308 results about "Swarm control" patented technology

The invention provides a remote unmanned aerial vehicle cluster control method and system based on 3G (the 3rd Generation Telecommunication) and GPRS (General Packet Radio Service) cell phone communication and belongs to the technical field of unmanned aerial vehicles. Each unmanned aerial vehicle is provided with an independent unique electronic identification code by integrating a cell phone communication module into a flight control computer board card; as long as the system is started and electrified, the current relevant information of the unmanned aerial vehicle is transmitted to a remote control center; a permission instruction is necessarily applied from a control center for each flight; information such as an airway plan is made uniformly in the control center; and the information is transmitted to an operation terminal of the unmanned aerial vehicle through a cell phone communication module. Consequently the unmanned aerial vehicle cannot fly away without a headquarter control instruction. The state of each unmanned aerial vehicle is fed back to the control center and can be shared with networked data of relevant national supervision departments so as to play roles in unified supervision and scheduling. In addition, the on-site operation personnel do not need professional knowledge such as airway point setup; and the unmanned aerial vehicle can be operated by common people subjected to simple training, so that the problem of staff shortage in unmanned aerial vehicle control is solved.

The invention relates to a distributed type multi-robot synchronous swarming control method. The method comprises the steps of: identifying not more than six key neighbor robots in all the neighbor robots with the current position of a robot as a center, the detection distance of a sensor as a radius, and other robots in the circular area as neighbor robots, and designing a position control operator of the current robot by using an attraction-repulsion function among the current robot and the neighbor robots; designing a speed direction control operator of the current robot according to the linearization expression of a Vicsel model; and weighing and integrating the position control operator and the speed direction control operator to form a synchronous swarming control rate of the current robot. The invention visually demonstrates network topology and control action relations among robot positions, breaks the restriction on the scale size of robots, realizes purely distributed type extensible coordination control, guarantees communication of network topology structures in the process of group evolution, and can adjust parameters to avoid collision when the scale of the neighbor robots increases continuously and realize self-adapting to the change of the position relations of the robots.

The invention discloses a high-available architecture design method of a SDN cluster controller. Along the continuous increment of the SDN network scale, a single controller cannot accomplish the work of entirely controlling a plane, and the single controller certainly faces sing point of failure at the same time, the entire network system is out of control, the out of control even causes the paralysis of the network and irreversible disaster, and the single controller cannot process the SDN network problem cross multiple regions at the same time; therefore, multiple SDN controller are required to form a distributed cluster to avoid the reliability, extendibility and performance problem of the single controller node. Aiming at the relative mainstream SDN controller extensible scheme at present, the characteristics of the controller, the cluster controller, and a vertical architecture controller of various distributed structures are comprehensively considered to innovate a high-available architecture design method of the SDN cluster controller. The method can be effectively applied to the extensible scheme of the SDN controller to enhance the high availability of the architecture and improving the effectiveness of the controller.

The invention discloses a hydraulic engineering monitoring system based on three-dimensional display. The system comprises a power station control system, an upper computer, a cloud server and a terminal device. The power station control system comprises a power station data receiving management module, and a data acquisition device, a water regime monitoring module, an information query module, an alarm module and a display respectively communicated with the power station data receiving management module. A BIM model construction module is arranged in the power station data receiving management module and used for loading a BIM model of the hydraulic structure and BIM models of all monitoring instruments and reconstructing a three-dimensional BIM model of the hydraulic structure. A powerstation cluster control system and a platform management system are operated on the terminal device. The power station data receiving management module communicates with an upper computer. The upper computer is in communication with the cloud server, and the cloud server is in communication with the terminal device. By the adoption of the hydraulic monitoring system, the safety state of hydraulicstructures such as dams and workshops can be visually displayed.

The invention discloses an AGV cluster control system and method based on WIFI wireless communication, and belongs to the technical field of AGV dispatching control. The AGV cluster control system comprises the following steps of map importing, communication establishing, AGV positioning, task scheduling, task executing and log recording. The map importing is realized by overlooking a system working area through a camera, the communication between AGV and the client are established through a WIFI module, the AGV positioning is realized through the camera and trolley posture resolving, the taskscheduling is realized by RTOS of the client, and finally the AGV is controlled to execute the task. The control method not only can solve the problem of AGV cluster control and realize the optimal resource allocation of multiple AGVs in cooperative work, but also lays a foundation for further enriching cluster control functions and the like.

