CN108954485A - A kind of energy-saving heating system and method using rotary heating head - Google Patents
A kind of energy-saving heating system and method using rotary heating head Download PDFInfo
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- CN108954485A CN108954485A CN201810822408.5A CN201810822408A CN108954485A CN 108954485 A CN108954485 A CN 108954485A CN 201810822408 A CN201810822408 A CN 201810822408A CN 108954485 A CN108954485 A CN 108954485A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24D—DOMESTIC- OR SPACE-HEATING SYSTEMS, e.g. CENTRAL HEATING SYSTEMS; DOMESTIC HOT-WATER SUPPLY SYSTEMS; ELEMENTS OR COMPONENTS THEREFOR
- F24D19/00—Details
- F24D19/10—Arrangement or mounting of control or safety devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/62—Control or safety arrangements characterised by the type of control or by internal processing, e.g. using fuzzy logic, adaptive control or estimation of values
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F2120/00—Control inputs relating to users or occupants
- F24F2120/10—Occupancy
- F24F2120/12—Position of occupants
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Abstract
The invention discloses a kind of energy-saving heating system and method using rotary heating head, including positioning device, temperature measuring device, coordinated control system and heating device, location information is sent to coordinated control system for positioning to human body by positioning device；Temperature measuring device measures human peripheral's environment temperature, and temperature information is transmitted to coordinated control system；Coordinated control system receives the location information and temperature information of people, and coordinated control system needs one or several heating devices of work to move to designated position according to the control of the location information of people；Temperature information is sent to coordinated control system by temperature measuring device real-time measurement people's ambient temperature, and coordinated control system adjusts the operating power of heating device according to Current Temperatures；The present invention to personnel positioning in region and can measure people's ambient temperature, and heating device is moved near personnel, directly heat to the region around people, realize the function of automatic tracing heating.
Description
Technical field
The present invention relates to heating fields, more specifically, more particularly to a kind of energy-saving heating system using rotary heating head
System and method.
Background technique
Heating system refers to through artificial means, and the temperature of the air of environment in building or structures is adjusted and is controlled
The process of system with the progress of society and the development of science and technology, in most large-scale occasions, such as school, factory or is write
In building, heating system is all had been widely used.
With becoming increasingly conspicuous for energy problem, using the saving of the energy just seems particularly necessary, and existing heating is
System such as air-conditioning system is heated to whole region, such as the air-conditioning in factory or the air-conditioning in megastore, heating or
Person's cooling is that entire factory area or market region are heated up or cooled down, and the temperature-rise period speed is slow, heating time
Long, energy consumption is high, and can also whole region be heated by only having less number even in region, or even is also required to very at nobody
Heating system could be completely closed long, it is easy to resource be caused largely to waste.
Existing heating system and there is no in big region monomer or a small amount of target carry out specific aim part temperature
The function of control is spent, therefore will greatly reduce the energy consumption of heating system in large area to the research of the direction, it is right
The sustainable development of the energy has particularly important meaning.
Summary of the invention
It is to caused by whole region heating it is an object of the invention to solve existing heating system such as air-conditioning system
The problem of heating rate is slow, heating time has been grown, energy consumption is high, propose a kind of energy-saving heating system using rotary heating head and
Method to personnel positioning in the region and can measure people's ambient temperature, according to the position of personnel in region and surrounding
The quantity that the position and direction of temperature adjustment heating device, heating temperature, heating device work is to realize that automatic tracing heats
Function.
