CN112418651B - Shared agricultural machinery real-time scheduling method based on digital twin - Google Patents
Shared agricultural machinery real-time scheduling method based on digital twin Download PDFInfo
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Abstract
A shared agricultural machine real-time scheduling method based on digital twin comprises the steps of firstly, acquiring agricultural machine user demands in real time by a shared agricultural machine scheduling decision system, storing the agricultural machine user demands in a twin database, carrying out feasibility analysis on acquired agricultural machine user demand information to generate an agricultural machine user demand configuration scheme, selecting and determining the demand configuration scheme by an agricultural machine user, digitally defining a physical entity in the most satisfactory demand configuration scheme of the agricultural machine user in a virtual world by the shared agricultural machine scheduling decision system to construct a digital twin, carrying out path planning by the shared agricultural machine scheduling decision system at the same time, and after generating the agricultural machine scheduling scheme capable of meeting predefined requirements, sending the estimated agricultural machine scheduling scheme to the physical world by the shared agricultural machine scheduling decision system to guide entity operation in the physical world, carrying out real-time monitoring and optimization on the scheduling process, thereby effectively making up the defect of traditional scheduling, and enabling the whole shared agricultural machine scheduling process to realize dynamic optimal control so as to improve user satisfaction.
Description
Technical Field
The invention relates to the technical field of agricultural machinery sharing, in particular to a digital twin-based real-time scheduling method for sharing agricultural machinery.
Background
The shared agricultural machinery is the application of the shared economy in the agricultural field, in the mode, the agricultural machinery users can obtain the use right of the agricultural machinery equipment without paying high purchase cost, the agricultural machinery owner can obtain benefits by yielding the use right of the agricultural machinery equipment, and the maximum utilization of agricultural machinery resources is realized under the condition of reducing investment. However, at present, a perfect shared agricultural machinery scheduling decision system is not formed, and the unreasonable and untimely scheduling of the agricultural machinery further causes embarrassing situations of 'machines such as fields' or 'fields such as machines', so that the function of the shared agricultural machinery in the application process is greatly discounted. Thus, accurately matching agricultural machine user needs and scheduling rational scheduling schemes is significant in terms of efficiency and advantages of shared agricultural machine scheduling.
The digital twin technology is a new information technology which is a simulation model integrating the object, the model and the data of the virtual world in one, and the virtual model is completely consistent with the physical entities in the physical world and is the mapping of the physical entities in the physical world. Chinese patent No. CN111292014a discloses an intelligent agricultural machine scheduling system and scheduling method based on alliance chain, which can improve the scheduling efficiency and the agricultural machine utilization rate of the intelligent agricultural machine; chinese patent No. CN106779372B discloses an agricultural machinery scheduling method based on an improved immunity tabu algorithm, the improved immunity tabu algorithm is applied to agricultural machinery scheduling, the method is suitable for various agricultural production practices, the production service efficiency of agricultural machinery is enhanced, and the real-time dynamic scheduling of shared agricultural machinery is not realized in the above patents.
Disclosure of Invention
The technical problem solved by the invention is to provide a shared agricultural machinery real-time scheduling method based on digital twinning, so as to solve the problems in the background technology.