The invention relates to a RoboBee cluster control method and system. A RoboBee can sense the external environment via a sensor module, locate the position of itself to provide convenience for group cooperation via a positioning system, execute a present task via an execution mechanism, communicate with other RoboBees via a communication modules, and form a distributed computer network after communication and networking via a coordinated controller. A user communicates with a RoboBee cluster, including instruction issuing and task distribution, via a communication module in a cluster control system, and time standards of the RoboBee cluster are made uniform via a synchronizing module. The method and system have the advantages that the whole RoboBee cluster can form a self-organizing network to implement distributed cooperative computing even the single RoboBee is not high in intelligence and is low in cost and simple in control, a high-difficulty task that cannot be completed by the single RoboBee can be completed by the cluster, manual intervention is not needed in the task execution process, and the system and method have a dynamic self-healing capability and is high in reliability.

The invention discloses a time-varying formation swarm control method applied to an unmanned aerial vehicle(UAV) group. A motion data and communication topological relationship of a UAV formation is obtained; a multi-agent kinematic model of the UAV is established; a time-varying formation swarm control algorithm is built; and an average value-virtual leader model of a UVA group is built to analyze the formation stability and the time-varying formation of the UAV group is realized based on the analyzed stability. The control method is easy to realize; and the formation control effect is good.The UAV group formation is realized; and the time-varying formation operations of scaling, rotation, and direction conversion can be performed.

The invention provides a basic automation control system for a tandem cold rolling unit with five frames, which comprises a PLC (programmable logic controller ) cluster, an HPC (high performance computing ) controller cluster, a field rolling mill control console, a real-time data acquisition system, a developing and debugging system and a system communication network. By the basic automation control system, automatic roll changing can be realized, roll changing time is shortened, production and maintenance can be carried out easily, and building investment and maintenance cost are reduced greatly. Since a high-speed closed-loop control function is realized, continuously high-speed production on sites is guaranteed. Since a high-speed data acquisition function is realized, the basic automation control system is capable of running safely and efficiently and meeting the requirements to millisecond-level monitoring data during fault analysis of the high-speed closed-loop control system of the tandem cold rolling unit. Since functional units are debugged and controlled to run successfully, structural uniformity of the basic automation control system after modification of programs is guaranteed. The high-speed optical fiber memory map net serves as the communication network, high-speed data exchange is realized by data caching among functional units of the HPC controller cluster, and accordingly high-speed data acquisition of the real-time data acquisition system is realized.

The invention discloses a cluster module spacecraft system and a control method of the cluster module spacecraft system and relates to the field of spacecraft systems. The cluster module spacecraft system and the control method of the cluster module spacecraft system aim to solve the problems that once the existing spacecraft system breaks down or service life is due, the existing spacecraft system can not normally work, the whole spacecraft system is scrapped, and loss is large. The cluster module spacecraft system comprises service module spacecrafts and mission module spacecrafts. The number of the service module spacecrafts is M, and the number of the mission module spacecrafts is N. The service module spacecrafts comprise power supplying module spacecrafts, data processing module spacecrafts, remote monitoring and data transmission module spacecrafts and cluster control module spacecrafts. The number of the power supplying module spacecrafts is m, the number of the data processing module spacecrafts is n, the number of the remote monitoring and data transmission module spacecrafts is x, and the number of the cluster control module spacecrafts is y, wherein m, n, x and y are all positive integers. M, m, n, x, and y satisfy the formula of M= m + n + x + y. A single or a plurality of mission module spacecrafts are matched with the service module spacecrafts, and when the mission module spacecrafts are started, the cluster module spacecraft system starts to work. The cluster module spacecraft system is used for accomplishing space mission.

The invention relates to an unmanned system cluster control method based on deep reinforcement learning. The invention relates to the technical field of unmanned system cluster control, and aims at solving a problem that an existing unmanned system cluster control method is poor in environmental adaptability. The method comprises the steps of in an unmanned system cluster, using each unmanned system to detect environment information; dividing the environment information into target information, obstacle information and other unmanned system state information; standardizing the obtained information respectively; processing the standardized information through a deep neural network to obtain a probability value of a selection action; selecting an action according to the obtained probabilityvalue, observing new environment information and obtaining an action evaluation value; collecting all data of interaction between the unmanned system and the environment to train a deep neural network; and performing unmanned system cluster control by using the trained deep neural network. The method is applied to the technical field of unmanned system cluster control.