The present invention is through the following technical solutions to achieve the above objectives: a kind of energy-saving heating system using rotary heating head
System, including positioning device, temperature measuring device, coordinated control system and heating device, the positioning device be used for human body into
Row positioning, and location information is sent to coordinated control system；The temperature measuring device measures human peripheral's environment temperature, will
Temperature information is transmitted to coordinated control system；The coordinated control system receives the location information and temperature information of people, coordinates control
System processed needs one or several heating devices of work to move to designated position according to the control of the location information of people；Temperature is surveyed
Device real-time measurement people's ambient temperature is measured, temperature information is sent to coordinated control system, coordinated control system is according to working as
The operating power of preceding temperature adjustment heating device；
The positioning device is positioned using super-broadband tech, that is, UWB technology, and positioning device is by sending and receiving tool
There are nanosecond or nanosecond ultra-narrow pulse below to transmit data；Positioning device includes label, anchor point and location-server, label
It is mobile and unknown coordinate object to be positioned, anchor point is node known to self-position or absolute coordinate, including several
From anchor point and Bower Anchor point, directly and label communication completion ranging process, Bower Anchor point are responsible for collecting the ranging knot from anchor point from anchor point
Fruit filters out null result, and is sent to location-server after preliminary data arrangement and carries out location Calculation, and sending time
Calibration packet is given from anchor point to synchronize.Location-server calculates positioning result by the ranging information that Bower Anchor point is sent；
The temperature measuring device surveys target environment temperature using the noncontact measuring method of infrared radiation temperature method
Amount, by infrared temperature sensor on the comprehensive holder that can be rotated but also be rotated on vertical guide in the horizontal plane,
Encoder is loaded onto using motor control cloud platform rotation and in revolvable both direction, the encoder on horizontal plane can obtain
The angle in infrared sensor direction in the horizontal plane and due north, the encoder on vertical guide can obtain the side of infrared sensor
It needs to adjust infrared when needing to adjust infrared sensor direction makes some position of its face to the angle between plumb line
The angle of angle between the direction and plumb line of sensor and direction and due north in the horizontal plane, i.e. control motor make level
The output of two encoders on face and vertical guide reaches certain value；
The heating device is infrared lamp or hot-air mouth, and heating device motion mode is rotation, and as needed, n are added
Thermal arranges at certain altitude that being incorporated into each heating device can rotate in the horizontal plane but also rotate on vertical guide
Comprehensive holder on, encoder, horizontal plane are loaded onto using motor control cloud platform rotation and in revolvable both direction
On encoder be known that the angle of heating device direction in the horizontal plane and due north, the encoder on vertical guide can be known
Angle between the direction and plumb line of road heating device, when needing to adjust heating device direction makes some position of its face,
Need to adjust the angle of the angle between the direction of heating device and plumb line and direction in a horizontal plane and direct north, i.e.,
Control holder makes the output of two encoders on horizontal plane and vertical guide reach certain value；When needing to add to some position
When hot, adjust heating device direction make its face position after heat.
Further, whole region being separated into several sub-regions, multiple heating devices are responsible for heating a sub-regions, when
When number is more than heating device in subregion, system control sytsem is equal according to obtained heat per capita, the maximum principle of gross energy
Calculate the position of heating device；When number is less equal than heating device in subregion, everyone configures one or more heating
Device, heating device are moved as the position of personnel is mobile.
A kind of energy-saving heating means using rotary heating head include the following steps: that positioning device in real time carries out target
Positioning, is sent to coordinated control system for location information；Coordinated control system needs work according to the control of the location information of target
One or several heating devices move to designated position；Temperature measuring device real-time measurement target ambient temperature, will
Temperature information is sent to coordinated control system；Coordinated control system adjusts the operating power of heating device according to Current Temperatures；
The positioning device is positioned using super-broadband tech, that is, UWB technology, and positioning device is by sending and receiving tool
There are nanosecond or nanosecond ultra-narrow pulse below to transmit data；Positioning device includes label, anchor point and location-server, label
It is mobile and unknown coordinate target to be positioned, anchor point is node known to self-position or absolute coordinate, including several
It is a from anchor point and Bower Anchor point, directly and label communication completion ranging process, Bower Anchor point are responsible for collecting the ranging from anchor point from anchor point
When as a result, being filtered out to null result, and being sent to location-server after preliminary data arrangement and carry out location Calculation, and sending
Between calibration packet to from anchor point to synchronize.Location-server calculates positioning result by the ranging information that Bower Anchor point is sent；
The temperature measuring device surveys target environment temperature using the noncontact measuring method of infrared radiation temperature method