The technical problems solved by the invention are realized by adopting the following technical scheme:
a shared agricultural machinery real-time scheduling method based on digital twin comprises the following specific steps:
step 1), a shared agricultural machinery scheduling decision system acquires agricultural machinery user demands in real time through an intelligent terminal, and stores the agricultural machinery user demands in a twin database;
the method for acquiring the agricultural machinery user requirements comprises the following steps:
an agricultural machine user fills in a demand registration form in a shared agricultural machine scheduling decision system through intelligent terminals such as a computer, a mobile phone, a tablet, a notebook and the like, wherein the demand registration form comprises four major categories of agricultural machine user basic information, agricultural machine working environment, specific agricultural activities and other additional demands, and the user basic information comprises user names, home addresses and contact modes; the agricultural machine working environment comprises farmland positions, surrounding road conditions, geometric features, soil conditions, historical weather conditions, crop growth conditions and the like; specific agricultural activities include sowing, irrigation, fertilization, deinsectization, weeding, harvesting and the like; other additional requirements include agricultural activity time, whether agricultural machinery hands are needed, acceptable price intervals and the like, and after an agricultural machinery user confirms that the agricultural machinery hands are correct, submitting a requirement registry through a visual man-machine interaction interface and storing the requirement registry into a twin database;
step 2) carrying out agricultural machinery demand feasibility analysis by using a shared agricultural machinery scheduling decision system based on digital twin data by using a data processing technology;
the demand feasibility analysis comprises the following steps:
invoking an agricultural machinery user demand registry in the twin database, carrying out demand feasibility analysis, and carrying out demand matching based on agricultural activities, farmland geographic positions, agricultural machinery operation time periods and the like in the demand registry;
step 2-1) analyzing farmland conditions and farmland real-time environment data based on GIS farmland environment historical data, judging whether agricultural activities in the demands of agricultural machine users can be smoothly performed, if not, feeding back to the agricultural machine users in real time through intelligent terminals to perform corresponding adjustment, and if so, entering the next step;
step 2-2) judging whether an agricultural machine hand is needed according to an agricultural machine user, if so, searching the agricultural machine hand information meeting the requirements and the agricultural machine type meeting the agricultural activities in a twin database, and if not, directly matching the agricultural machine type; the agricultural machinery hand and the agricultural machinery are not matched successfully or one of the agricultural machinery hand and the agricultural machinery is not matched, the agricultural machinery hand and the agricultural machinery are fed back to an agricultural machinery user in real time through an intelligent terminal, after the agricultural machinery user changes the demand, the demand registration form is submitted again to enter a shared agricultural machinery scheduling decision system for matching, and if the matching is successful, the next step is carried out;
step 2-3), judging whether the agricultural machinery can reach an operation point according to the geographical position of the farmland, a map and a field photo taken by the agricultural machinery user, if not, feeding back the specific problem to the agricultural machinery user in real time through an intelligent terminal to perform corresponding adjustment, and if consensus is achieved, making the demand feasible and generating an agricultural machinery user demand list;
step 3) generating an agricultural machinery user demand configuration scheme for user selection according to the agricultural machinery user demand, the farmland environment, the real-time state of the agricultural machinery and the agricultural machinery hand and other information;
step 4) in the virtual world, digitally defining physical entities in a demand configuration scheme most satisfactory to an agricultural machine user to construct a high-fidelity digital twin;
step 5) in the shared agricultural machinery scheduling decision system, path planning is carried out according to the operation site, the agricultural machinery and the real-time position of the agricultural machinery hand, so as to generate an agricultural machinery scheduling scheme;
step 6) utilizing a digital twin technology to carry out multidimensional evaluation on the agricultural machinery scheduling scheme generated in the step 5) before the agricultural machinery scheduling scheme is executed so as to ensure that performance indexes in the agricultural machinery scheduling scheme meet predefined requirements;
and 7) after the assessment in the step 6) is finished, sending an agricultural machinery scheduling scheme to the physical world, guiding the entity in the physical world to operate, and feeding back real-time operation data to the shared agricultural machinery scheduling decision system and the virtual world so as to monitor and optimize the scheduling process in real time.
In the invention, in step 3), the agricultural machinery user demand configuration scheme is generated, and the method comprises the following steps:
step 3-1), analyzing, evaluating and predicting agricultural equipment and agricultural workers, and automatically matching to obtain key scheduling elements such as the type selection and the number of the agricultural equipment, the number of the agricultural workers and the like according to real-time farmland environment and specific agricultural activities;
step 3-2) calculating the estimated price of each set of agricultural machinery requirement configuration scheme according to the using cost and idle loss cost of each agricultural machinery and each agricultural machinery hand per hour, the generated logistics transportation cost and the like;
step 3-3) obtaining the expected time for completing the agronomic activity according to the specific agronomic activity, farmland environment information and the working efficiency of the agricultural equipment and the agricultural hands;
step 3-4), feeding all demand configuration schemes (comprising specific configuration content, workflow, estimated price and estimated time for completing agricultural activities) meeting the demands of the agricultural machine users back to the agricultural machine users through the intelligent terminal, and providing value-added services for selection;
if the agricultural machine user does not have the selected demand configuration scheme, carrying out demand configuration scheme modification and optimization according to the new demand of the agricultural machine user, and generating a new demand configuration scheme recommendation for the agricultural machine user; if the agricultural machine user has the selected demand configuration scheme, the agricultural machine user pays the subscription and confirms the order, and the next flow is entered.
