated power and the like.
The knowledge base stores two parts of a functional software generation base and a remote operation and maintenance model base.
The functional software generation library is mainly stored development tools.
The remote operation and maintenance model base stores remote operation and maintenance models aiming at different agricultural environments.
The intelligent decision part mainly refers to or calls contents in a database and a knowledge base to intelligently make an optimal decision, wherein machine learning is involved, and the intelligent decision part can learn previous good decision cases.
The intelligent service module is composed of an intelligent client unit, an intelligent operation and maintenance unit, a cluster scheduling unit, an equipment management unit and a resource management unit.
The intelligent client unit refers to a system management application which can be installed on a personal computer, a smart phone, a tablet personal computer and intelligent wearable equipment.
The intelligent operation and maintenance unit, the cluster scheduling unit, the equipment management unit and the resource management unit are all functions which can be realized by a user in the application of the whole system.
The intelligent client unit can upload job tasks, is an interactive entrance of the whole system and a user, and meanwhile, the user can call the rest units through the intelligent client unit.
The intelligent operation and maintenance unit has the function of reminding a user of maintaining the intelligent agricultural machine through the analysis of the intelligent cloud module on the operation data of the intelligent agricultural machine.
The function of the cluster scheduling unit is that a user can realize the scheduling of the intelligent farm machine cluster by the user through simple operation of the intelligent client unit.
The function of the device management unit is that the user can clearly see the operating state of his own device only on the client unit.
The resource management unit is used for visually managing resources through farmland environment information stored in the intelligent cloud module, such as soil information, crop information and the like.
The system and method provided by the above embodiments of the present invention are further described in detail with reference to a specific application example.
What adopted to intelligent agricultural machinery unit of intelligent terminal module is based on five sign MD904 wheeled tractor and carries out the automatic drive of reforming transform and turn round waist tractor. For the intelligent sensing unit and the surrounding environment of the agricultural machinery, the specific application example is that a plurality of sensors are installed on the machine body of the intelligent agricultural machinery unit, the sensors comprise a temperature sensor (DS18B20 temperature measurement module), a humidity sensor (DHT11 humidity module), a light sensor (GY-30 light module) and a soil nutrient tachymeter (YalongjjjPc 24B), and in addition, for the surrounding obstacle information, a binocular vision system is used, and a binocular camera is arranged in each of four directions of the machine body to judge the obstacle information of the machine body environment. For the state of the agricultural machinery, a position and direction sensor (a cloud ATGM332D-5N-3X big dipper GPS two-in-one module) and an attitude sensor (a MPU6500 six-axis gyroscope sensor) are arranged on the machine body, and in addition, the machine body is provided with a fuel residual oil sensor and a coolant temperature sensor. For the edge calculation unit, an Intel Xeon D-2100 processor is selected. For the field control unit, an STM 32 chip is selected. The STM 32 chip is also selected for the interconnected communication unit, wherein the serial port communication technology is used for communication between the sensor of the intelligent sensing unit and the edge computing unit, and the CAN bus technology is used for communication between the edge computing unit and the interconnected communication unit as well as between the interconnected communication unit and the field control unit.
In order to ensure the convenience of agricultural machinery use, a wireless communication technology is used for communication between the intelligent terminal module and the protocol analysis module, WIFI communication is used in the specific application example, a WIFI gateway is arranged in the field and can be communicated with a plurality of intelligent terminal modules, an industrial personal computer from Intel to strong E52678V 3 is selected as the protocol analysis module in the embodiment of the invention, a linux system is operated, a wired network technology is selected for communication between the protocol analysis module and the intelligent cloud end module, and 5G communication can be upgraded after 5G commercial use.
Aiming at the intelligent cloud module, a server renting the Aliskiren cloud is selected, a database and a knowledge base are built in the Aliskiren cloud server, and intelligent decision is completed by utilizing the Aliskiren cloud computing technology.
Aiming at the intelligent service module, a client suitable for windows, iOS and android systems is adopted, and the client can be developed by a development method known in the field. The clients can be installed in a personal computer, an apple mobile phone and an android system mobile phone in an application form, and a user can access the intelligent cloud module through the terminals.
The above arrangement realizes the specific application of the intelligent agricultural robot cloud control system and method provided in the above embodiment of the invention, the specific application effectively improves the automation degree and intelligence of the agricultural machine, and verifies the effectiveness of the system and method provided in the above embodiment of the invention.
