Summary of the invention
The object of the present invention is to provide one kind can be analyzed the real-time monitoring information of different chemical production equipments, hands overMutually and long-range control, the Chemical Manufacture for forming phase mutual feedback patrol control system.
Above-mentioned technical purpose of the invention has the technical scheme that
A kind of Chemical Manufacture patrols control system, including background process center and patrols control equipment, and the control equipment of patrolling includes:
Control module, the information sent for receiving other modules, and the information received is given to other moulds as neededBlock processing；
Drive module, signal connect the control module, the drive motor including controlling its movement by the control module；
Navigation system completes indoor guidance according to the position for patrolling control device location, electronic map and radio node；
Transmission module, receives the navigation system and control module information, and by the information be sent to the drive module andBackground process center is communicated wirelessly with multiple radio nodes, and each node records respective wireless telecommunications link information respectively；
Sensor module realizes that two-way signaling is connect with the system background processing center, in the chemical industry plant area of acquisitionEnvironmental parameter is respectively induced temperature signal, liquid level signal and pressure signal；Data acquire comparison module, with the sensorModule is bi-directionally connected, for setting value to be collected and compared to temperature signal, liquid level signal and pressure signal；Feed back mouldBlock is connect with the control module signal, for receiving the control instruction of the control module output, to carry out corresponding workMake；
The output end of the data acquisition comparison module is connect with the input terminal of the feedback module, and the feedback module is defeatedOutlet is connect with the input terminal at the background process center.
Above-mentioned Chemical Manufacture patrols control system, described to patrol control equipment further include:
Data memory module, signal connect the control module, are used for store various types instruction repertorie and data；
Function operation module, signal connect the control module, for for user's regular job.
Above-mentioned Chemical Manufacture patrols control system, and the control equipment of patrolling further includes mobile module, and the mobile module includes drivingIt moves motor and is set to the first driving wheel, the second driving wheel, two universal wheels and the differential mechanism for patrolling control device bottom；It is describedDrive motor drives first driving wheel and second driving wheel, when two-wheeled rotates at the same speed, institute by the differential mechanismIt states and patrols control equipment straight trip, when two-wheeled does not rotate at the same speed, the control equipment of patrolling is turned to；The universal wheel patrols control for remaining describedThe balance of equipment.
Above-mentioned Chemical Manufacture patrols control system, and the transmission module uses ZigBee module；Pericardium in the background processMonitoring host computer and ZigBee coordinator are included, each data acquisition node is connected by the ZigBee module respectively with monitoring systemZigBee coordinator, ZigBee coordinator connect monitoring host computer.
Above-mentioned Chemical Manufacture patrols control system, and the navigation system includes:
Initialization module, for obtaining the initial cartographic information and radio node information of predeterminable area, and by wireless node locationAfter being combined with the initial cartographic information with server sync；
Locating module connects the transmission module, for determining present bit confidence according to the link information of first kind radio nodeBreath, verifies current location information according to the link information of the second class radio node；
Correction module connects the control module, for after verifying location information and Current Scan result combine after with clothesBusiness device synchronized update cartographic information.
Above-mentioned Chemical Manufacture patrols control system, and the navigation system includes map and position measuring module, and it is described fixed to connectPosition module, it is described to establish map for scanning ambient enviroment.
Above-mentioned Chemical Manufacture patrols control system, and the locating module is according to the difference of measurement parameter, including using based on connecingIt receives signal strength, carry out the verification based on angle of arrival and based at least one of signal time mode is received.
Above-mentioned Chemical Manufacture patrols control system, and the radio node includes:
Link block establishes corresponding wireless connection for transmitting/receiving wireless signal；
Communication module connects the link block, for wireless connection information to be transferred to server；
Power module then guarantees the power supply of node.
Above-mentioned Chemical Manufacture patrols control system, and the first kind radio node is bluetooth and/or WIFI node, and described secondClass radio node is UWB node.
Above-mentioned Chemical Manufacture patrols control system, and the sensor module includes humidity sensor DHT11, temperature sensorDS18B20, carbon dioxide concentration measurement sensor MG811, HL-FS2 voltage-type simulation output air velocity transducer, HL-FX2 voltageType simulation output wind transducer, combustible gas sensor MQ-2 and optics dust sensor GP2Y1010AU0F.
