CN112731968A - Sky-ground integrated communication fusion cooperative scheduling system - Google Patents
Sky-ground integrated communication fusion cooperative scheduling system Download PDFInfo
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- CN112731968A CN112731968A CN202011592000.7A CN202011592000A CN112731968A CN 112731968 A CN112731968 A CN 112731968A CN 202011592000 A CN202011592000 A CN 202011592000A CN 112731968 A CN112731968 A CN 112731968A
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- 238000004891 communication Methods 0.000 title claims abstract description 18
- 230000004927 fusion Effects 0.000 title claims abstract description 14
- 238000004088 simulation Methods 0.000 claims abstract description 33
- 238000003860 storage Methods 0.000 claims description 57
- 238000005192 partition Methods 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41845—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by system universality, reconfigurability, modularity
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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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
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- Automation & Control Theory (AREA)
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- Manufacturing & Machinery (AREA)
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- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
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Abstract
A sky-ground integrated communication fusion cooperative scheduling system comprises a signal debugging simulation module, a signal summarizing module, a signal access device, a satellite data receiving module and a terrain data input module; the signal access device is accessed into the plurality of unmanned aerial vehicle controllers and transmits the regulation and control signals of the plurality of unmanned aerial vehicle controllers to the signal collecting module for collection; the terrain data input module establishes a terrain map of a working area and transmits the terrain map to the signal debugging simulation module, and the signal debugging simulation module compares and revises the terrain information detected by the satellite data receiving module with the terrain map established by the terrain data input module; the signal debugging simulation module plans the topographic map and the control quantity of the unmanned aerial vehicles which are accessed currently; and controlling the unmanned aerial vehicle to fly according to the specified route according to the simulation result. The invention carries out cooperative scheduling through a signal debugging simulation module, a signal summarizing module, a signal access device, a satellite data receiving module and a terrain data input module.
Description
Technical Field
The invention relates to the technical field of cooperative scheduling systems, in particular to a sky-ground integrated communication fusion cooperative scheduling system.
Background
The sky-ground integration refers to that a resource sharing platform and a data integration and safety supervision platform are created for agricultural fine services such as real-time, dynamic and three-dimensional geographic information and positioning data provided by unmanned aerial vehicle groups and ground large-scale unmanned agricultural machines by means of a Beidou navigation technology, a high-resolution satellite remote sensing technology, an internet of things and a cloud computing technology, and agricultural production, operation efficiency and agricultural product quality are improved.
Disclosure of Invention
Objects of the invention
In order to solve the technical problems in the background art, the invention provides a sky-ground integrated communication fusion cooperative scheduling system which carries out cooperative scheduling through a signal debugging simulation module, a signal summarizing module, a signal access device, a satellite data receiving module and a terrain data input module.
(II) technical scheme
The invention provides a sky-ground integrated communication fusion cooperative scheduling system, which comprises a signal debugging simulation module, a signal summarizing module, a signal access device, a satellite data receiving module and a terrain data input module, wherein the signal debugging simulation module is used for debugging a satellite;
the signal access device is accessed into the plurality of unmanned aerial vehicle controllers and transmits the regulation and control signals of the plurality of unmanned aerial vehicle controllers to the signal collecting module for collection; the terrain data input module establishes a terrain map of a working area and transmits the terrain map to the signal debugging simulation module, and the signal debugging simulation module compares and revises the terrain information detected by the satellite data receiving module with the terrain map established by the terrain data input module; the signal debugging simulation module plans the topographic map and the control quantity of the currently accessed unmanned aerial vehicles and simulates a flight route; after the flight is simulated, controlling the unmanned aerial vehicle to fly according to a specified route according to a simulation result; the satellite data receiving module monitors the running state of the unmanned aerial vehicle in real time and deviates from a route, and feeds the result back to the cooperative scheduling system for real-time revision.
Preferably, a device for numbering and storing the unmanned aerial vehicle controller is further arranged, and comprises a storage rack, a separation rack and a storage drawer; the plurality of separating frames are arranged in a crossed manner to separate the storage frames into a plurality of storage spaces; the storage drawers are provided with a plurality of storage drawers which are respectively arranged in the storage spaces in a sliding manner.