Amount, by infrared temperature sensor on the comprehensive holder that can be rotated but also be rotated on vertical guide in the horizontal plane,
Encoder is loaded onto using motor control cloud platform rotation and in revolvable both direction, the encoder on horizontal plane can obtain
The angle in infrared sensor direction in the horizontal plane and due north, the encoder on vertical guide can obtain the side of infrared sensor
It needs to adjust infrared when needing to adjust infrared sensor direction makes some position of its face to the angle between plumb line
The angle of angle between the direction and plumb line of sensor and direction and due north in the horizontal plane, i.e. control motor make level
The output of two encoders on face and vertical guide reaches certain value；
The heating device is infrared lamp or hot-air mouth, and heating device motion mode is rotation, and as needed, n are added
Thermal arranges at certain altitude that being incorporated into each heating device can rotate in the horizontal plane but also rotate on vertical guide
Comprehensive holder on, encoder, horizontal plane are loaded onto using motor control cloud platform rotation and in revolvable both direction
On encoder be known that the angle of heating device direction in the horizontal plane and due north, the encoder on vertical guide can be known
Angle between the direction and plumb line of road heating device, when needing to adjust heating device direction makes some position of its face,
Need to adjust the angle of the angle between the direction of heating device and plumb line and direction in a horizontal plane and direct north, i.e.,
Control holder makes the output of two encoders on horizontal plane and vertical guide reach certain value；When needing to add to some position
When hot, adjust heating device direction make its face position after heat；It, as needed, will be whole when the space of heat supply is larger
A plane is divided into several sub-regions, arranges a heating device in each subregion；
When heating device is infrared lamp, infrared lamp radiant illumination value q and the point to infrared lamp axes that certain point receives
Distance r is related with heated current I, the infrared lamp radiant illumination value received at certain point:
Q=f (r, I)；
When heating device is hot-air mouth, certain per unit area heater power P for receiving of point and the point to hot-air mouth away from
From l, wind velocity v is related with leaving air temp out；Received per unit area heater power at certain point:
P=f (l, v, t)；
The effect of coordinated control system is to receive location information and temperature information, formulates the corresponding heating of control strategy control
Device gives target heat supply；When one or more targets are in heating region, need to make the radiant illumination value at each target
Or per unit area heater power reaches certain value；When having has m target in region, in order to reach heating demand, coordinate control
System processed formulates control strategy, and control strategy is transmitted to the heating device for needing work；Control strategy includes which is controlled
A heating device work and heating device are heated with great power；Specific control strategy is as follows: there are multiple
When mobile heating device, the selection of the heat supply heat of the heat supply quantity and each heating device of specific heating device is as follows:
Assuming that there is n heating device, the number of heating device is respectively as follows: 1, L, n；M heating device therein is selected to be moved to m
The number of specified position, these positions distinguishes position are as follows: 1, L, m, wherein m≤n, i-th of heating device are moved to position j's
Mobile cost is cij；xijFor decision variable, 0 the i-th heating device of expression moves on to position j in 0 or 1；Constraint condition isWhereinFor objective function, that is, minimizes and always move on to cost；Expression moves on to each position
Set heating device to quantity be 1；Indicate each heating device at most and can only move on to one it is specified
Position, xijThe value range of the expression decision variable of=0or 1；Specific step is as follows:
Step1: each heating device i is calculatedAccording toValue rearrange correspondence from small to large
Decision variable xi, whereinThe smallest x of valueiBecome x1, it is worth maximum xiBecome xn, one binary system of decision scheme
Number X=(x1x2L xn)2It indicates, such as X=(00L 01)2Indicate that n-th of heating device after rearranging is opened, remaining pass
It closes；
Step2: setting Y=∞,The scheme currently taken is X=(x1x2L xn)2=(00L 1)2；According to
QjValue its constraint condition is ranked up from big to small, i.e. QjBe worth it is maximum be set as first constraint, it is secondary big to be set as second
Constraint ..., it is the smallest to be set as the last one constraint；
Step3: the target function value of Current protocols is calculatedIf target function value is less than Y, then it is arranged first about
Beam is present confinement, otherwise goes to Step6；
Step4: according to Current protocols X=(x1x2L xn)2Judge whether current constraints meet, turns if meeting
To Step5, Step6 is otherwise gone to；
Step5: judge whether, if any then taking next constraint to be used as present confinement, to go to there are also constraining not check
Step4；Otherwise optimizing decision scheme is updatedFor Current protocols X, enabling Y is the target function value of current decision making scheme X, is gone to
Step6；
Step6: judge X+1≤(11L 1)2Whether meet, take next scheme if meeting, works as even X=X+1 is used as
Front case, goes to Step3；Otherwise Step7 is gone to；
Step7: algorithm terminates, and exports optimizing decision schemeAnd corresponding optimal value Y, if Y=∞,Then
Show problem without feasible solution.
Further, arrival time difference positioning algorithm i.e. TDOA location algorithm is used to calculate as the core of entire positioning device
Method, TDOA location algorithm are to set up solution by a kind of mathematical model, and what it was mainly utilized is hyp in mathematics
Characteristic, when there are two fixed points, another dynamic point can with the two fixed points on the hyperbola of focus, when simultaneously
There are when data structure as such two groups or multiple groups, these hyp intersection points are exactly desired target object
Position.