In the present invention, in step 4), the digital twin construction comprises the steps of:
the key point of constructing the digital twin body is to construct a high-fidelity virtual model in the virtual world, and define physical entities (including agricultural machinery hands, agricultural machinery, farmlands, logistics equipment, matched resources and the like) in the most satisfactory agricultural machinery requirement configuration scheme of the agricultural machinery user through digitalization so as to truly and completely reproduce the geometric shape, physical properties, behaviors and rules of the physical world;
in the virtual world, firstly, geometrical modeling is carried out on physical entities such as agricultural machinery hands, agricultural machinery, farmlands, logistics equipment and matched resources based on geometrical parameters such as size, shape, assembly relation and the like by utilizing CAD three-dimensional modeling software, geometrical characteristics of the physical entities are reflected, so that visualized geometrical models such as personnel models, agricultural machinery models, farmland models, physical equipment models and matched resource models are obtained, and then attribute information of the physical entities is input into the geometrical models; meanwhile, corresponding physical models including a dynamics model, a finite element model, a stress analysis model and the like are established according to physical properties such as actual stress, fatigue, deformation and the like of physical entities such as an agricultural machinery hand, an agricultural machinery, logistics equipment and the like, and then simulation is carried out in CAE simulation software; based on the geometric model and the physical model, a behavior model responding to external driving and interference is established, physical entities such as an agricultural machine hand, an agricultural machine, logistics equipment and the like all have respective behavior characteristics and corresponding behavior capacities, and the behavior of the physical entities is simulated in a virtual space by establishing the behavior model; on a plurality of layer models of geometry, physics and behavior, describing operation rules and rules reflected by all physical entities in the physical world, constructing rule models, and mapping the rule models to corresponding virtual models one by one, so that the virtual models have functions of evaluation, optimization, prediction and the like;
finally, according to the association relation among the physical entities, the organic fusion of different virtual models is realized, and the digital twin bodies which are completely corresponding and consistent with the physical entities in the physical world are obtained, so that the behaviors and performances of the physical entities in the real environment are simulated in real time.
In the present invention, in step 5), the agricultural machinery scheduling scheme is generated, including the steps of:
step 5-1) describing a shared agricultural machinery scheduling problem;
step 5-2), establishing a scheduling model with the lowest overall scheduling cost as an optimization target;
step 5-3) solving a scheduling model by using a mathematical algorithm based on the real-time positions of the operation site, the agricultural machinery and the agricultural machinery hand and on the premise of meeting all constraint conditions, so as to obtain an optimal path planning;
step 5-4) combining the agricultural machinery user demand configuration scheme to finally generate an agricultural machinery scheduling scheme.
In the present invention, in step 6), the evaluating the agricultural machine scheduling scheme includes the steps of:
the digital twin technology is utilized to carry out multidimensional evaluation on the agricultural machinery scheduling scheme before the agricultural machinery scheduling scheme is executed, so that the performance indexes (agricultural machinery operation delay period, agricultural machinery utilization rate and agricultural machinery energy consumption (working energy consumption, idle energy consumption and standby energy consumption)) of the agricultural machinery scheduling scheme are ensured, and predefined requirements are met.
In the present invention, in step 7), the real-time monitoring and optimization is performed in the scheduling process, which includes the following steps:
step 7-1), monitoring data and real-time operation data and positioning information of the agricultural machinery and the agricultural machinery hand operation in the dispatching process are fed back to a shared agricultural machinery dispatching decision-making system;
step 7-2), the dispatching simulation data obtained by the digital twin body after virtual simulation is fed back to a shared agricultural machinery dispatching decision system;
step 7-3), the shared agricultural machinery scheduling decision system performs data analysis fusion processing on the physical data and the virtual data;
step 7-4), the virtual world adjusts itself according to real-time data of the physical world, evaluates, optimizes, predicts and the like the adjusting process, and iterates and optimizes repeatedly;
step 7-5) the shared agricultural machinery scheduling decision system communicates the real-time scheduling decisions to the physical world and the virtual world.