Preferably, the separating frame is provided with a clamping groove; the clamping grooves are arranged in a plurality corresponding to the storage drawers; the storage drawer is provided with a clamping plate; the cardboard is located the below of storing the drawer, and the one end embedding of cardboard sets up in the draw-in groove.
Preferably, the storage rack is provided with a limit groove, a clamping mechanism and a connecting rod; one end of the connecting rod is arranged in the limiting groove in a sliding manner; the clamping mechanism is arranged in the limiting groove; the clamping mechanism comprises a limiting block and an elastic piece; the limiting block is arranged on the storage rack in a sliding manner, and one end of the limiting block is positioned in the limiting groove; the elastic part is positioned in the limiting groove, and two ends of the elastic part are respectively connected with the storage rack and the limiting block; the limiting block is connected with the connecting rod in a clamping mode.
Preferably, the terrain data input module comprises a data scanning device and a data creation device.
Preferably, be provided with unmanned aerial vehicle self-checking system on the signal access device.
Preferably, the signal debugging simulation module is provided with an environment information input module.
Compared with the prior art, the technical scheme of the invention has the following beneficial technical effects:
in the invention, a topographic map under the current working environment is established by a topographic data input module, the established topographic map is compared with a topographic map detected by a satellite data receiving module by a signal debugging simulation module, and a comparison result is fed back to an operator, the operator adjusts according to the actual condition, after the adjustment is finished, the signal debugging simulation module simulates the flight route according to the number of the accessed unmanned aerial vehicles, performs virtual flight, starts to control the unmanned aerial vehicles to fly according to a preset route after the error is confirmed, the flight route and the flight state of the unmanned aerial vehicles are monitored by the satellite data receiving module in real time during the flight, and the structure is fed back to a cooperative scheduling system for real-time revision.
Drawings
Fig. 1 is a schematic structural diagram of a sky-ground integrated communication convergence cooperative scheduling system according to the present invention.
Fig. 2 is a schematic structural diagram of a storage rack in a sky-ground integrated communication convergence cooperative scheduling system according to the present invention.
Fig. 3 is a structural sectional view of a storage rack in a sky-ground integrated communication convergence cooperative scheduling system according to the present invention.
Fig. 4 is a schematic partial structure diagram of a storage rack in a sky-ground integrated communication convergence cooperative scheduling system according to the present invention.
Reference numerals: 1. a signal debugging simulation module; 2. a signal summarizing module; 3. a signal access device; 4. a satellite data receiving module; 5. a terrain data input module; 6. a data scanning device; 7. a data creation device; 8. a storage rack; 801. a limiting groove; 9. a spacer; 901. a card slot; 10. a storage drawer; 1001. clamping a plate; 11. a clamping mechanism; 1101. a limiting block; 1102. an elastic member; 12. a connecting rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
As shown in fig. 1-4, the sky-ground integrated communication fusion cooperative scheduling system provided by the present invention includes a signal debugging simulation module 1, a signal summarizing module 2, a signal access device 3, a satellite data receiving module 4 and a terrain data input module 5;
the signal access device 3 is accessed to a plurality of unmanned aerial vehicle controllers and transmits the regulation and control signals of the unmanned aerial vehicle controllers to the signal summarizing module 2 for summarizing; the terrain data input module 5 establishes a terrain map of a working area, and transmits the terrain map to the signal debugging simulation module 1, and the signal debugging simulation module 1 compares and revises the terrain information detected by the satellite data receiving module 4 with the terrain map established by the terrain data input module 5; the signal debugging simulation module 1 plans a topographic map and the control quantity of the currently accessed unmanned aerial vehicles and simulates a flight route; after the flight is simulated, controlling the unmanned aerial vehicle to fly according to a specified route according to a simulation result; the satellite data receiving module 4 monitors the operation state of the unmanned aerial vehicle in real time and deviates from a route, and feeds the result back to the cooperative scheduling system for real-time revision.
