CN111897264A - Data supervisory systems based on unmanned tractor - Google Patents
Data supervisory systems based on unmanned tractor Download PDFInfo
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- CN111897264A CN111897264A CN202010767846.3A CN202010767846A CN111897264A CN 111897264 A CN111897264 A CN 111897264A CN 202010767846 A CN202010767846 A CN 202010767846A CN 111897264 A CN111897264 A CN 111897264A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
- G05B19/0425—Safety, monitoring
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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Abstract
The invention discloses a data supervision system based on an unmanned tractor, which is used for solving the problem that the existing technology can not monitor the data of the unmanned tractor, the stable value Wt of the unmanned tractor is firstly obtained and is compared with a preset stable threshold value, the reaction speed Vi of the unmanned tractor is further obtained and is compared with a preset reaction speed threshold value, a server finally calculates the stable value Wt and the reaction speed Vi to obtain a state value Zt, if the state value Zt of the unmanned tractor is greater than the preset state threshold value, the server sends a normal operation instruction to a prompt unit, an operation indicator lamp lights a green light, the server stores the state value Zt, if the state value Zt of the unmanned tractor is less than the preset state threshold value, the server alarm information is sent to the prompt unit to alarm, the operation indicator lamp lights a red light, and saves the state value Zt.
Description
Technical Field
The invention relates to a data supervision system, in particular to a data supervision system based on an unmanned tractor.
Background
The tractor is one of important agricultural machines, can show degree of automation and the work efficiency that improves field operation, and its application is more and more extensive, and intelligent degree is also more and more high, has had the report of many unmanned agricultural tractor experiments and practical application. The probability that the unmanned tractor unit encounters severe conditions and emergencies in the walking operation process is high, due accuracy is difficult to guarantee in the operation direction and the line spacing, and error operation and even damage to a large number of crops and lands are easy to cause. Therefore, the development of the remote multi-information monitoring system with wide signal coverage range, low cost and certain practical value has certain practical significance for realizing the full-automatic operation of the agricultural tractor.
The invention patent CN106335390B discloses an unmanned monitoring vehicle, a monitoring system and a monitoring method for a tractor assembly park, which comprises an unmanned electric vehicle, wherein the unmanned electric vehicle comprises a vehicle-mounted display screen, a vehicle-mounted identity information reading module, a vehicle-mounted main controller, a GPS navigation module, a vehicle-mounted GPRS module, a vehicle-mounted memory, a camera, a driving controller and a vehicle traveling device. Still relate to a tractor assembly garden supervisory systems who utilizes unmanned monitoring car to realize, also relate to a tractor assembly garden supervisory methods simultaneously. The modern management level of the tractor assembly park is improved, the orderliness of the supervision work of the whole tractor assembly park is greatly improved, and the assembly quality of the tractor is ensured. The invention only improves the modernized management level of the tractor assembly park and monitors the data of the unmanned tractor.
In order to solve the above technical problems, the present invention provides the following technical solutions.
Disclosure of Invention
The invention aims to provide a data supervision system based on an unmanned tractor, which is used for solving the problem that the existing technology cannot monitor the data of the unmanned tractor, and comprises the following steps of firstly obtaining a stable value Wt of the unmanned tractor, comparing the stable value Wt with a preset stable threshold value, sending an instruction to a reaction unit by a processing unit if the stable value Wt is within the range of the preset stable threshold value, sending alarm information to a prompt unit to give an alarm if the stable value Wt is out of the range of the preset stable threshold value, and operating an indicator lamp to light a red light; further acquiring a reaction speed Vi of the unmanned tractor, comparing the reaction speed Vi with a preset reaction speed threshold, if the reaction speed Vi of the unmanned tractor is larger than the preset reaction speed threshold, sending an initial azimuth angle W0i, a straight-line distance Li, a reversing angle W1i, reversing time si and the calculated reaction speed Vi to a server for storage, if the reaction speed Vi of the unmanned tractor is smaller than the preset reaction speed threshold, sending alarm information to a prompt unit by the reaction unit for alarming, lighting a red light by an operation indicator lamp, finally calculating a stable value Wt and the reaction speed Vi by the server, if a state value Zt of the unmanned tractor is larger than the preset state threshold, sending a normal operation instruction to the prompt unit by the server, lighting a green light by the operation indicator lamp, storing the state value Zt by the server, and if the state value Zt of the unmanned tractor is smaller than the preset state threshold, the server sends alarm information to the prompting unit to give an alarm, the running indicator lamp lights up the red light, and the state value Zt is stored.