The beneficial effects are that: according to the invention, the state and position information of the agricultural machinery and the agricultural machinery hand are acquired in real time through the intelligent terminal, the demands of the agricultural machinery user are fed back to the virtual world in real time based on digital twin, so that synchronous operation of the virtual world and the physical world and real-time optimization of an agricultural machinery dispatching scheme are realized, an intelligent dispatching support is provided by a digital twin technology in the dispatching process of the shared agricultural machinery, dynamic dispatching is carried out on the agricultural machinery, the agricultural machinery hand, the physical equipment, matched resources and the like according to the demands of the agricultural machinery user and the real-time dispatching data, the defects of traditional dispatching are overcome, the dynamic optimal control is realized in the whole dispatching process of the shared agricultural machinery, and the user satisfaction is further improved.
Drawings
FIG. 1 is a schematic diagram of a real-time scheduling overall model of a shared agricultural machine in an embodiment of the invention.
FIG. 2 is a schematic diagram of an agricultural machinery user demand model in an embodiment of the present invention.
FIG. 3 is a schematic diagram of an agricultural machinery demand feasibility analysis flow in an embodiment of the invention.
Description of the embodiments
In order that the manner in which the invention is practiced, features of the invention, and objects and features thereof are readily apparent, a more particular description of the invention will be rendered by reference to specific embodiments thereof.
Referring to fig. 1-3, a shared agricultural machinery real-time scheduling method based on digital twinning comprises the following specific steps:
step 1), a shared agricultural machinery scheduling decision system acquires agricultural machinery user demands in real time through an intelligent terminal, and stores the agricultural machinery user demands in a twin database;
the method for acquiring the agricultural machinery user requirements comprises the following steps:
an agricultural machine user fills in a demand registration form in a shared agricultural machine scheduling decision system through intelligent terminals such as a computer, a mobile phone, a tablet, a notebook and the like, wherein the demand registration form comprises four major categories of agricultural machine user basic information, agricultural machine working environment, specific agricultural activities and other additional demands, and the user basic information comprises user names, home addresses and contact modes; the agricultural machine working environment comprises farmland positions, surrounding road conditions, geometric features, soil conditions, historical weather conditions, crop growth conditions and the like; specific agricultural activities include sowing, irrigation, fertilization, deinsectization, weeding, harvesting and the like; other additional requirements include agricultural activity time, whether agricultural machinery hands are needed, acceptable price intervals and the like, and after an agricultural machinery user confirms that the agricultural machinery hands are correct, submitting a requirement registry through a visual man-machine interaction interface and storing the requirement registry into a twin database;
step 2) carrying out agricultural machinery demand feasibility analysis by using a shared agricultural machinery scheduling decision system based on digital twin data by using a data processing technology;
the demand feasibility analysis comprises the following steps:
invoking an agricultural machinery user demand registry in the twin database, carrying out demand feasibility analysis, and carrying out demand matching based on agricultural activities, farmland geographic positions, agricultural machinery operation time periods and the like in the demand registry;
step 2-1) analyzing farmland conditions and farmland real-time environment data based on GIS farmland environment historical data, judging whether agricultural activities in the demands of agricultural machine users can be smoothly performed, if not, feeding back to the agricultural machine users in real time through intelligent terminals to perform corresponding adjustment, and if so, entering the next step;
step 2-2) judging whether an agricultural machine hand is needed according to an agricultural machine user, if so, searching the agricultural machine hand information meeting the requirements and the agricultural machine type meeting the agricultural activities in a twin database, and if not, directly matching the agricultural machine type; the agricultural machinery hand and the agricultural machinery are not matched successfully or one of the agricultural machinery hand and the agricultural machinery is not matched, the agricultural machinery hand and the agricultural machinery are fed back to an agricultural machinery user in real time through an intelligent terminal, after the agricultural machinery user changes the demand, the demand registration form is submitted again to enter a shared agricultural machinery scheduling decision system for matching, and if the matching is successful, the next step is carried out;