A small airborne cooperative control system supporting multi-unmanned aerial vehicle cluster control comprises an upper-layer task planning module, a flight cooperative control module, a networking cooperative communication module and a power supply management module, and the upper-layer task planning module is used for realizing task planning. The flight cooperative control module operates a navigation control algorithm and a flight control algorithm through the current state information and flight path information of the unmanned aerial vehicle, and outputs a control instruction to a corresponding steering engine execution mechanism to realize flight path control of the unmanned aerial vehicle. Meanwhile, task planning downloaded by the upper-layer task planning module is received, a corresponding control instruction is generated and output to the steering engine executing mechanism, and a corresponding task is executed. The networking cooperative communication module adopts a multi-band multi-channel communication mode to realize communication between the unmanned aerial vehicles in the multi-unmanned aerial vehicle cluster and communication between the unmanned aerial vehiclesand the ground station. The power management module provides power distribution and management. The system has the advantages of multi-task planning, high integration level, dynamic networking, intelligent decision making and the like.

The present invention discloses an agricultural unmanned aerial vehicle operation method, and relates to the technical field of unmanned aerial vehicles. The method comprises the following steps: formation swarm management; formation swarm remote control flight; formation swarm control; autonomous control; formation autonomous operation; fault returning; failure operation area replenishment; and formation swarm return. The method obtains a current position and flight attitude of each unmanned aerial vehicle, determines a flight area of each unmanned aerial vehicle according to the corresponding current position and the flight attitude, controls flight of each unmanned aerial vehicle according to a corresponding flight control strategy of the area, improves flight efficiency and flight safety, and can effectively replenish operation blank of fault unmanned aerial vehicles through unmanned aerial vehicle formation flight.

The embodiment of the invention discloses a test system and method. The system includes an upper computer and a simulation platform. The simulation platform comprises a real-time processor and a control module cluster. The control module cluster comprises a self-adaptive cruise control module and other control modules. The upper computer generates test information and sends the test information tothe other control modules through the real-time processor. The self-adaptive cruise control module acquires relative information between a simulation vehicle and a traffic vehicle, performs self-adaptive cruise control on the simulation vehicle according to the relative information, and sends a self-adaptive cruise control signal to the upper computer, so that the upper computer evaluates the self-adaptive cruise control module and the coordination of the self-adaptive cruise control module and the other control modules. Compared with the prior art, according to the scheme, comprehensive andautomatic testing is carried out on the self-adaptive cruise control module and the coordination of the self-adaptive cruise control module and the other control modules, and the testing accuracy andcomprehensiveness are improved.

The invention relates to the technical field of energy power, and discloses an energy Internet cluster operation dispatching method and system based on an Internet-of-Vehicles platform. The energy Internet cluster operation dispatching method comprises the steps: the current date load is predicted through an Internet-of-Vehicles platform dispatching control layer, and according to the prediction result, an electric energy supply and demand scheme is formulated; inter-area and intra-area electric energy dispatching schemes are formulated by an Internet-of-Vehicles platform coordination layer according to the electric energy supply and demand scheme, and electric energy is dispatched; and charging users determine charging prices at charging piles, and the charging priority order is determined according to the charging prices through charging pile cluster control to conduct orderly charging and discharging. According to the schemes, production behaviors of distributed power supplies are automatically optimized through price signals, the reliability, stability and economy of the system are improved advantageously, and the difficulty of dispatching control of the system is lowered; thedispatching schemes at different levels are formulated, and thus dispatching is optimized; and distributed renewable energy and distributed energy storage systems are promoted to be further developed,and contributions to energy transition and environment protection are made.

The invention discloses a robot system control method. The robot system control method comprises the steps that robot equipment is provided to execute tasks; a mobile terminal is provided and used forbeing in communication with the robot equipment; the mobile terminal is made to acquire account information of network access equipment, convert the account information into an audio signal, and sendout the audio signal; the robot equipment is made to receive the audio signal, so that the robot equipment obtains the account information of the network access equipment; and the robot equipment isconnected with the network access equipment through the account information of the network access equipment, and networking is achieved. The robot system control method has the advantages of being capable of achieving efficient distribution network, being visual and simple, and being capable of improving user experience feelings. The invention further discloses a robot system, a household appliance group control method and a household appliance system control method.