The purpose of the invention can be realized by the following technical scheme:
a data supervision system based on an unmanned tractor comprises a server, an acquisition unit, a communication unit, a remote control unit, a processing unit and a prompt unit;
the collecting unit is used for collecting the vibration frequency value of the unmanned tractor and the inclination angle of the unmanned tractor, the processing unit is used for processing the vibration frequency value of the unmanned tractor and the inclination angle of the unmanned tractor, which are collected by the collecting unit, and the specific processing steps are as follows:
the method comprises the following steps: collecting the vibration frequency value of the unmanned tractor and the inclination angle of the unmanned tractor by using a collecting unit, and sending the vibration frequency value of the unmanned tractor and the inclination angle of the unmanned tractor to a server through a communication unit;
step two: when the server receives the vibration frequency value and the inclination angle, the inclination angle is subjected to dequantization processing, the numerical value of the vibration frequency value and the inclination angle is taken, the vibration frequency value and the inclination angle are respectively marked as Pt and Jt, wherein t is acquisition time;
step three: the stable value Wt of the unmanned tractor is obtained by calculation according to a formula
Wherein Pmax, Pmin, Jmax and Jmin are the upper and lower limit values of the vibration frequency and the upper and lower limit values of the inclination angle allowed by the unmanned tractor in normal work, and alpha and beta are preset proportionality coefficients;
step four: if the stable value Wt is within the preset stable threshold range, the processing unit sends an instruction to the reaction unit, sends the vibration frequency value Pt, the inclination angle Jt and the calculated stable value Wt to the server for storage, and if the stable value Wt is outside the preset stable threshold range, sends alarm information to the prompting unit for alarming, operates the indicator lamp to light a red light, and simultaneously sends the vibration frequency value Pt, the inclination angle Jt and the calculated stable value Wt to the server for storage;
the reaction unit is used for calculating the reaction speed of the unmanned tractor, and the specific calculation steps are as follows:
s1: collecting an initial azimuth angle W0i of the unmanned tractor, and collecting a linear distance Li between the unmanned tractor and a remote control unit;
s2: the remote control unit sends a reversing instruction to the unmanned tractor, and the reversing angle is marked as W1 i;
s3: acquiring the reversing time si of the unmanned tractor;
s4: the reaction speed Vi of the unmanned tractor is calculated by a formula
Wherein, the ratio is a preset ratio coefficient, i is 1, 2, … …, n, and is expressed as the acquisition times;
s5: if the reaction speed Vi of the unmanned tractor is greater than a preset reaction speed threshold, the reaction unit sends an initial azimuth angle W0i, a linear distance Li, a reversing angle W1i, reversing time si and the calculated reaction speed Vi to a server for storage, and if the reaction speed Vi of the unmanned tractor is less than the preset reaction speed threshold, the reaction unit sends alarm information to a prompting unit for alarming, an indicator lamp is operated to light a red light, and the initial azimuth angle W0i, the linear distance Li, the reversing angle W1i, the reversing time si and the calculated reaction speed Vi are sent to the server for storage;
the server is used for receiving, processing and storing data, and the specific processing process is as follows:
t1: the server receives a stable value Wt sent by the processing unit and a reaction speed Vi sent by the reaction unit;
t2: the state value Zt of the unmanned tractor is calculated by a formula
Wherein lambda and mu are preset proportionality coefficients;
t3: if the state value Zt of the unmanned tractor is larger than the preset state threshold value, the server sends a normal operation instruction to the prompting unit, the operation indicator lamp is turned on by the green light, the state value Zt is stored by the server, if the state value Zt of the unmanned tractor is smaller than the preset state threshold value, the server sends alarm information to the prompting unit to give an alarm, the operation indicator lamp is turned on by the red light, and the state value Zt is stored.