The beneficial effects of the present invention are:
1, the present invention to personnel positioning in region and can measure people's ambient temperature, according to the position of personnel in region
It sets and ambient temperature adjusts the quantity etc. that the position and direction, heating temperature, heating device of heating device work, heating device moves
It moves near personnel, directly the region around people is heated, the position and direction of heating device are moved with personnel, are realized automatic
Track the function of heating.
2, the present invention can position personnel in the region in real time, and heating device can be moved with the position of personnel, realize
Track the function of heating.
3, the present invention does not need to heat entire environment, only heats personnel peripheral region, heating rate is fast, heating time
Short, energy consumption is few.
4, when the present invention is fewer in number in region, people's corresponding heating device work, remaining heating device can be to
Machine state；When in the region nobody when, heating system stops working, effectively the drawbacks of solving existing heating system, reduction energy
Consumption.
5, the present invention is positioned using UWB technology, and target carries label, its indoors high-precision fixed may be implemented
Position, improves the accuracy of heating location.
6, the present invention realizes non-cpntact measurement using infrared temperature sensor measurement measurement target ambient temperature.
7, heating device of the invention uses infrared lamp or hot-air mouth, and the Heating body as core is whole without movement
Mechanical structure is simple, reduces overall cost.
8, the present invention adjusts heating power according to the temperature around target, improves the comfort level of target ambient enviroment.
9, the present invention is when destination number is less in subregion, the corresponding heating device work of target, remaining heating device
It can be at standby mode；When in the region without target, heating system stops working, and effectively solves the disadvantage of existing heating system
End reduces energy consumption.
Detailed description of the invention
Fig. 1 is basic structure schematic diagram of the present invention using the energy-saving heating system of rotary heating head.
Fig. 2 is the structural schematic diagram of positioning device of the present invention.
Fig. 3 is a kind of workflow schematic diagram of the energy-saving heating means using rotary heating head of the present invention.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings:
As shown in Figure 1, Figure 2 and Figure 3, a kind of energy-saving heating system using rotary heating head, including positioning device, temperature
Measuring device, coordinated control system and heating device, the positioning device send out location information for positioning to human body
Give coordinated control system；The temperature measuring device measures human peripheral's environment temperature, and temperature information is transmitted to coordinated control
System；The coordinated control system receives the location information and temperature information of people, and coordinated control system is believed according to the position of people
Breath control needs one or several heating devices of work to move to designated position；Around temperature measuring device real-time measurement people
Temperature information is sent to coordinated control system by environment temperature, and coordinated control system adjusts heating device according to Current Temperatures
Operating power；
The positioning device is positioned using super-broadband tech, that is, UWB technology, and positioning device is by sending and receiving tool
There are nanosecond or nanosecond ultra-narrow pulse below to transmit data；Positioning device includes label, anchor point and location-server, label
It is mobile and unknown coordinate object to be positioned, anchor point is node known to self-position or absolute coordinate, including several
From anchor point and Bower Anchor point, directly and label communication completion ranging process, Bower Anchor point are responsible for collecting the ranging knot from anchor point from anchor point
Fruit filters out null result, and is sent to location-server after preliminary data arrangement and carries out location Calculation, and sending time
Calibration packet is given from anchor point to synchronize.Location-server calculates positioning result by the ranging information that Bower Anchor point is sent；
The temperature measuring device surveys target environment temperature using the noncontact measuring method of infrared radiation temperature method
Amount, by infrared temperature sensor on the comprehensive holder that can be rotated but also be rotated on vertical guide in the horizontal plane,
Encoder is loaded onto using motor control cloud platform rotation and in revolvable both direction, the encoder on horizontal plane can obtain
The angle in infrared sensor direction in the horizontal plane and due north, the encoder on vertical guide can obtain the side of infrared sensor
It needs to adjust infrared when needing to adjust infrared sensor direction makes some position of its face to the angle between plumb line
The angle of angle between the direction and plumb line of sensor and direction and due north in the horizontal plane, i.e. control motor make level
The output of two encoders on face and vertical guide reaches certain value；
The heating device is infrared lamp or hot-air mouth, and heating device motion mode is rotation, and as needed, n are added
Thermal arranges at certain altitude that being incorporated into each heating device can rotate in the horizontal plane but also rotate on vertical guide
Comprehensive holder on, encoder, horizontal plane are loaded onto using motor control cloud platform rotation and in revolvable both direction
On encoder be known that the angle of heating device direction in the horizontal plane and due north, the encoder on vertical guide can be known
Angle between the direction and plumb line of road heating device, when needing to adjust heating device direction makes some position of its face,
Need to adjust the angle of the angle between the direction of heating device and plumb line and direction in a horizontal plane and direct north, i.e.,
Control holder makes the output of two encoders on horizontal plane and vertical guide reach certain value；When needing to add to some position
When hot, adjust heating device direction make its face position after heat.