In conclusion the invention has the following advantages: this Chemical Manufacture, which patrols control system, realizes chemical industry plant area inspectionWork, Support gas acquisition and gas hazard arbitration functions, support guidance function and automatic inspection function, set for acquiring distributionSet the data information in each on-site and the data acquisition node being distributed in each region of plant area, by background process center withIt patrols control equipment realization to be bi-directionally connected, has achieved the purpose that monitoring personnel is facilitated to monitor chemical reaction device ambient enviroment, thusGreatly facilitate the Chemical Manufacture of Chemical Manufacture personnel；It patrols control equipment and is no longer dependent on single equipment and technology, can substantially mentionHeight patrols the precision and reliability of control equipment positioning, while improve swept molding method identifies and positions precision, so that patrolling control equipmentThe more accurate high efficient and reliable of autonomous.
Specific embodiment
Invention is further described in detail below.
A kind of Chemical Manufacture patrols control system, including background process center and patrols control equipment, and the control equipment of patrolling includes:
Control module, the information sent for receiving other modules, and the information received is given to other moulds as neededBlock processing；
Drive module, signal connect the control module, the drive motor including controlling its movement by the control module；
Navigation system completes indoor guidance according to the position for patrolling control device location, electronic map and radio node；
Transmission module, receives the navigation system and control module information, and by the information be sent to the drive module andBackground process center is communicated wirelessly with multiple radio nodes, and each node records respective wireless telecommunications link information respectively；
Sensor module realizes that two-way signaling is connect with the system background processing center, in the chemical industry plant area of acquisitionEnvironmental parameter is respectively induced temperature signal, liquid level signal and pressure signal；Data acquire comparison module, with the sensorModule is bi-directionally connected, for setting value to be collected and compared to temperature signal, liquid level signal and pressure signal；Feed back mouldBlock is connect with the control module signal, for receiving the control instruction of the control module output, to carry out corresponding workMake；
The output end of the data acquisition comparison module is connect with the input terminal of the feedback module, and the feedback module is defeatedOutlet is connect with the input terminal at the background process center.
Further, a kind of Chemical Manufacture of the present invention is patrolled in the preferred embodiment of control system, and the control equipment of patrolling also is wrappedIt includes:
Data memory module, signal connect the control module, are used for store various types instruction repertorie and data；
Function operation module, signal connect the control module, for for user's regular job.
Further, a kind of Chemical Manufacture of the present invention is patrolled in the preferred embodiment of control system, and the control equipment of patrolling also is wrappedInclude mobile module, the mobile module includes drive motor and is set to first driving wheel for patrolling control device bottom, secondDriving wheel, two universal wheels and differential mechanism；The drive motor drives first driving wheel and described by the differential mechanismSecond driving wheel, when two-wheeled rotates at the same speed, the control equipment of patrolling is kept straight on, described to patrol control equipment when two-wheeled does not rotate at the same speedIt turns to；The universal wheel is used to maintain the balance for patrolling control equipment.
Further, a kind of Chemical Manufacture of the present invention is patrolled in the preferred embodiment of control system, and the transmission module usesZigBee module；The background process center includes monitoring host computer and ZigBee coordinator, and each data acquisition node and monitoring areSystem connects ZigBee coordinator by the ZigBee module respectively, and ZigBee coordinator connects monitoring host computer.
Further, a kind of Chemical Manufacture of the present invention is patrolled in the preferred embodiment of control system, and the navigation system includes:
Initialization module, for obtaining the initial cartographic information and radio node information of predeterminable area, and by wireless node locationAfter being combined with the initial cartographic information with server sync；
Locating module connects the transmission module, for determining present bit confidence according to the link information of first kind radio nodeBreath, verifies current location information according to the link information of the second class radio node；
Correction module connects the control module, for after verifying location information and Current Scan result combine after with clothesBusiness device synchronized update cartographic information.
Further, a kind of Chemical Manufacture of the present invention is patrolled in the preferred embodiment of control system, and the navigation system includesMap and position measuring module connect the locating module, described to establish map for scanning ambient enviroment.
Further, a kind of Chemical Manufacture of the present invention is patrolled in the preferred embodiment of control system, the locating module according toThe difference of measurement parameter, including use based on received signal strength, be based on angle of arrival and be based on receiving in signal time at leastA kind of mode carries out the verification.
Further, a kind of Chemical Manufacture of the present invention is patrolled in the preferred embodiment of control system, and the radio node includes:
Link block establishes corresponding wireless connection for transmitting/receiving wireless signal；
Communication module connects the link block, for wireless connection information to be transferred to server；
Power module then guarantees the power supply of node.