step 2-3), judging whether the agricultural machinery can reach an operation point according to the geographical position of the farmland, a map and a field photo taken by the agricultural machinery user, if not, feeding back the specific problem to the agricultural machinery user in real time through an intelligent terminal to perform corresponding adjustment, and if consensus is achieved, making the demand feasible and generating an agricultural machinery user demand list;
step 3) generating an agricultural machinery user demand configuration scheme for user selection according to the agricultural machinery user demand, the farmland environment, the real-time state of the agricultural machinery and the agricultural machinery hand and other information;
under the driving of twin data and an agricultural machinery user demand list, an agricultural machinery user demand configuration scheme is generated, and the method comprises the following steps of:
step 3-1), analyzing, evaluating and predicting agricultural equipment and agricultural workers, and automatically matching to obtain key scheduling elements such as the type selection and the number of the agricultural equipment, the number of the agricultural workers and the like according to real-time farmland environment and specific agricultural activities;
step 3-2) calculating the estimated price of each set of agricultural machinery requirement configuration scheme according to the using cost and idle loss cost of each agricultural machinery and each agricultural machinery hand per hour, the generated logistics transportation cost and the like;
step 3-3) obtaining the expected time for completing the agronomic activity according to the specific agronomic activity, farmland environment information and the working efficiency of the agricultural equipment and the agricultural hands;
step 3-4), feeding all demand configuration schemes (comprising specific configuration content, workflow, estimated price and estimated time for completing agricultural activities) meeting the demands of the agricultural machine users back to the agricultural machine users through the intelligent terminal, and providing value-added services for selection;
if the agricultural machine user does not have the selected demand configuration scheme, carrying out demand configuration scheme modification and optimization according to the new demand of the agricultural machine user, and generating a new demand configuration scheme recommendation for the agricultural machine user; if the agricultural machine user has the selected demand configuration scheme, the agricultural machine user pays a subscription fee and confirms the order, and the next flow is entered;
step 4) in the virtual world, digitally defining physical entities in a demand configuration scheme most satisfactory to an agricultural machine user to construct a high-fidelity digital twin;
a method of constructing a digital twin comprising the steps of:
the key point of constructing the digital twin body is to construct a high-fidelity virtual model in the virtual world, and define physical entities (including agricultural machinery hands, agricultural machinery, farmlands, logistics equipment, matched resources and the like) in the most satisfactory agricultural machinery requirement configuration scheme of the agricultural machinery user through digitalization so as to truly and completely reproduce the geometric shape, physical properties, behaviors and rules of the physical world;
in the virtual world, firstly, geometrical modeling is carried out on physical entities such as agricultural machinery hands, agricultural machinery, farmlands, logistics equipment and matched resources based on geometrical parameters such as size, shape, assembly relation and the like by utilizing CAD three-dimensional modeling software, geometrical characteristics of the physical entities are reflected, so that visualized geometrical models such as personnel models, agricultural machinery models, farmland models, physical equipment models and matched resource models are obtained, and then attribute information of the physical entities is input into the geometrical models; meanwhile, corresponding physical models including a dynamics model, a finite element model, a stress analysis model and the like are established according to physical properties such as actual stress, fatigue, deformation and the like of physical entities such as an agricultural machinery hand, an agricultural machinery, logistics equipment and the like, and then simulation is carried out in CAE simulation software; based on the geometric model and the physical model, a behavior model responding to external driving and interference is established, physical entities such as an agricultural machine hand, an agricultural machine, logistics equipment and the like all have respective behavior characteristics and corresponding behavior capacities, and the behavior of the physical entities is simulated in a virtual space by establishing the behavior model; on a plurality of layer models of geometry, physics and behavior, describing operation rules and rules reflected by all physical entities in the physical world, constructing rule models, and mapping the rule models to corresponding virtual models one by one, so that the virtual models have functions of evaluation, optimization, prediction and the like;