In an alternative embodiment, means for numbering and storing the drone controllers are also provided, including storage racks 8, spacer racks 9 and storage drawers 10; the plurality of separating frames 9 are arranged, the plurality of separating frames 9 are arranged in a crossed manner, and the storage frame 8 is divided into a plurality of storage spaces; the storage drawers 10 are provided in plurality, and the storage drawers 10 are slidably provided in the storage spaces, respectively.
It should be noted that, to store drawer 10 and open, put into storage drawer 10 with unmanned aerial vehicle controller in, all number on every storage drawer 10 to conveniently regulate and control unmanned aerial vehicle and take out the unmanned aerial vehicle controller that breaks down, the unmanned aerial vehicle controller that updates.
In an alternative embodiment, the separating frame 9 is provided with a clamping groove 901; a plurality of card slots 901 are provided corresponding to the storage drawers 10; the storage drawer 10 is provided with a clamping plate 1001; the card 1001 is located below the storage drawer 10, and one end of the card 1001 is inserted into the card slot 901.
It should be noted that, when the storage drawer 10 is pushed into the storage rack 8, the clamping plate 1001 is just clamped in the clamping groove 901 to prevent the storage drawer 10 from sliding out; when the storage drawer 10 needs to be opened, the storage drawer 10 is lifted upwards, and the storage drawer 10 drives the clamping plate 1001 to move, so that the clamping plate 1001 is separated from the clamping groove 901, and the storage drawer 10 can be pulled out.
In an alternative embodiment, the storage rack 8 is provided with a limit groove 801, a clamping mechanism 11 and a connecting rod 12; one end of the connecting rod 12 is slidably arranged in the limiting groove 801; the clamping mechanism 11 is arranged in the limit groove 801; the clamping mechanism 11 comprises a limiting block 1101 and an elastic piece 1102; the limiting block 1101 is arranged on the storage rack 8 in a sliding manner, and one end of the limiting block 1101 is positioned in the limiting groove 801; the elastic piece 1102 is positioned in the limiting groove 801, and two ends of the elastic piece 1102 are respectively connected with the storage rack 8 and the limiting block 1101; the limiting block 1101 is clamped with the connecting rod 12.
It should be noted that when the number of the unmanned aerial vehicle controllers is larger than that of one storage rack 8, the two storage racks 8 can be spliced together, one end of the connecting rod 12 is inserted into the storage rack 8 located below, and the limiting is performed through the limiting block 1101; aligning the limiting groove 801 at the lower end of the other storage rack 8 with the connecting rod 12, sleeving the limiting groove on the connecting rod 12, and limiting the limiting groove by the other clamping mechanism 11 for connection; thereby link together two storage racks 8, make things convenient for the serial number arrangement, and reduce occupation space.
In an alternative embodiment, the terrain data input module 5 comprises a data scanning device 6 and a data creation device 7.
It should be noted that, when the terrain is relatively simple, the data scanning device 6 scans the terrain, and when the terrain is relatively complex or the data scanning device 6 cannot completely scan, the data creating device 7 creates a terrain map, and compares and revises the scanning structure of the data scanning device 6.
In an optional embodiment, the signal access device 3 is provided with an unmanned aerial vehicle self-checking system.
It should be noted that, unmanned aerial vehicle self-checking system carries out the self-checking to the unmanned aerial vehicle of access when signal access, will refuse to access this unmanned aerial vehicle's signal when detecting out the problem to light the red light on unmanned aerial vehicle and remind the operator, this unmanned aerial vehicle goes wrong, unable direct normal use.
In an alternative embodiment, the signal debugging simulation module 1 is provided with an environment information input module.
It should be noted that the environment information delivery module delivers the wind speed, wind direction, temperature, humidity, air pressure and rainfall under the current environment to the signal debugging simulation module 1, so that the simulation structure is more real and the stability during subsequent work is ensured.