Further, a kind of Chemical Manufacture of the present invention is patrolled in the preferred embodiment of control system, and the first kind wirelessly savesPoint is bluetooth and/or WIFI node, and the second class radio node is UWB node.
That is the zone location first in a manner of bluetooth or WIFI etc., is then verified in a manner of UWB.Bluetooth or WIFI positioningWhen, room area is further divided into multiple grids, a bluetooth or WIFI node are set in each grid, patrol control equipment certainlyBluetooth or WIFI module is arranged in body；When UWB verification positioning, the multiple UWB nodes of fixed setting in region patrol control equipment itself settingUWB label.Specifically, bluetooth or WIFI mode are general only establishes a single connection patrolling between control equipment and node, patrols control equipment and existsEstablish connection in moving process with the node being arranged in current grid respectively, thus the node institute that can simply establish connection is rightGrid is answered to carry out Primary Location；And UWB mode can accurately calculate distance and bearing, thus result is accurately positioned with UWB and is carried outSecondary verification.
Wherein, UWB technology is a kind of using 1GHz band above and without the advanced wireless communication technology of carrier wave.AlthoughWireless communication, but its communication speed can achieve several hundred Mbit/s or more.Due to not needing expensive, bulky intermediate frequencyEquipment, UWB wireless location system it is small in size and at low cost.And the power spectral density of UWB system transmitting can be very low, evenLower than electromagnetic compatibility background-noise level as defined in Federal Communications Commission, therefore short distance UWB radio communications systemIt can be with other narrowband radio coexistence of communication systems.According to the difference of measurement parameter, base is can be used in the calculation of UWB positioningIn received signal strength, based on angle of arrival and based at least one of reception signal time.
For a label, the pulse signal issued arrives separately at the receiving sensor of at least two nodes, Mei GechuanSensor obtains corresponding physical quantity respectively when receiving signal, two sensors may there are two receiving times t1, t2, when based on receivingBetween can calculate separately label to the distance of two sensors, it is in place that outgoing label institute is further calculated according to the intersection of two distancesIt sets；Or two sensors may can calculate separately what label was likely to be at based on receiving angle there are two receiving angle a1, a2Orientation further calculates outgoing label position according to the intersection in two orientation.There are two two sensors are also possible in actual conditionsReceived signal strength can equally calculate separately label based on signal strength to the distance of two sensors, then calculate labelPosition.Realize and position that there is structure simple, good concealment, strong security, low in energy consumption, multi-path resolved power using UWB technologyBy force, the advantages that data transmission rate is high, penetration capacity is strong, registration, strong antijamming capability, except determining for achievable high-efficiency high-accuracyPosition, it is often more important that so that the recognition capability that the movement for patrolling control equipment does not depend solely on swept molding method to object, improves and patrolControl the Performance And Reliability of equipment.
In a preferred embodiment of the invention, it is positioned based on the difference for receiving signal time.Solely using onePoor counter uniformly records the time difference that label signal ω 1, ω 2, ω 3 reach each UWB node BS 1, BS2, BS3 etc. immediately, benefitOutgoing label actual position information can be calculated with the difference between time difference and node.Using need not be strictly same between each node of whichThe reference clock of step is avoided because of the asynchronous bring measurement error of reference clock starting point, thus effectively improving positioning accurateSystem implementation complexity is reduced while spending.
Patrol control equipment it is mobile when obtain the initial cartographic information and radio node information of predeterminable area, and by radio node positionIt sets and sends server after combining with initial cartographic information, with server sync；It is communicated wirelessly with multiple radio nodes, it is each to savePoint records respective wireless telecommunications link information respectively；Present bit confidence is determined according to the link information of first kind radio nodeBreath, verifies current location information according to the link information of the second class radio node；By the location information after verification and work asCartographic information is updated with server sync after preceding scanning result combination.
Wherein, the position of multiple nodes is fixed and it is known that each node location and current location information use unified coordinate systemCoordinate indicate and mark.
In of the invention, the initial map that the traverse measurement in predeterminable area of control equipment generates predeterminable area is patrolled, while eachThe position of a radio node is fixed and it is known that after node location and initial cartographic information are combined while being sent to server progressIt is synchronous.Traverse measurement includes but is not limited to pass through at least one sensor scanning week such as laser range finder, camera, infrared imagingSurrounding environment.In an indoor activity region, the quantity of radio node setting and position are unrestricted in principle, as long as in regionIt is inside evenly dividing grid and each grid and is arranged that 1 bluetooth or WIFI node, furthermore UWB node is arranged at least 2 or more i.e.Can, it keeps its position to fix after node setting and node location information is recorded.