Furthermore, the acquisition unit comprises a single chip microcomputer module, a vibration sensor module, an inclination sensor module, an azimuth angle acquisition module and a power module, wherein the power module supplies power to the single chip microcomputer module, the vibration sensor module, the inclination sensor module and the azimuth angle acquisition module.
Furthermore, the output signal of the vibration sensor module is a pulse signal, timing is carried out by using a timing/counter 0(T0) of the single chip microcomputer, counting is carried out by using a timing/counter 1(T1), the T0 is timed for 1s, and the count value of the T1 is read and converted when the T3526 is full of 1s, so that the vibration frequency value of the unmanned tractor can be obtained; the inclination sensor module reads the closing states of two mechanical elastic switches in the inclination sensor module through the ports P1.0 and P1.1 of the single chip microcomputer, and the inclination angle of the unmanned tractor can be judged according to the combination of four level states of the two common I/O ports; the azimuth angle acquisition module is used for acquiring an azimuth angle of the unmanned tractor, and particularly relates to an electronic compass installed on a body of the unmanned tractor.
Furthermore, the prompting unit comprises an operation indicating lamp and a buzzer, the operation indicating lamp has a red lamp state and a green lamp state, and the buzzer is used for giving out sound and light alarms after the prompting unit receives the alarm instruction.
Further, the server is further used for storing data, the stored data comprise a vibration frequency value Pt, an inclination angle Jt, a stable value Wt, an initial azimuth angle W0i, a linear distance Li, a reversing angle W1i, reversing time si, a response speed Vi and a state value Zt, a recording table is generated, the head of the recording table further comprises recording time, and the data transmitted when the prompting unit gives an alarm are all represented in red in the recording table.
Further, the system also comprises a reference unit, wherein the reference unit is used for a worker to view the data of the unmanned tractor, and the specific reference steps are as follows:
the method comprises the following steps: the method comprises the following steps that a worker inputs worker information to register, and an account and a password are automatically generated for the next login after the registration is successful;
step two: a worker logs in a lookup unit, and the lookup unit directly displays data information of the existing unmanned tractor, wherein the data information comprises a vibration frequency value Pt, an inclination angle Jt and a stable value Wt;
step three: after logging in the lookup unit, a worker can directly click the record table if wanting to look up the historical data information of the unmanned tractor, the lookup unit displays the historical information record table of the unmanned tractor, the record table is divided into red and normal colors, and the worker can also inquire the information record of the current day of the date according to the date.
Further, the staff information includes: staff names, staff real-name registration mobile phone numbers, staff position information and staff position information.
Compared with the prior art, the invention has the beneficial effects that:
1. the acquisition unit comprises a single chip microcomputer module, a vibration sensor module, an inclination sensor module, an azimuth angle acquisition module and a power supply module, wherein an output signal of the vibration sensor module is a pulse signal, timing is carried out by using a timing/counter 0(T0) of the single chip microcomputer, counting is carried out by using a timing/counter 1(T1), T0 is timed for 1s, and the counting value of T1 is read and converted when the time is up to 1s, so that the direct acquisition of the vibration frequency of the unmanned tractor is realized; the inclination sensor module reads the closing states of two mechanical elastic switches in the inclination sensor module through the ports P1.0 and P1.1 of the single chip microcomputer, and the inclination angle of the unmanned tractor can be directly judged according to the combination of four level states of the two common I/O ports; the azimuth acquisition module is used for acquiring the azimuth of the unmanned tractor, particularly an electronic compass arranged on the body of the unmanned tractor, and overcomes the transmission distance limitation of the traditional wired transmission mode and the common radio frequency radio data transmission mode.