The invention discloses a novel unmanned aerial vehicle group brain-computer cooperative intelligent control method. Specifically, task states are distinguished by collecting EEG of the brain when anoperator selects or decides, and a computer processes data to extract features and then provides a cluster control strategy to achieve brain-computer coordination. EEG is collected when an operator makes a decision or selects; data processing is carried out by the computer to extract features for classification and identification; an intelligent control strategy is provided in the form of an instruction to inform a fleet operator of the intention, the fleet autonomously cooperates to complete the conversion of the formation mode, the formation mode conversion does not need the operator to makea selection or decision, the burden of the brain is reduced, and the brain-computer division is clear, mutually cooperates and closely cooperates to complete the flight task. The invention aims to provide a new method capable of managing and interacting with the cluster, the defects in the prior art are effectively compensated, human brain intelligence is combined with artificial intelligence, and intelligent control of tasks such as flight formation mode conversion of the unmanned aerial vehicle cluster is realized through brain-computer cooperation.

Provided are a swarm control apparatus and an operating method thereof. In particular, a swarm control method, performed by the swarm control apparatus, includes: generating a first rule related to the swarm, based on an attribute of at least one node from among a plurality of nodes; sharing the generated first rule with the at least one node; forming the swarm including the at least one node, based on the shared first rule; detecting a change in the at least one node in the swarm; and changing the first rule to a second rule, based on the detected change.

A hierarchical group key management approach based on linear geometry is disclosed. The approach includes the following steps: step 1, the central controller selects a finite field F, a mapping parameter f and a constant N for use in the group; the central controller selects a N-dimensional private vector for each subgroup; step 2, the central controller selects a mapping parameter r and maps the private vector to a new set of vectors in the vector space; step 3, the central controller selects a subgroup key for each subgroup and constructs n linear systems of equations, and solves the solution of the linear equation systems, that is, the public vector, and the n sets of public vectors form a public vector; the public vector and the mapping parameter r are broadcasted or multicasted by the central controller to all the subgroup controllers; step 4, each subgroup controller solves the confidential vector of its own, and a set of key vectors is obtained by linear transformation of the confidential vector and the public matrix. This invention is simple and flexible, and is effective against brute-force attacks.

The invention discloses an electronic information security storage system and an electronic information security storage method. The system comprises a storage unit array consisting of a plurality of fixed electronic information security storage units, a mobile electronic information security storage unit matched with the fixed electronic information security storage units for use, and a cluster control device. By applying the system and the method, the privatized decentralized control on a cluster system is realized, so that the occurrence of a systemic disaster is resisted; the fixed electronic information security storage units are provided with personalized encryption equation libraries, storage information is encrypted by using a decryption operation type random number address-assignment/addressing algorithm, and the encryption robustness is good; the fixed electronic information security storage units are available for punctual information refreshing, so that files are regenerated; the fixed electronic information security storage units have a function of detecting the lifecycle of storage hardware, so that the storage hardware can be replaced before the ending of a rated lifecycle, and the secure continuous storage of the files is guaranteed.

The invention discloses a measurement and control integrated motor, which comprises a motor and a measurement and control device, wherein the measurement and control device comprises a shell, a frequency converter, a power supply wiring terminal, a data processing unit and a signal wiring terminal. The invention also discloses a measurement and control integrated motor cluster measurement and control system, which comprises a plurality of measurement and control integrated motors, a signal acquisition subsystem, a signal and power transmission subsystem, a signal processing subsystem and a control and maintenance subsystem. The invention also discloses a measurement and control integrated motor cluster measurement and control method, which comprises steps: a sensor detects motor operationinformation and the information is transmitted to the data processing unit; the data processing unit transmits information acquired by the sensor to the signal processing subsystem; the signal processing subsystem processes the received information; the control and maintenance subsystem controls the motor according to the processing result of the signal processing subsystem and judges whether alarm is needed or not, if yes, a state alarm module is controlled to give an alarm, and if not, no alarm is given.