According to the intelligent agricultural robot cloud control system and method provided by the embodiment of the invention, a user inputs an operation task to the system through the intelligent service module, the intelligent service client transmits task data to the intelligent cloud module, the intelligent cloud module transmits scheduling information to the intelligent terminal module through the protocol analysis module after decision, the intelligent agricultural robot can carry out operation and upload operation data, the data is uploaded to the intelligent cloud module through the protocol analysis module, the intelligent cloud module can adjust an operation plan according to the uploaded data and transmits the processed data to the intelligent service module for the user to check and monitor. Through the application of internet, artificial intelligence, big data and cloud computing, the technological content of the science and technology of the agricultural industry is improved, the conversion of the agricultural development mode of China from labor intensive type to intelligent science and technology type is promoted, meanwhile, a large number of high-knowledge and high-technology young people can be attracted to engage in the agricultural industry, and the automation degree and the intelligence of the agricultural robot are effectively improved.
It should be noted that, the steps in the method provided by the present invention may be implemented by using corresponding modules, devices, units, and the like in the system, and those skilled in the art may refer to the technical solution of the system to implement the step flow of the method, that is, the embodiment in the system may be understood as a preferred example for implementing the method, and details are not described herein.
Those skilled in the art will appreciate that, in addition to implementing the system and its various modules, devices, units provided by the present invention in pure computer readable program code, the system and its various devices provided by the present invention can be implemented with the same functionality in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like by entirely logically programming method steps. Therefore, the system and various devices thereof provided by the present invention can be regarded as a hardware component, and the devices included in the system and various devices thereof for realizing various functions can also be regarded as structures in the hardware component; means for performing the functions may also be regarded as structures within both software modules and hardware components for performing the methods.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (6)
1. An intelligent agricultural robot cloud control system is characterized by comprising an intelligent terminal module, a protocol analysis module, an intelligent cloud module and an intelligent service module; wherein:
the intelligent service module is used for uploading operation tasks to the intelligent cloud module;
the intelligent cloud module is used for making a decision on an input job task, generating scheduling information and outputting the scheduling information to the intelligent terminal module through the protocol analysis module; meanwhile, the protocol analysis module receives the operation data fed back by the intelligent terminal module, and adjusts the operation plan according to the operation data and outputs the operation plan to the intelligent service module through the protocol analysis module;
the intelligent terminal module is used for executing the job task according to the scheduling information and uploading job data to the intelligent cloud module through the protocol analysis module;
the intelligent terminal module comprises an interconnection communication unit, an intelligent sensing unit, an edge calculating unit, a field control unit and an intelligent agricultural machinery unit; wherein:
the interconnection communication unit is used for realizing communication connection among the intelligent terminal module, the protocol analysis module and the intelligent cloud module;
the intelligent sensing unit is arranged on the intelligent agricultural machinery unit, comprises an agricultural machinery running state sensor and an environmental information sensor and is used for sensing the agricultural machinery running state and the environmental condition;
the edge calculation unit is used for preprocessing the sensor data and uploading the processed data to the intelligent cloud module;
the field control unit controls the intelligent agricultural machinery unit to execute the operation task according to the scheduling information of the intelligent cloud module;
the protocol analysis module comprises a protocol feature library unit and an intelligent comparison analysis unit; wherein:
the protocol feature library unit is used for storing the transmission protocol data stream features;
the intelligent comparison and analysis unit is used for comparing the uploaded data with the protocol data stream characteristics in the protocol characteristic library unit, analyzing the data into a uniform format after judging the protocol type and transmitting the uniform format;
the intelligent cloud module comprises: the system comprises a database, a knowledge base and an intelligent decision unit; wherein:
the database comprises an intelligent control algorithm library and an agricultural machinery control database, and the intelligent control algorithm library is used for storing an intelligent control algorithm; the agricultural machinery management and control database is used for storing intelligent terminal information and farmland environment information;
the knowledge base comprises a functional software generation base and a remote operation and maintenance model base, wherein the functional software generation base is used for storing development tools; the remote operation and maintenance model library is used for storing remote operation and maintenance models aiming at different agricultural environments;
the intelligent cloud module receives the operation tasks of the intelligent service module, under the condition of referring to the remote operation and maintenance model base of the knowledge base, the intelligent control algorithm base of the database and the agricultural machinery control database, the operation tasks are subjected to simulation calculation by using different control algorithms in the intelligent control algorithm base, the working time and the working quality of the operation tasks under the condition of using different control algorithms are obtained, and the working time and the working quality are output to the intelligent decision unit as calculation results;
the intelligent decision unit is used for comparing simulation calculation results of different control algorithms, namely working time and working quality, and selecting an optimal scheduling information from the simulation calculation results for use;
the intelligent service module comprises an intelligent client unit, an intelligent operation and maintenance unit, a cluster scheduling unit, an equipment management unit and a resource management unit; wherein:
the intelligent client unit provides a management client for inputting job tasks;
the intelligent operation and maintenance unit reminds a user to maintain the intelligent terminal module according to the analysis of the operation data fed back by the intelligent terminal module by the intelligent cloud module;
the cluster scheduling unit realizes the scheduling of the intelligent terminal module by the user through the intelligent client unit;
the equipment management unit monitors the running state of the intelligent terminal module through the intelligent client unit;
and the resource management unit is used for managing farmland resources according to the farmland environment information stored in the intelligent cloud module.