2. Preferentially acquiring a stable value Wt of the unmanned tractor, acquiring a vibration frequency value of the unmanned tractor and an inclination angle of the unmanned tractor by using an acquisition unit, carrying out dequantization processing on the inclination angle, acquiring a numerical value, respectively marking the vibration frequency value and the inclination angle as Pt and Jt, and calculating by using a formula to obtain the stable value Wt of the unmanned tractor, wherein the calculation formula is
If the stable value Wt is within the range of the preset stable threshold value, the processing unit sends an instruction to the reaction unit, sends the vibration frequency value Pt, the inclination angle Jt and the calculated stable value Wt to the server for storage, and if the stable value Wt is outside the range of the preset stable threshold value, sends alarm information to the prompt unit for alarming, operates the indicator lamp to light a red light, and simultaneously sends the vibration frequency value Pt, the inclination angle Jt and the calculated stable value WtAnd storing the data in the server.
3. Further acquiring the reaction speed of the unmanned tractor, acquiring an initial azimuth angle W0i of the unmanned tractor, and acquiring a linear distance Li between the unmanned tractor and a remote control unit; the remote control unit sends a reversing instruction to the unmanned tractor, and the reversing angle is marked as W1 i; acquiring the reversing time si of the unmanned tractor; the reaction speed Vi of the unmanned tractor is calculated by a formula
If the reaction speed Vi of the unmanned tractor is larger than a preset reaction speed threshold value, the reaction unit sends an initial azimuth angle W0i, a linear distance Li, a reversing angle W1i, reversing time si and the calculated reaction speed Vi to a server for storage, and if the reaction speed Vi of the unmanned tractor is smaller than the preset reaction speed threshold value, the reaction unit sends alarm information to a prompting unit for alarming, an indicator lamp is operated to light a red light, and the initial azimuth angle W0i, the linear distance Li, the reversing angle W1i, the reversing time si and the calculated reaction speed Vi are sent to the server for storage.
4. The server calculates the stable value Wt and the reaction speed Vi finally, and receives the stable value Wt sent by the processing unit and the reaction speed Vi sent by the reaction unit; the state value Zt of the unmanned tractor is calculated by a formula
If the state value Zt of the unmanned tractor is larger than the preset state threshold value, the server sends a normal operation instruction to the prompting unit, the operation indicator lamp is turned on by the green light, the state value Zt is stored by the server, if the state value Zt of the unmanned tractor is smaller than the preset state threshold value, the server sends alarm information to the prompting unit to give an alarm, the operation indicator lamp is turned on by the red light, and the state value Zt is stored.
5. The prompting unit comprises an operation indicating lamp and a buzzer, the operation indicating lamp is in a red lamp state and a green lamp state, the buzzer is used for sending out sound and light alarms after the prompting unit receives the alarm instruction, the server is further used for storing data and generating a recording table, the head of the recording table further comprises recording time, the data transmitted when the prompting unit gives an alarm are all embodied in red in the recording table, and the looking-up unit is used for a worker to look up the data of the unmanned tractor.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic block diagram of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a data monitoring system based on an unmanned tractor comprises a server, an acquisition unit, a communication unit, a remote control unit, a processing unit and a prompt unit;
the collecting unit is used for collecting the vibration frequency value of the unmanned tractor and the inclination angle of the unmanned tractor, the processing unit is used for processing the vibration frequency value of the unmanned tractor and the inclination angle of the unmanned tractor, which are collected by the collecting unit, and the specific processing steps are as follows:
the method comprises the following steps: collecting the vibration frequency value of the unmanned tractor and the inclination angle of the unmanned tractor by using a collecting unit, and sending the vibration frequency value of the unmanned tractor and the inclination angle of the unmanned tractor to a server through a communication unit;
step two: when the server receives the vibration frequency value and the inclination angle, the inclination angle is subjected to dequantization processing, the numerical value of the vibration frequency value and the inclination angle is taken, the vibration frequency value and the inclination angle are respectively marked as Pt and Jt, wherein t is acquisition time;