The invention discloses a fire extinguishing system for pre-positioning robots for quick response by using a fire alarm network. The fire extinguishing system comprises a fire alarm control unit, a cluster control unit, a plurality of addressing type fire detection units and the plurality of fire-fighting robots, wherein the fire alarm control unit is connected with the plurality of addressing type fire detection units, and transmits fire signals detected by the addressing type fire detection units to the fire alarm control unit to judge a fire alarm position; the cluster control unit is connected with the fire alarm control unit, transmits fire alarm position information to the cluster control unit, is wirelessly connected with the plurality of fire-fighting robots, acquires the positioninformation of each fire-fighting robot in real time, and sends a fire-fighting target task to the fire-fighting robot closest to the fire alarm position; and the fire-fighting robots execute the fire-fighting task. By the fire extinguishing system, the safety threat of a fire to fire fighters can be greatly reduced; and the fire extinguishing system can quickly respond and timely extinguish the fire at an initial stage.

The invention discloses a controller distribution method. The method comprises the steps that a network function entity sends a service request from terminal equipment to a routing center; the routingcenter determines service type information corresponding to the service request, wherein one piece of service type information corresponds to one service type; the routing center determines a targetcontroller cluster corresponding to the service type information in at least one controller cluster according to the service type information; the routing center allocates the target controller cluster to the network function entity; and the network function entity processes the service request of the same service type as the service request. According to the method, different pieces of service type information are divided by judging the service type information in the service request, and the different pieces of service type information are bound with different controller clusters, so that the different controller clusters control network function entities to process different service types respectively. By subdividing the controller according to the service type, the processing efficiency of the data service can be effectively improved.

The invention discloses a video stream analysis system and method based on an end-edge-cloud computing architecture. The system comprises a cluster control module, a front-end display module, a rear-end service module, a front-end display module, a rear-end display module, a front-end display module, a rear-end service module, a request analysis module, an intelligent analysis module, a distributed storage module, a database module and a message queue module. The cluster control module is connected with all other modules; the front-end display module is connected with the back-end service module and the request analysis module; the intelligent analysis module is connected with the request analysis module, the message queue module and the back-end service module; and the back-end service module is connected with the front-end display module, the intelligent analysis module, the distributed storage module, the database module and the message queue module. According to the end-edge-cloud video streaming system, the rapid deployment and starting characteristics of the Docker container technology are combined, and the reliability, usability and expandability of the system are improved in multiple aspects through the designed end-edge-cloud video streaming system.

Disclosed are a method for establishing a secure shell (SSH) connection, relevant equipment and a system. A main controller receives a forwarding equipment identifier and a standby controller identifier sent by a cluster controller, and the cluster controller is used for managing controllers in a cluster; the main controller negotiates, through an SSH, with forwarding equipment indicated by the forwarding equipment identifier to obtain negotiation parameters, and establishes an SSH connection with the forwarding equipment on the basis of the negotiation parameters; and the main controller sends the negotiation parameters to a standby controller indicated by the standby controller identifier, the negotiation parameters being used for enabling the standby controller to establish a new SSH connection with the forwarding equipment after the SSH connection established between the main controller and the forwarding equipment is broken. The present invention can improve the efficiency of establishing a new SSH connection between forwarding equipment and a standby controller after an SSH connection between the forwarding equipment and a main controller is broken.

The invention discloses an intelligent cluster control system and a control method thereof. A cluster topology structure is formed by jointing more than two intelligent units of equivalent status, wherein each intelligent unit at least comprises one framework controller provided with unique addressing number, and software for a cluster framework is loaded in the framework controller; and in a certain communication time interval, the intelligent unit is directly connected with one or more than two other intelligent units in the cluster control system through the communication among respective framework controllers to perform point-to-point communication including addressing, querying and data exchange. The intelligent cluster control system and the control method thereof have extremely high expansion capability, can conduct very complicated functions through the cluster framework under the condition that the processing capability of a single intelligent unit is relatively low, can be widely applied to various systems with more control points or monitoring points and realizes an application framework environment which is flexibly structured and has expandable functions.

This method includes the group controller (GC), the technology module controller (TMC), the Ethernet connecting GC and TMC and the comm. module, which transfers the control info and state info between GC and TMC via the Ethernet. The method is that: (1) prepare step, (2) net test connect step, (3) the practical comm. step. When it works normally, GC interacts info and instructions with TMC via Web server.