Whole region is separated into several sub-regions, multiple heating devices are responsible for heating a sub-regions, when in subregion
When number is more than heating device, system control sytsem is equal according to obtained heat per capita, and the maximum principle of gross energy calculates heating
The position of device；When number is less equal than heating device in subregion, everyone configures one or more heating devices, heating
Device is moved as the position of personnel is mobile.
A kind of energy-saving heating means using rotary heating head include the following steps: that positioning device in real time carries out target
Positioning, is sent to coordinated control system for location information；Coordinated control system needs work according to the control of the location information of target
One or several heating devices move to designated position；Temperature measuring device real-time measurement target ambient temperature, will
Temperature information is sent to coordinated control system；Coordinated control system adjusts the operating power of heating device according to Current Temperatures；
The positioning device is positioned using super-broadband tech, that is, UWB technology, and positioning device is by sending and receiving tool
There are nanosecond or nanosecond ultra-narrow pulse below to transmit data；Positioning device includes label, anchor point and location-server, label
It is mobile and unknown coordinate target to be positioned, anchor point is node known to self-position or absolute coordinate, including several
It is a from anchor point and Bower Anchor point, directly and label communication completion ranging process, Bower Anchor point are responsible for collecting the ranging from anchor point from anchor point
When as a result, being filtered out to null result, and being sent to location-server after preliminary data arrangement and carry out location Calculation, and sending
Between calibration packet to from anchor point to synchronize.Location-server calculates positioning result by the ranging information that Bower Anchor point is sent；
The temperature measuring device surveys target environment temperature using the noncontact measuring method of infrared radiation temperature method
Amount, by infrared temperature sensor on the comprehensive holder that can be rotated but also be rotated on vertical guide in the horizontal plane,
Encoder is loaded onto using motor control cloud platform rotation and in revolvable both direction, the encoder on horizontal plane can obtain
The angle in infrared sensor direction in the horizontal plane and due north, the encoder on vertical guide can obtain the side of infrared sensor
It needs to adjust infrared when needing to adjust infrared sensor direction makes some position of its face to the angle between plumb line
The angle of angle between the direction and plumb line of sensor and direction and due north in the horizontal plane, i.e. control motor make level
The output of two encoders on face and vertical guide reaches certain value；
The heating device is infrared lamp or hot-air mouth, and heating device motion mode is rotation, and as needed, n are added
Thermal arranges at certain altitude that being incorporated into each heating device can rotate in the horizontal plane but also rotate on vertical guide
Comprehensive holder on, encoder, horizontal plane are loaded onto using motor control cloud platform rotation and in revolvable both direction
On encoder be known that the angle of heating device direction in the horizontal plane and due north, the encoder on vertical guide can be known
Angle between the direction and plumb line of road heating device, when needing to adjust heating device direction makes some position of its face,
Need to adjust the angle of the angle between the direction of heating device and plumb line and direction in a horizontal plane and direct north, i.e.,
Control holder makes the output of two encoders on horizontal plane and vertical guide reach certain value；When needing to add to some position
When hot, adjust heating device direction make its face position after heat；It, as needed, will be whole when the space of heat supply is larger
A plane is divided into several sub-regions, arranges a heating device in each subregion；
When heating device is infrared lamp, infrared lamp radiant illumination value q and the point to infrared lamp axes that certain point receives
Distance r is related with heated current I, the infrared lamp radiant illumination value received at certain point:
Q=f (r, I)；
When heating device is hot-air mouth, certain per unit area heater power P for receiving of point and the point to hot-air mouth away from
From l, wind velocity v is related with leaving air temp out；Received per unit area heater power at certain point:
P=f (l, v, t)；
The effect of coordinated control system is to receive location information and temperature information, formulates the corresponding heating of control strategy control
Device gives target heat supply；When one or more targets are in heating region, need to make the radiant illumination value at each target
Or per unit area heater power reaches certain value；When having has m target in region, in order to reach heating demand, coordinate control
System processed formulates control strategy, and control strategy is transmitted to the heating device for needing work；Control strategy includes which is controlled
A heating device work and heating device are heated with great power；Specific control strategy is as follows: there are multiple
When mobile heating device, the selection of the heat supply heat of the heat supply quantity and each heating device of specific heating device is as follows:
Assuming that there is n heating device, the number of heating device is respectively as follows: 1, L, n；M heating device therein is selected to be moved to m
The number of specified position, these positions distinguishes position are as follows: 1, L, m, wherein m≤n, i-th of heating device are moved to position j's
Mobile cost is cij；xijFor decision variable, 0 the i-th heating device of expression moves on to position j in 0 or 1；Constraint condition isWhereinFor objective function, that is, minimizes and always move on to cost；Expression moves on to each position
Set heating device to quantity be 1；Indicate each heating device at most and can only move on to one it is specified
Position, xijThe value range of the expression decision variable of=0or 1；Specific step is as follows:
Step1: each heating device i is calculatedAccording toValue rearrange correspondence from small to large
Decision variable xi, whereinThe smallest x of valueiBecome x1, it is worth maximum xiBecome xn, one binary system of decision scheme
Number X=(x1x2L xn)2It indicates, such as X=(00L 01)2Indicate that n-th of heating device after rearranging is opened, remaining pass
It closes；
Step2: setting Y=∞,The scheme currently taken is X=(x1x2L xn)2=(00L 1)2；According to
QjValue its constraint condition is ranked up from big to small, i.e. QjBe worth it is maximum be set as first constraint, it is secondary big to be set as second
Constraint ..., it is the smallest to be set as the last one constraint；
Step3: the target function value of Current protocols is calculatedIf target function value is less than Y, then it is arranged first about
Beam is present confinement, otherwise goes to Step6；
Step4: according to Current protocols X=(x1x2L xn)2Judge whether current constraints meet, turns if meeting
To Step5, Step6 is otherwise gone to；
Step5: judge whether, if any then taking next constraint to be used as present confinement, to go to there are also constraining not check
Step4；Otherwise optimizing decision scheme is updatedFor Current protocols X, enabling Y is the target function value of current decision making scheme X, is gone to
Step6；
Step6: judge X+1≤(11L 1)2Whether meet, take next scheme if meeting, works as even X=X+1 is used as
Front case, goes to Step3；Otherwise Step7 is gone to；
Step7: algorithm terminates, and exports optimizing decision schemeAnd corresponding optimal value Y, if Y=∞,Then
Show problem without feasible solution.
Use arrival time difference positioning algorithm i.e. TDOA location algorithm as the core algorithm of entire positioning device, TDOA is fixed
Position algorithm is to set up solution by a kind of mathematical model, and what it was mainly utilized is hyp characteristic in mathematics, when depositing
When two fixed points, another dynamic point can with the two fixed points on the hyperbola of focus, when existing simultaneously in this way
Two groups or multiple groups as data structure when, these hyp intersection points are exactly the position of desired target object.
Above-described embodiment is presently preferred embodiments of the present invention, is not a limitation on the technical scheme of the present invention, as long as
Without the technical solution that creative work can be realized on the basis of the above embodiments, it is regarded as falling into the invention patent
Rights protection scope in.