step three: the stable value Wt of the unmanned tractor is obtained by calculation according to a formula
Wherein Pmax, Pmin, Jmax and Jmin are the upper and lower limit values of the vibration frequency and the upper and lower limit values of the inclination angle allowed by the unmanned tractor in normal work, and alpha and beta are preset proportionality coefficients;
step four: if the stable value Wt is within the preset stable threshold range, the processing unit sends an instruction to the reaction unit, sends the vibration frequency value Pt, the inclination angle Jt and the calculated stable value Wt to the server for storage, and if the stable value Wt is outside the preset stable threshold range, sends alarm information to the prompting unit for alarming, operates the indicator lamp to light a red light, and simultaneously sends the vibration frequency value Pt, the inclination angle Jt and the calculated stable value Wt to the server for storage;
the reaction unit is used for calculating the reaction speed of the unmanned tractor, and the specific calculation steps are as follows:
s1: collecting an initial azimuth angle W0i of the unmanned tractor, and collecting a linear distance Li between the unmanned tractor and a remote control unit;
s2: the remote control unit sends a reversing instruction to the unmanned tractor, and the reversing angle is marked as W1 i;
s3: acquiring the reversing time si of the unmanned tractor;
s4: the reaction speed Vi of the unmanned tractor is calculated by a formula
Wherein, the ratio is a preset ratio coefficient, i is 1, 2, … …, n, and is expressed as the acquisition times;
s5: if the reaction speed Vi of the unmanned tractor is greater than a preset reaction speed threshold, the reaction unit sends an initial azimuth angle W0i, a linear distance Li, a reversing angle W1i, reversing time si and the calculated reaction speed Vi to a server for storage, and if the reaction speed Vi of the unmanned tractor is less than the preset reaction speed threshold, the reaction unit sends alarm information to a prompting unit for alarming, an indicator lamp is operated to light a red light, and the initial azimuth angle W0i, the linear distance Li, the reversing angle W1i, the reversing time si and the calculated reaction speed Vi are sent to the server for storage;
the server is used for receiving, processing and storing data, and the specific processing process is as follows:
t1: the server receives a stable value Wt sent by the processing unit and a reaction speed Vi sent by the reaction unit;
t2: the state value Zt of the unmanned tractor is calculated by a formula
Wherein lambda and mu are preset proportionality coefficients;
t3: if the state value Zt of the unmanned tractor is larger than the preset state threshold value, the server sends a normal operation instruction to the prompting unit, the operation indicator lamp is turned on by the green light, the state value Zt is stored by the server, if the state value Zt of the unmanned tractor is smaller than the preset state threshold value, the server sends alarm information to the prompting unit to give an alarm, the operation indicator lamp is turned on by the red light, and the state value Zt is stored.
The acquisition unit comprises a single chip microcomputer module, a vibration sensor module, an inclination sensor module, an azimuth angle acquisition module and a power module, wherein the power module supplies power to the single chip microcomputer module, the vibration sensor module, the inclination sensor module and the azimuth angle acquisition module.
The output signal of the vibration sensor module is a pulse signal, timing is carried out by using a timing/counter 0(T0) of a single chip microcomputer, counting is carried out by using a timing/counter 1(T1), the T0 is timed for 1s, and the value of the count of the T1 is read and converted when the time is up to 1s, so that the vibration frequency value of the unmanned tractor can be obtained; the inclination sensor module reads the closing states of two mechanical elastic switches in the inclination sensor module through the ports P1.0 and P1.1 of the single chip microcomputer, and the inclination angle of the unmanned tractor can be judged according to the combination of four level states of the two common I/O ports; the azimuth angle acquisition module is used for acquiring an azimuth angle of the unmanned tractor, and particularly relates to an electronic compass installed on a body of the unmanned tractor.
The prompting unit comprises an operation indicating lamp and a buzzer, the operation indicating lamp has a red lamp state and a green lamp state, and the buzzer is used for giving out sound and light alarms after the prompting unit receives the alarm instruction.