In the invention, a topographic map under the current working environment is established by a topographic data input module 5, a signal debugging simulation module 1 compares the established topographic map with a topographic map detected by a satellite data receiving module 4 and feeds back the comparison result to an operator, the operator adjusts according to the actual situation, after the adjustment is finished, the signal debugging simulation module 1 simulates flight routes according to the number of accessed unmanned aerial vehicles, performs virtual flight, starts to control the unmanned aerial vehicle to fly according to a preset route after the error is confirmed, the satellite data receiving module 4 monitors the flight routes and the flight states of the unmanned aerial vehicle in real time during the flight and feeds back the structure to a cooperative scheduling system for real-time revision.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (7)
1. A sky-ground integrated communication fusion cooperative scheduling system is characterized by comprising a signal debugging simulation module (1), a signal summarizing module (2), a signal access device (3), a satellite data receiving module (4) and a terrain data input module (5);
the signal access device (3) is accessed into the plurality of unmanned aerial vehicle controllers and transmits the regulation and control signals of the plurality of unmanned aerial vehicle controllers to the signal summarizing module (2) for summarizing; the terrain data input module (5) establishes a terrain map of a working area, the terrain map is transmitted to the signal debugging simulation module (1), and the terrain information detected by the signal debugging simulation module (1) through the satellite data receiving module (4) is compared with and revised by the terrain map established by the terrain data input module (5); the signal debugging simulation module (1) plans a topographic map and the control quantity of the currently accessed unmanned aerial vehicles and simulates a flight route; after the flight is simulated, controlling the unmanned aerial vehicle to fly according to a specified route according to a simulation result; the satellite data receiving module (4) monitors the operation state of the unmanned aerial vehicle in real time and deviates from a route, and feeds the result back to the cooperative scheduling system for real-time revision.
2. A sky-ground integrated communication fusion cooperative dispatching system according to claim 1, characterized in that means for numbering and storing the unmanned aerial vehicles controller are further provided, comprising a storage rack (8), a partition rack (9) and a storage drawer (10); a plurality of separating frames (9) are arranged, the separating frames (9) are arranged in a cross manner, and the storage frame (8) is separated into a plurality of storage spaces; the storage drawers (10) are arranged in a plurality, and the storage drawers (10) are respectively arranged in the storage spaces in a sliding manner.
3. A sky-ground integrated communication fusion cooperative dispatching system as claimed in claim 2, wherein the partition frame (9) is provided with a card slot (901); a plurality of clamping grooves (901) are arranged corresponding to the storage drawers (10); the storage drawer (10) is provided with a clamping plate (1001); the clamping plate (1001) is positioned below the storage drawer (10), and one end of the clamping plate (1001) is embedded in the clamping groove (901).
4. A sky-ground integrated communication fusion cooperative dispatching system as claimed in claim 2, wherein the storage rack (8) is provided with a limit groove (801), a clamping mechanism (11) and a connecting rod (12); one end of the connecting rod (12) is arranged in the limiting groove (801) in a sliding manner; the clamping mechanism (11) is arranged in the limiting groove (801); the clamping mechanism (11) comprises a limiting block (1101) and an elastic piece (1102); the limiting block (1101) is arranged on the storage rack (8) in a sliding mode, and one end of the limiting block (1101) is located in the limiting groove (801); the elastic piece (1102) is positioned in the limiting groove (801), and two ends of the elastic piece (1102) are respectively connected with the storage rack (8) and the limiting block (1101); the limiting block (1101) is clamped with the connecting rod (12).
5. A sky-ground integrated communication fusion cooperative scheduling system according to claim 1, characterized in that the terrain data input module (5) comprises a data scanning device (6) and a data establishing device (7).
6. A sky-ground integrated communication fusion cooperative dispatching system as claimed in claim 1, wherein the signal access device (3) is provided with a self-checking system of unmanned aerial vehicle.
7. The sky-ground integrated communication fusion cooperative scheduling system of claim 1, wherein the signal debugging simulation module (1) is provided with an environment information input module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011592000.7A CN112731968A (en) | 2020-12-29 | 2020-12-29 | Sky-ground integrated communication fusion cooperative scheduling system |
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| CN202011592000.7A CN112731968A (en) | 2020-12-29 | 2020-12-29 | Sky-ground integrated communication fusion cooperative scheduling system |
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Application publication date: 20210430 |