finally, according to the association relation among the physical entities, the organic fusion of different virtual models is realized, a digital twin body which is completely corresponding and consistent with the physical entities in the physical world is obtained, and the behaviors and performances of the physical entities in the real environment are simulated in real time;
step 5) in the shared agricultural machinery scheduling decision system, path planning is carried out according to the operation site, the agricultural machinery and the real-time position of the agricultural machinery hand, so as to generate an agricultural machinery scheduling scheme;
the agricultural machinery scheduling scheme comprises the following steps:
step 5-1) describing a shared agricultural machinery scheduling problem;
step 5-2), establishing a scheduling model with the lowest overall scheduling cost as an optimization target;
step 5-3) solving a scheduling model by using a mathematical algorithm based on the real-time positions of the operation site, the agricultural machinery and the agricultural machinery hand and on the premise of meeting all constraint conditions, so as to obtain an optimal path planning;
step 5-4) combining with an agricultural machine user demand configuration scheme to finally generate an agricultural machine scheduling scheme;
step 6) utilizing a digital twin technology to carry out multidimensional evaluation on the agricultural machinery scheduling scheme generated in the step 5) before the agricultural machinery scheduling scheme is executed so as to ensure that performance indexes in the agricultural machinery scheduling scheme meet predefined requirements;
the evaluating agricultural machine scheduling scheme includes the steps of:
the digital twin technology is utilized, multidimensional evaluation is carried out on the agricultural machinery scheduling scheme before the agricultural machinery scheduling scheme is executed, so that performance indexes (agricultural machinery operation delay period, agricultural machinery utilization rate and agricultural machinery energy consumption (working energy consumption, idle energy consumption and standby energy consumption)) of the agricultural machinery scheduling scheme are ensured, and predefined requirements are met;
step 7) after the assessment of the step 6) is finished, sending an agricultural machinery scheduling scheme to the physical world, guiding the entity in the physical world to operate, and feeding back real-time operation data to a shared agricultural machinery scheduling decision system and the virtual world so as to monitor and optimize the scheduling process in real time;
the real-time monitoring and optimizing of the scheduling process comprises the following steps:
step 7-1), monitoring data and real-time operation data and positioning information of the agricultural machinery and the agricultural machinery hand operation in the dispatching process are fed back to a shared agricultural machinery dispatching decision-making system;
step 7-2), the dispatching simulation data obtained by the digital twin body after virtual simulation is fed back to a shared agricultural machinery dispatching decision system;
step 7-3), the shared agricultural machinery scheduling decision system performs data analysis fusion processing on the physical data and the virtual data;
step 7-4), the virtual world adjusts itself according to real-time data of the physical world, evaluates, optimizes, predicts and the like the adjusting process, and iterates and optimizes repeatedly;
step 7-5) the shared agricultural machinery scheduling decision system communicates the real-time scheduling decisions to the physical world and the virtual world.
Claims (8)
1. A shared agricultural machine real-time scheduling method based on digital twin is characterized in that an agricultural machine scheduling decision system firstly acquires agricultural machine user demands in real time, the agricultural machine user demands are stored in a twin database, then based on digital twin data, the acquired agricultural machine user demand information is subjected to feasibility analysis to generate an agricultural machine user demand configuration scheme, after the agricultural machine user selects a demand configuration scheme, the shared agricultural machine scheduling decision system digitally defines physical entities in a most satisfactory demand configuration scheme of the agricultural machine user in a virtual world so as to construct a digital twin body, the shared agricultural machine scheduling decision system simultaneously performs path planning to generate an agricultural machine scheduling scheme, the shared agricultural machine scheduling decision system utilizes a digital twin technology to evaluate the agricultural machine scheduling scheme until the predefined requirements are met, transmits the evaluated agricultural machine scheduling scheme to the physical world, guides the entity in the physical world to operate, and feeds back the real-time operation data to the shared agricultural machine scheduling decision system and the virtual world so as to monitor and optimize the scheduling process in real time.