The server is further used for storing data, the stored data comprise a vibration frequency value Pt, an inclination angle Jt, a stable value Wt, an initial azimuth angle W0i, a linear distance Li, a reversing angle W1i, reversing time si, a response speed Vi and a state value Zt, a recording table is generated, the head of the recording table further comprises recording time, and the data transmitted when the prompting unit gives an alarm are all represented in red in the recording table.
Wherein, this system still includes looks up the unit, look up the unit and be used for the staff to look up the data of unmanned tractor, specifically look up the step as follows:
the method comprises the following steps: the method comprises the following steps that a worker inputs worker information to register, and an account and a password are automatically generated for the next login after the registration is successful;
step two: a worker logs in a lookup unit, and the lookup unit directly displays data information of the existing unmanned tractor, wherein the data information comprises a vibration frequency value Pt, an inclination angle Jt and a stable value Wt;
step three: after logging in the lookup unit, a worker can directly click the record table if wanting to look up the historical data information of the unmanned tractor, the lookup unit displays the historical information record table of the unmanned tractor, the record table is divided into red and normal colors, and the worker can also inquire the information record of the current day of the date according to the date.
Wherein, staff's information includes: staff names, staff real-name registration mobile phone numbers, staff position information and staff position information.
When the inclination sensor module is under the action of external force in a vertical suspension state and deviates from the vertical angle by more than 20 degrees, a switch contact inside the inclination sensor module acts and outputs an on/off signal; when the external force disappears, the switch contact inside the tilt sensor module returns to the initial state. The inclination condition of the tractor in the running process can be judged by adjusting the mounting position of the inclination sensor module on the tractor frame and according to the output change of the contact on/off signal in the inclination sensor module, so that corresponding protective measures can be taken in time. When the power supply voltage of the sensor module is direct current +5V, the output end can be directly connected with the single chip microcomputer, and the high and low levels are detected through the single chip microcomputer, so that the inclination angle change of the tractor is sensed.
The working principle of the invention is as follows: the system comprises a collecting unit, a processing unit, a communication unit, a server and a control unit, wherein the collecting unit is used for collecting a vibration frequency value of an unmanned tractor and an inclination angle of the unmanned tractor, the processing unit is used for processing the vibration frequency value of the unmanned tractor and the inclination angle of the unmanned tractor, the vibration frequency value of the unmanned tractor and the inclination angle of the unmanned tractor are collected by the collecting unit, the vibration frequency value of the unmanned tractor and the inclination angle of the unmanned tractor are sent to the server through the communication unit, the server carries out dequantization processing on the inclination angle when receiving the vibration frequency value and the inclination angle, the numerical value is obtained, the vibration frequency value and the inclination angle are respectively marked as Pt and Jt, and t is acquisition time; the stable value Wt of the unmanned tractor is obtained by calculation according to a formula
If the stable value Wt is within the preset stable threshold range, the processing unit sends an instruction to the reaction unit, sends the vibration frequency value Pt, the inclination angle Jt and the calculated stable value Wt to the server for storage, and if the stable value Wt is outside the preset stable threshold range, sends alarm information to the prompting unit for alarming, operates the indicator lamp to light a red light, and simultaneously sends the vibration frequency value Pt, the inclination angle Jt and the calculated stable value Wt to the server for storage;
the reaction unit is used for calculating the reaction speed of the unmanned tractor, collecting an initial azimuth angle W0i of the unmanned tractor and collecting a linear distance Li between the unmanned tractor and the remote control unit; the remote control unit sends a reversing instruction to the unmanned tractor, and the reversing angle is marked as W1 i; acquiring the reversing time si of the unmanned tractor; the reaction speed Vi of the unmanned tractor is calculated by a formula
Wherein, the ratio is a preset ratio coefficient, i is 1, 2, … …, n, and is expressed as the acquisition times; if the reaction speed Vi of the unmanned tractor is greater than a preset reaction speed threshold, the reaction unit sends an initial azimuth angle W0i, a linear distance Li, a reversing angle W1i, reversing time si and the calculated reaction speed Vi to a server for storage, and if the reaction speed Vi of the unmanned tractor is less than the preset reaction speed threshold, the reaction unit sends alarm information to a prompting unit for alarming, an indicator lamp is operated to light a red light, and the initial azimuth angle W0i, the linear distance Li, the reversing angle W1i, the reversing time si and the calculated reaction speed Vi are sent to the server for storage; the server is used for receiving, processing and storing data, and receives the stable value Wt sent by the processing unit and the reaction speed Vi sent by the reaction unit; the state value Zt of the unmanned tractor is calculated by a formula
Wherein lambda and mu are preset proportionality coefficients; if the state value Zt of the unmanned tractor is larger than the preset state threshold value, the server sends a normal operation instruction to the prompting unit, the operation indicator lamp is turned on by the green light, the state value Zt is stored by the server, if the state value Zt of the unmanned tractor is smaller than the preset state threshold value, the server sends alarm information to the prompting unit to give an alarm, the operation indicator lamp is turned on by the red light, and the state value Zt is stored.