Claims (4)
1. a kind of energy-saving heating system using rotary heating head, it is characterised in that: including positioning device, temperature measuring device,
Location information is sent to coordination for positioning to human body by coordinated control system and heating device, the positioning device
Control system；The temperature measuring device measures human peripheral's environment temperature, and temperature information is transmitted to coordinated control system；It is described
Coordinated control system receives the location information and temperature information of people, and coordinated control system controls needs according to the location information of people
One or several heating devices of work move to designated position；Temperature measuring device real-time measurement people's ambient temperature,
Temperature information is sent to coordinated control system, coordinated control system adjusts the operating power of heating device according to Current Temperatures；
The positioning device is positioned using super-broadband tech, that is, UWB technology, and positioning device is received by sending and receiving to have
Second or nanosecond ultra-narrow pulse below transmit data；Positioning device includes label, anchor point and location-server, and label is to move
Dynamic and unknown coordinate object to be positioned, anchor point is node known to self-position or absolute coordinate, including several are from anchor
Point and Bower Anchor point, from anchor point directly and label communication completion ranging process, Bower Anchor point is responsible for collecting the distance measurement result from anchor point, right
Null result is filtered out, and is sent to location-server after preliminary data arrangement and is carried out location Calculation, and send time calibration
Wrap to from anchor point to synchronize；Location-server calculates positioning result by the ranging information that Bower Anchor point is sent；
The temperature measuring device measures target environment temperature using the noncontact measuring method of infrared radiation temperature method, will
Infrared temperature sensor uses electricity on the comprehensive holder that can be rotated but also rotate in the horizontal plane on vertical guide
Machine control cloud platform rotation simultaneously loads onto encoder in revolvable both direction, and the encoder on horizontal plane can obtain infrared biography
The angle in sensor direction in the horizontal plane and due north, the encoder on vertical guide can obtain direction and the lead of infrared sensor
Angle between vertical line needs to adjust infrared sensor when needing to adjust infrared sensor direction makes some position of its face
Direction and plumb line between angle and direction and due north in the horizontal plane angle, i.e., control motor make horizontal plane and lead
The output of two encoders on vertical plane reaches certain value；
The heating device is infrared lamp or hot-air mouth, and heating device motion mode is that translation needs the laid rail at certain altitude
Road, track can be divided into main orbit and Post Orbit, and Post Orbit is equipped with motor and wheel, can move on main orbit；Every Post Orbit
Heating device there are two upper, heating device bottom are equipped with motor and wheel, and heating device can move on Post Orbit；Work as needs
When being heated to some position, heating device moves on Post Orbit, and Post Orbit moves on main orbit, as required will
Heating device is moved to designated position and is heated；
The job order of Post Orbit is successively the first Post Orbit, the second Post Orbit, third Post Orbit, the 4th Post Orbit and the 5th time
Track, the heating device on the first Post Orbit to the 5th Post Orbit are successively responsible for the position in region northernmost into region most
The position heat supply in south.
2. the energy-saving heating system according to claim 1 using rotary heating head, it is characterised in that: by whole region point
Every several sub-regions, multiple heating devices are responsible for heating a sub-regions, when number is more than heating device in subregion, are
Control system of uniting is equal according to obtained heat per capita, and the maximum principle of gross energy calculates the position of heating device；When in subregion
When number is less equal than heating device, everyone configures one or more heating devices, and heating device is moved with the position of personnel
It moves and moves.
3. a kind of energy-saving heating means using rotary heating head, characterized by the following steps: positioning device is right in real time
Target is positioned, and location information is sent to coordinated control system；Coordinated control system is controlled according to the location information of target
One or several heating devices of work are needed to move to designated position；Temperature measuring device real-time measurement target ambient enviroment
Temperature information is sent to coordinated control system by temperature；Coordinated control system adjusts the work of heating device according to Current Temperatures
Power；
The positioning device is positioned using super-broadband tech, that is, UWB technology, and positioning device is received by sending and receiving to have
Second or nanosecond ultra-narrow pulse below transmit data；Positioning device includes label, anchor point and location-server, and label is to move
Dynamic and unknown coordinate target to be positioned, anchor point is node known to self-position or absolute coordinate, including several from
Anchor point and Bower Anchor point, directly and label communication completion ranging process from anchor point, Bower Anchor point is responsible for collecting the distance measurement result from anchor point,
Null result is filtered out, and is sent to location-server after preliminary data arrangement and carries out location Calculation, and sending time school
Quasi- packet is given from anchor point to synchronize；Location-server calculates positioning result by the ranging information that Bower Anchor point is sent；
The temperature measuring device measures target environment temperature using the noncontact measuring method of infrared radiation temperature method, will
Infrared temperature sensor uses electricity on the comprehensive holder that can be rotated but also rotate in the horizontal plane on vertical guide