2. The method for real-time scheduling of shared agricultural machinery based on digital twinning as claimed in claim 1, wherein the specific steps are as follows:
step 1), a shared agricultural machinery scheduling decision system acquires agricultural machinery user demands in real time through an intelligent terminal, and stores the agricultural machinery user demands in a twin database;
step 2) carrying out agricultural machinery demand feasibility analysis by using a shared agricultural machinery scheduling decision system based on digital twin data by using a data processing technology;
step 3) generating an agricultural machinery user demand configuration scheme for user selection according to the agricultural machinery user demand, the farmland environment and the real-time state information of the agricultural machinery and the agricultural machinery hand;
step 4) digitally defining physical entities in the most satisfactory demand configuration scheme of the agricultural machine user in the step 3) in the virtual world to construct a high-fidelity digital twin;
step 5) in the shared agricultural machinery scheduling decision system, path planning is carried out according to the operation site, the agricultural machinery and the real-time position of the agricultural machinery hand, so as to generate an agricultural machinery scheduling scheme;
step 6) utilizing a digital twin technology to carry out multidimensional evaluation on the agricultural machinery scheduling scheme generated in the step 5) before the agricultural machinery scheduling scheme is executed so as to ensure that performance indexes in the agricultural machinery scheduling scheme meet predefined requirements;
and 7) after the assessment in the step 6) is finished, sending an agricultural machinery scheduling scheme to the physical world, guiding the entity in the physical world to operate, and feeding back real-time operation data to the shared agricultural machinery scheduling decision system and the virtual world so as to monitor and optimize the scheduling process in real time.
3. The method for real-time scheduling of shared agricultural machinery based on digital twinning according to claim 2, wherein in step 1), the step of obtaining the agricultural machinery user demand comprises the steps of:
an agricultural machine user fills a demand registry in a shared agricultural machine scheduling decision system through an intelligent terminal, wherein the demand registry comprises four major categories of agricultural machine user basic information, agricultural machine working environment, specific agricultural activities and other additional demands, and the user basic information comprises user names, home addresses and contact modes; the agricultural machine working environment comprises farmland positions, surrounding road conditions, geometric features, soil conditions, historical weather conditions and crop growth conditions; specific agronomic activities include sowing, irrigation, fertilization, deinsectization, weeding and harvesting; other additional requirements include time of farming activities, whether or not an agricultural machine hand is required, and an acceptable price range, and the agricultural machine user submits a requirement registry after confirming that there is no error.
4. The method for real-time scheduling of shared agricultural machinery based on digital twinning according to claim 2, wherein in step 2), the demand feasibility analysis comprises the steps of:
the agricultural machinery user demand registry is called in the twin database, demand feasibility analysis is carried out, and demand matching is carried out based on agricultural activity content, farmland geographic positions and agricultural machinery operation time periods in the demand registry;
step 2-1) analyzing farmland conditions and farmland real-time environment data based on GIS farmland environment historical data, judging whether agricultural activities in the demands of agricultural machine users can be smoothly performed, if not, feeding back to the agricultural machine users in real time through intelligent terminals to perform corresponding adjustment, and if so, entering the next step;
step 2-2) judging whether an agricultural machine hand is needed according to an agricultural machine user, if so, searching the agricultural machine hand information meeting the requirements and the agricultural machine type meeting the agricultural activities in a twin database, and if not, directly matching the agricultural machine type; the agricultural machinery hand and the agricultural machinery are not matched successfully or one of the agricultural machinery hand and the agricultural machinery is not matched, the agricultural machinery hand and the agricultural machinery are fed back to an agricultural machinery user in real time through an intelligent terminal, after the agricultural machinery user changes the demand, the demand registration form is submitted again to enter a shared agricultural machinery scheduling decision system for matching, and if the matching is successful, the next step is carried out;
step 2-3) judging whether the agricultural machinery can reach an operation point according to the geographical position of the farmland, a map and a field photo shot by the agricultural machinery user, if not, feeding back the specific problem to the agricultural machinery user in real time through an intelligent terminal to perform corresponding adjustment, and if consensus is achieved, the requirements are feasible, and generating an agricultural machinery user requirement list.