The above formulas are all quantitative calculation, the formula is a formula obtained by acquiring a large amount of data and performing software simulation to obtain the latest real situation, and the preset parameters in the formula are set by the technical personnel in the field according to the actual situation.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (7)
1. A data supervision system based on an unmanned tractor is characterized by comprising a server, an acquisition unit, a communication unit, a remote control unit, a processing unit and a prompt unit;
the collecting unit is used for collecting the vibration frequency value of the unmanned tractor and the inclination angle of the unmanned tractor, the processing unit is used for processing the vibration frequency value of the unmanned tractor and the inclination angle of the unmanned tractor, which are collected by the collecting unit, and the specific processing steps are as follows:
the method comprises the following steps: collecting the vibration frequency value of the unmanned tractor and the inclination angle of the unmanned tractor by using a collecting unit, and sending the vibration frequency value of the unmanned tractor and the inclination angle of the unmanned tractor to a server through a communication unit;
step two: when the server receives the vibration frequency value and the inclination angle, the inclination angle is subjected to dequantization processing, the numerical value of the vibration frequency value and the inclination angle is taken, the vibration frequency value and the inclination angle are respectively marked as Pt and Jt, wherein t is acquisition time;
step three: the stable value Wt of the unmanned tractor is obtained by calculation according to a formula
Wherein Pmax, Pmin, Jmax and Jmin are vibration frequencies allowed by the unmanned tractor during normal operationThe upper and lower limit values of the rate and the upper and lower limit values of the inclination angle, and alpha and beta are preset proportionality coefficients;
step four: if the stable value Wt is within the preset stable threshold range, the processing unit sends an instruction to the reaction unit, sends the vibration frequency value Pt, the inclination angle Jt and the calculated stable value Wt to the server for storage, and if the stable value Wt is outside the preset stable threshold range, sends alarm information to the prompting unit for alarming, operates the indicator lamp to light a red light, and simultaneously sends the vibration frequency value Pt, the inclination angle Jt and the calculated stable value Wt to the server for storage;
the reaction unit is used for calculating the reaction speed of the unmanned tractor, and the specific calculation steps are as follows:
s1: collecting an initial azimuth angle W0i of the unmanned tractor, and collecting a linear distance Li between the unmanned tractor and a remote control unit;
s2: the remote control unit sends a reversing instruction to the unmanned tractor, and the reversing angle is marked as W1 i;
s3: acquiring the reversing time si of the unmanned tractor;
s4: the reaction speed Vi of the unmanned tractor is calculated by a formula
Wherein, the ratio is a preset ratio coefficient, i is 1, 2, … …, n, and is expressed as the acquisition times;
s5: if the reaction speed Vi of the unmanned tractor is greater than a preset reaction speed threshold, the reaction unit sends an initial azimuth angle W0i, a linear distance Li, a reversing angle W1i, reversing time si and the calculated reaction speed Vi to a server for storage, and if the reaction speed Vi of the unmanned tractor is less than the preset reaction speed threshold, the reaction unit sends alarm information to a prompting unit for alarming, an indicator lamp is operated to light a red light, and the initial azimuth angle W0i, the linear distance Li, the reversing angle W1i, the reversing time si and the calculated reaction speed Vi are sent to the server for storage;
the server is used for receiving, processing and storing data, and the specific processing process is as follows:
t1: the server receives a stable value Wt sent by the processing unit and a reaction speed Vi sent by the reaction unit;
t2: the state value Zt of the unmanned tractor is calculated by a formula
Wherein lambda and mu are preset proportionality coefficients;
t3: if the state value Zt of the unmanned tractor is larger than the preset state threshold value, the server sends a normal operation instruction to the prompting unit, the operation indicator lamp is turned on by the green light, the state value Zt is stored by the server, if the state value Zt of the unmanned tractor is smaller than the preset state threshold value, the server sends alarm information to the prompting unit to give an alarm, the operation indicator lamp is turned on by the red light, and the state value Zt is stored.