Machine control cloud platform rotation simultaneously loads onto encoder in revolvable both direction, and the encoder on horizontal plane can obtain infrared biography
The angle in sensor direction in the horizontal plane and due north, the encoder on vertical guide can obtain direction and the lead of infrared sensor
Angle between vertical line needs to adjust infrared sensor when needing to adjust infrared sensor direction makes some position of its face
Direction and plumb line between angle and direction and due north in the horizontal plane angle, i.e., control motor make horizontal plane and lead
The output of two encoders on vertical plane reaches certain value；
The heating device is infrared lamp or hot-air mouth, and heating device motion mode is rotation, and as needed, n heating is filled
It sets at arrangement certain altitude, each heating device, which is incorporated into, can rotate in the horizontal plane but also rotate on vertical guide complete
On the holder in orientation, encoder is loaded onto using motor control cloud platform rotation and in revolvable both direction, on horizontal plane
Encoder is known that the angle of heating device direction in the horizontal plane and due north, the encoder on vertical guide be known that plus
Angle between the direction and plumb line of thermal is needed when needing to adjust heating device direction makes some position of its face
The angle between the direction and plumb line of heating device and the angle in direction and direct north in a horizontal plane are adjusted, that is, is controlled
Holder makes the output of two encoders on horizontal plane and vertical guide reach certain value；When needing to heat to some position
When, adjust heating device direction make its face position after heat；It, as needed, will be entire when the space of heat supply is larger
Plane is divided into several sub-regions, arranges a heating device in each subregion；
When heating device is infrared lamp, infrared lamp radiant illumination value q and the point to infrared lamp axial line distance r that certain point receives
Infrared lamp radiant illumination value related with heated current I, being received at certain point:
Q=f (r, I)；
When heating device is hot-air mouth, the per unit area heater power P and the point to hot-air mouth distance l that certain point receives,
Wind velocity v is related with leaving air temp out；Received per unit area heater power at certain point:
P=f (l, v, t)；
The effect of coordinated control system is to receive location information and temperature information, formulates control strategy and controls corresponding heating device
Give target heat supply；When one or more targets are in heating region, need to make the radiant illumination value or list at each target
Plane product heating power reaches certain value；When having has m target in region, in order to reach heating demand, coordinated control system
Control strategy is formulated, and control strategy is transmitted to the heating device for needing work；Control strategy includes which heating dress controlled
Work and heating device is set to be heated with great power；
Specific control strategy is as follows: when there are the heating device of multiple movements, the heat supply quantity of specific heating device and every
The selection of the heat supply heat of a heating device is as follows: assuming that there is n heating device, the number of heating device is respectively as follows: 1, L, n；
Select m heating device therein to be moved to the specified positions m, the number of these positions distinguishes position are as follows: 1, L, m, wherein m≤
N, the mobile cost that i-th of heating device is moved to position j is cij；xijFor decision variable, 0 indicates the i-th heating device in 0 or 1
Move on to position j；Constraint condition is MinJ=1, L, m；I=1, L, n, xij=0 or
1, wherein MinFor objective function, that is, minimizes and always move on to cost；J=1, L, m expression move on to each
Position to heating device to quantity be 1；I=1, L, n indicate that each heating device can only at most move on to one and specify
Position, xijThe value range of=0 or 1 expression decision variable；Specific step is as follows:
Step1: each heating device i is calculatedAccording toValue rearrange corresponding decision from small to large
Variable xi, whereinThe smallest x of valueiBecome x1, it is worth maximum xiBecome xn, one binary number X=of decision scheme
(x1x2L xn)2It indicates, such as X=(00L 01)2Indicate that n-th of heating device after rearranging is opened, remaining closing；
Step2: setting Y=∞,The scheme currently taken is X=(x1x2L xn)2=(00L 1)2；According to Qj's
Value is from big to small ranked up its constraint condition, i.e. QjBe worth it is maximum be set as first constraint, it is secondary big to be set as second about
Beam ..., it is the smallest to be set as the last one constraint；
Step3: the target function value of Current protocols is calculatedIf target function value is less than Y, then it is arranged first and is constrained to
Otherwise present confinement goes to Step6；
Step4: according to Current protocols X=(x1x2L xn)2Judge whether current constraints meet, is gone to if meeting
Otherwise Step5 goes to Step6；
Step5: judge whether, if any then taking next constraint to be used as present confinement, to go to Step4 there are also constraining not check；
Otherwise optimizing decision scheme is updatedFor Current protocols X, enabling Y is the target function value of current decision making scheme X, goes to Step6；
Step6: judge X+1≤(11L 1)2Whether meet, take next scheme if meeting, even X=X+1, which is used as, works as front
Case goes to Step3；Otherwise Step7 is gone to；
Step7: algorithm terminates, and exports optimizing decision schemeAnd corresponding optimal value Y, if Y=∞,Then show
Problem is without feasible solution.
4. the energy-saving heating means according to claim 1 using rotary heating head, it is characterised in that: use arrival time
Difference positioning algorithm, that is, core algorithm of the TDOA location algorithm as entire positioning device, TDOA location algorithm are by a kind of mathematics
Model foundation is got up solution, and what it was mainly utilized is hyp characteristic in mathematics, when there are two fixed points, in addition
One dynamic point can with the two fixed points on the hyperbola of focus, when existing simultaneously number as such two groups or multiple groups
When according to structure, these hyp intersection points are exactly the position of desired target object.
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