5. The method for real-time scheduling of shared agricultural machinery based on digital twinning according to claim 2, wherein in step 3), the agricultural machinery user demand configuration scheme is generated, comprising the steps of:
step 3-1), analyzing, evaluating and predicting agricultural equipment and agricultural operators, and automatically matching to obtain key scheduling elements according to real-time farmland environment and specific agricultural activities;
step 3-2) calculating the estimated price of each set of agricultural machinery requirement configuration scheme;
step 3-3) obtaining the expected time for completing the agronomic activity according to the specific agronomic activity, farmland environment information and the working efficiency of the agricultural equipment and the agricultural hands;
step 3-4), feeding back all demand configuration schemes meeting the demands of the agricultural machine users to the agricultural machine users through the intelligent terminal, and simultaneously providing value-added services for selection;
if the agricultural machine user does not have the selected demand configuration scheme, carrying out demand configuration scheme modification and optimization according to the new demand of the agricultural machine user, and generating a new demand configuration scheme recommendation for the agricultural machine user; if the agricultural machine user has the selected demand configuration scheme, the agricultural machine user pays the subscription and confirms the order, and the next flow is entered.
6. The method for real-time scheduling of shared agricultural machinery based on digital twinning according to claim 2, wherein in step 4), the digital twinning is constructed, comprising the steps of:
in the virtual world, firstly, carrying out geometric modeling on a physical entity based on geometric parameters by utilizing CAD three-dimensional modeling software, reflecting geometric characteristics of the physical entity to obtain a visual geometric model, and then inputting attribute information of the physical entity into the geometric model; meanwhile, according to physical attributes, a corresponding physical model is established, and then simulation is carried out in CAE simulation software; based on the geometric model and the physical model, a behavior model responding to external driving and interference is established, and the behavior of the physical entity is simulated in a virtual space by establishing the behavior model because the physical entity has respective behavior characteristics and corresponding behavior capacities; on a plurality of layer models of geometry, physics and behavior, describing operation rules and rules reflected by all physical entities in the physical world, constructing rule models, and mapping the rule models to corresponding virtual models one by one, so that the virtual models have the functions of evaluation, optimization and prediction;
finally, according to the association relation among the physical entities, the organic fusion of different virtual models is realized, and the digital twin bodies which are completely corresponding and consistent with the physical entities in the physical world are obtained, so that the behaviors and performances of the physical entities in the real environment are simulated in real time.
7. The method for real-time scheduling of shared agricultural machinery based on digital twinning according to claim 2, wherein in step 5), the agricultural machinery scheduling scheme is generated, comprising the steps of:
step 5-1) describing a shared agricultural machinery scheduling problem;
step 5-2), establishing a scheduling model with the lowest overall scheduling cost as an optimization target;
step 5-3) solving a scheduling model by using a mathematical algorithm based on the real-time positions of the operation site, the agricultural machinery and the agricultural machinery hand and on the premise of meeting all constraint conditions, so as to obtain an optimal path planning;
step 5-4) combining the agricultural machinery user demand configuration scheme to finally generate an agricultural machinery scheduling scheme.
8. The method for real-time scheduling of shared agricultural machinery based on digital twinning according to claim 2, wherein in step 7), real-time monitoring and optimization are performed in the scheduling process, and the method comprises the following steps:
step 7-1), monitoring data and real-time operation data and positioning information of the agricultural machinery and the agricultural machinery hand operation in the dispatching process are fed back to a shared agricultural machinery dispatching decision-making system;
step 7-2), the dispatching simulation data obtained by the digital twin body after virtual simulation is fed back to a shared agricultural machinery dispatching decision system;
step 7-3), the shared agricultural machinery scheduling decision system performs data analysis fusion processing on the physical data and the virtual data;
step 7-4), the virtual world adjusts itself according to real-time data of the physical world, evaluates, optimizes and predicts the adjusting process, and iterates and optimizes repeatedly;
step 7-5) the shared agricultural machinery scheduling decision system communicates the real-time scheduling decisions to the physical world and the virtual world.
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