2. The unmanned tractor-based data surveillance system of claim 1, wherein: the acquisition unit comprises a single chip microcomputer module, a vibration sensor module, an inclination sensor module, an azimuth angle acquisition module and a power module, wherein the power module supplies power to the single chip microcomputer module, the vibration sensor module, the inclination sensor module and the azimuth angle acquisition module.
3. The unmanned tractor-based data surveillance system of claim 2, wherein: the output signal of the vibration sensor module is a pulse signal, timing is carried out by using a timing/counter 0(T0) of the single chip microcomputer, counting is carried out by using a timing/counter 1(T1), the T0 is timed for 1s, and the value of the count of the T1 is read and converted when the time is up to 1s, so that the vibration frequency value of the unmanned tractor can be obtained; the inclination sensor module reads the closing states of two mechanical elastic switches in the inclination sensor module through the ports P1.0 and P1.1 of the single chip microcomputer, and the inclination angle of the unmanned tractor can be judged according to the combination of four level states of the two common I/O ports; the azimuth angle acquisition module is used for acquiring an azimuth angle of the unmanned tractor, and particularly relates to an electronic compass installed on a body of the unmanned tractor.
4. The unmanned tractor-based data surveillance system of claim 1, wherein: the prompting unit comprises an operation indicating lamp and a buzzer, the operation indicating lamp has a red lamp state and a green lamp state, and the buzzer is used for giving out sound and light alarms after the prompting unit receives the alarm instruction.
5. The unmanned tractor-based data surveillance system of claim 1, wherein: the server is further used for storing data, the stored data comprise a vibration frequency value Pt, an inclination angle Jt, a stable value Wt, an initial azimuth angle W0i, a linear distance Li, a reversing angle W1i, reversing time si, a response speed Vi and a state value Zt, a recording table is generated, the head of the recording table further comprises recording time, and the data transmitted when the prompting unit gives an alarm are all represented in red in the recording table.
6. The unmanned tractor-based data surveillance system of claim 1, wherein: the system further comprises a look-up unit, wherein the look-up unit is used for a worker to look up the data of the unmanned tractor, and the look-up steps are as follows:
the method comprises the following steps: the method comprises the following steps that a worker inputs worker information to register, and an account and a password are automatically generated for the next login after the registration is successful;
step two: a worker logs in a lookup unit, and the lookup unit directly displays data information of the existing unmanned tractor, wherein the data information comprises a vibration frequency value Pt, an inclination angle Jt and a stable value Wt;
step three: after logging in the lookup unit, a worker can directly click the record table if wanting to look up the historical data information of the unmanned tractor, the lookup unit displays the historical information record table of the unmanned tractor, the record table is divided into red and normal colors, and the worker can also inquire the information record of the current day of the date according to the date.
7. The unmanned tractor-based data surveillance system of claim 6, wherein: the staff information includes: staff names, staff real-name registration mobile phone numbers, staff position information and staff position information.
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