Before being positioned or being verified, each node location is marked in map first, then according to node location and wirelesslyLink information patrols current location of the control equipment on map to determine.In the preferred embodiment of the present invention, for bluetooth or WIFIMap area is divided into grid matrix by positioning, and each node is arranged at each grid center, is obtained according to the nodal information for establishing connectionKnow that it corresponds to grid and can carry out Primary Location.And UWB is positioned, model, reduces calculation amount to simplify the calculation, keeps away simultaneouslyExempt from interference of the complex environment to positioning, UWB node is fixed to four angle points of room area, while controlling equipment institute to patrollingThe label of carrying is positioned.The fixation position of node and the current location of robot can be using unified coordinate systems when positioningCoordinate is indicated and is marked.In addition, the label positioned is obviously also not necessarily limited to one, by the difference of tag ID, the present invention canMultiple labels are positioned simultaneously.
After obtaining the current location information for patrolling and controlling equipment, equipment is controlled to current location surrounding enviroment further combined with patrollingScanning result judges whether existing cartographic information is accurate；If cartographic information, there are deviation, synchronized update patrols control equipment kimonosThe cartographic information being engaged in device.The present invention is by a variety of wireless technology mixed positionings as a result, realizes and controls equipment swept molding method to patrollingAmendment, so that improve swept molding method identifies and positions precision.
Synchronized update cartographic information includes: according to the location information after verification, further combined with to current location peripheral ringThe scanning result in border judges whether existing cartographic information is accurate；If there are deviation, synchronized update local kimonos for cartographic informationThe cartographic information being engaged in device.
The autonomous for patrolling control equipment carrys out planning path dependent on map and self-position, wherein the foundation of map generally according toRely the sensing in sensor to surrounding enviroment, for example obtains the location and shape of each marker in environment by laser scanning, andFor self-position then by the stationkeeping ability for patrolling control equipment, the multiple positioning modes of the prior art are by comparing specific obstacleOr marker, excessively to the recognition capability of object, the accuracy and equipment cost of identification are difficult to have ideal flat dependence sensorWeighing apparatus.With the development of wireless communication technique, the volume of wireless device is smaller and smaller, cost is lower and lower, can be widely applied toWireless service quickly and efficiently is provided in small device.In the embodiment of the present invention, on the basis of sensor swept molding method, benefitIt is implemented in combination with the indoor positioning for patrolling control equipment with a variety of wireless technologys, and map is further corrected according to positioning result, thus greatlyWidth improves the accuracy of map, recognition correct rate, while improving the efficiency and reliability of path planning and movement.
Further, a kind of Chemical Manufacture of the present invention is patrolled in the preferred embodiment of control system, the sensor module packetInclude humidity sensor DHT11, temperature sensor DS18B20, carbon dioxide concentration measurement sensor MG811, HL-FS2 voltage-typeSimulation output air velocity transducer, HL-FX2 voltage-type simulation output wind transducer, combustible gas sensor MQ-2 and opticsDust sensor GP2Y1010AU0F.The sensor module is configured with multiple gas sensors, right for detecting pernicious gasThe pernicious gas of gas detection is judged, and judging result and corresponding gas collecting information are sent.
In conclusion this Chemical Manufacture, which patrols control system, realizes chemical industry plant area inspection work, Support gas acquisition and gasDanger judgement function supports guidance function and automatic inspection function, for acquiring distribution setting in each on-site and being distributed in factoryThe data information of data acquisition node in each region in area, by being bi-directionally connected at background process center with control equipment realization is patrolled,Achieve the purpose that monitoring personnel is facilitated to monitor chemical reaction device ambient enviroment, to greatly facilitate Chemical Manufacture personnelChemical Manufacture；Patrol control equipment be no longer dependent on single equipment and technology, can greatly improve patrol control equipment positioning precision andReliability, while improve swept molding method identifies and positions precision, so that the autonomous for patrolling control equipment is more accurate efficientlyReliably.
It should be noted that it can be directly on another component when component is referred to as " being fixed on " another componentOr there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected toTo another component or it may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, itIt can be and be set up directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the inventionThe normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description toolThe purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phasesAny and all combinations of the listed item of pass.
The present embodiment is only explanation of the invention, is not limitation of the present invention, and those skilled in the art existIt can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but as long as in the present inventionScope of the claims in all by the protection of Patent Law.