2. The intelligent agricultural robot cloud control system of claim 1, wherein the intelligent terminal module further comprises any one or more of:
the interconnected communication unit classifies and arranges the data and transmits the data according to a set plan;
-the field control unit controls the intelligent agricultural machinery unit to perform specific actions through a driver;
-said operating condition of the agricultural machine comprising at least: any one or more of position, posture, speed, direction, fuel oil quantity or electric quantity, power and cooling liquid temperature;
-said environmental conditions, including at least: any one or more of temperature, humidity, illumination, soil nutrient information and peripheral obstacle information;
-the edge calculation unit, preprocessing the sensor data, comprising at least: any one or more items of judgment, data cleaning, desensitization, light weight deep report analysis, data caching, online synchronization and data compression.
3. The intelligent agricultural robot cloud control system of claim 1, wherein the intelligent cloud module further comprises any one or more of:
-said smart terminal information comprising at least: any one or more of a data instruction transmission protocol, a type of operation task which can be completed, a size specification of an agricultural machine body and rated power of the agricultural machine;
-further comprising a machine learning unit for storing the generated scheduling information, providing decision cases for machine learning by the intelligent decision unit.
4. The intelligent agricultural robot cloud control system of any one of claims 1 to 3, further comprising any one or more of:
-said intelligent terminal module comprising one or more intelligent agricultural robot devices;
-the protocol parsing module parses data for different transport protocols;
-the smart cloud module processing data and making decisions using cloud computing techniques;
-said intelligent service module, providing the user with a client managing the whole system.
5. A control method of the intelligent agricultural robot cloud control system of any one of claims 1 to 4, characterized by comprising the following steps:
a user inputs an operation task through the intelligent service module and uploads the operation task to the intelligent cloud module;
the intelligent cloud module makes a decision on the job task, generates scheduling information and transmits the scheduling information to the intelligent terminal module through the protocol analysis module;
the intelligent terminal module carries out operation according to the scheduling information and uploads operation data to the intelligent cloud module in real time through the protocol analysis module;
the intelligent cloud module adjusts the operation plan in real time according to the uploaded operation data and outputs the operation plan to the intelligent service module through the protocol analysis module.
6. The control method according to claim 5, wherein the intelligent terminal module comprises an interconnection communication unit, an intelligent sensing unit, an edge computing unit, a field control unit and an intelligent agricultural machinery unit; wherein:
sensor data obtained by sensing of the intelligent sensing unit are transmitted to the edge computing unit, the sensor data are transmitted to the interconnection communication unit after being preprocessed by the edge computing unit, the preprocessed data are uploaded to the intelligent cloud module through the protocol analysis module, the interconnection communication unit receives scheduling information sent by the intelligent cloud module analyzed by the protocol analysis module, the scheduling information is transmitted to the field control unit after being processed, and the field control unit controls the intelligent agricultural machinery unit to perform operation actions through the driver.
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| CN112632088B (en) * | 2021-03-10 | 2021-06-04 | 南京路为智能科技有限公司 | Agricultural machinery equipment monitoring method and system and computer readable storage medium |
| CN112828896B (en) * | 2021-03-15 | 2022-02-25 | 苏州工艺美术职业技术学院 | Household intelligent accompanying robot and execution control method thereof |
| CN113126628A (en) * | 2021-04-26 | 2021-07-16 | 上海联适导航技术股份有限公司 | Method, system and equipment for automatic driving of agricultural machinery and readable storage medium |
| CN113590722A (en) * | 2021-07-01 | 2021-11-02 | 南京玄策智能科技有限公司 | Digital rural operation and maintenance knowledge base platform based on edge intelligence and updating method |
| CN113642990B (en) * | 2021-08-10 | 2023-10-13 | 江苏大学 | Cloud-edge cooperation-based intelligent management and scheduling system and method for agricultural machinery |
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