CN112523636B - Multi-signal processing method for fireproof door controller of inspection robot system - Google Patents
Multi-signal processing method for fireproof door controller of inspection robot system Download PDFInfo
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- CN112523636B CN112523636B CN202011514047.1A CN202011514047A CN112523636B CN 112523636 B CN112523636 B CN 112523636B CN 202011514047 A CN202011514047 A CN 202011514047A CN 112523636 B CN112523636 B CN 112523636B
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/79—Power-operated mechanisms for wings with automatic actuation using time control
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Abstract
The invention discloses a multi-signal processing method of a fire door controller for an inspection robot system, which is characterized in that a request opening signal queue is formed according to request opening signals of a plurality of request units, a control unit is utilized to perform signal processing on the request opening signal queue, and other signals from the request opening signal queue are received, such as a request for closing a fire door signal, so that the problem that the fire door is in a normally open state if the fire door controller does not receive a door closing instruction of the inspection robot due to communication and the like after the robot passes through the fire door is solved; control requests from multiple controllers cannot be accepted and processed simultaneously; the problem that different control strategies cannot be executed for different controllers (such as a monitoring platform or a robot) and the like.
Description
Technical Field
The invention belongs to the field of inspection robots, relates to a fireproof door control method, and particularly relates to a fireproof door controller multi-signal processing method for an inspection robot system.
Background
The rail-mounted inspection robot is widely applied to industrial fields such as tunnels, pipe galleries, transformer substations and the like and is used for acquiring field environment data. Patrol and examine the robot and patrol and examine the in-process of task at the execution, often need pass through a plurality of fire prevention subregion, consequently need with prevent fire door linkage: send the instruction of opening the door to preventing fire door controller and open and prevent fire door when being close to preventing fire door, prevent fire door controller after through preventing fire door and send the instruction of closing the door and close and prevent fire door. And when the fire door controller receives the control instruction of the inspection robot, corresponding control action is executed. Except for the inspection robot, the fire door controller can also receive and execute a control instruction from the monitoring platform, but in the prior art, the functions of simple opening and closing processing, intellectualization, multitasking processing and the like for closing the fire door are not perfect, so that a new mode and a new method need to be found.
Disclosure of Invention
In view of the above, there is a need to overcome at least one of the above-mentioned deficiencies in the prior art. The invention provides a multi-signal processing method of a fireproof door controller for an inspection robot system, which comprises the following steps:
the method comprises the steps that a request opening signal which comes from a request unit and requests the fireproof door to be opened is transmitted to a fireproof door control unit, the fireproof door control unit sequentially enters a request opening queue of the request opening signal, and waits for processing; when the request unit sends a signal requesting to close the fireproof door, the fireproof door control unit immediately processes the signal requesting to close the fireproof door, searches the same opening request signal sent by the request unit in the opening request queue, and deletes the opening request signal if the opening request signal exists;
the subsequent request units sequentially move to the fireproof door and send opening request signals and pass, or send closing request signals after the request signals pass, the fireproof door control unit continuously processes the opening request signals entering the opening request queue, immediately processes the received signals requesting to close the fireproof door, and the deleting operation is carried out;
until the request opening queue is processed, when the request opening signal is processed, the request opening queue is empty, and if the fireproof door is opened currently, the fireproof door is closed;
the fire door control unit continuously performs a circulation operation until the operation is terminated.
The technical scheme provides a new design scheme, a request opening signal queue is formed according to request opening signals of a plurality of request units, the control unit is used for processing the request opening signal queue and receiving other signals from the request opening signal queue, such as a request for closing a fireproof door signal, so that the problem that the fireproof door is in a normally open state if a fireproof door controller does not receive a door closing instruction of an inspection robot due to communication and the like after the robot passes through the fireproof door is solved; control requests from multiple controllers cannot be accepted and processed simultaneously; the problem that different control strategies cannot be executed for different controllers (such as a monitoring platform or a robot) and the like.
The request unit which is arranged on the track and moves, such as an inspection robot, is provided with a self-identification, such as an IP address, an MAC address and the like, so as to carry out identity recognition; and the request signal carries the category or type of the request unit, such as an inspection robot or a control platform, etc., so as to distinguish the signal source and determine the possible priority level, etc.; the request signal sent by the request unit enters a request opening signal queue to wait for the control unit to process.
In addition, the fire door controller multi-signal processing method for the inspection robot system disclosed by the invention also has the following additional technical characteristics:
further, the request starting signal comprises a self identification mark forming the request unit, the type of the request unit and the request starting instruction content;
the request opening signal enters the request opening queue, the request for closing the fireproof door comprises a self identification mark of the request unit, the type of the request unit and the request closing instruction content.
Further, when the opening request signal of the request unit is transmitted to the fire door control unit, the fire door control unit sets the count value initialization value of the opening request signal of the request unit to be N, the fire door control unit detects the opening request queue at regular time, subtracts the count value of the request unit type of the inspection robot from the count value, and deletes the opening request signal if the count value of the inspection robot corresponding to the opening request signal is subtracted from 0.
Further, the request unit is a monitoring platform, the opening request signal of the request unit is transmitted to the fireproof door control unit and enters the opening request queue to wait for the control unit to process, when the monitoring platform sends a signal requesting to close the fireproof door, the fireproof door control unit detects the opening request queue, and if the opening request signal sent by the monitoring platform is found, the opening request signal is deleted.
Different processing strategies of the processing method for different request units are formed; and the control unit further detects the request opening queue in the two processing strategies, and closes the fireproof door when the request opening queue is empty.
Furthermore, part or all of the request units are inspection robots; or comprises an inspection robot; or include a monitoring platform.
Further, the processing method further comprises the step of enabling the inspection robot to request for opening the overtime deletion operation of the queue, and deleting the overtime opening request signal after the time exceeds the preset time.
Furthermore, the overtime deleting operation includes setting a preset time, and deleting the request opening signal when the request opening signal exceeds the preset time;
or
And setting different preset time for the request opening signal, and deleting the corresponding request opening signal when the request opening signal exceeds the corresponding preset time.
In the actual operation, overtime deletion refers to the operation of subtracting the value of the count value of the robot for the type of the request unit, overtime deletion is not performed on the request record of the monitoring platform for the type of the request unit, and the request record is directly deleted from the requester queue unless a closing request is received; in the "setting different preset times for the request start signal", different preset times are also set for the request start signal according to the type of the request unit.
Further, when the request opening queue is not empty and the fire door control unit does not receive the fire door closing signal, the fire door maintains the opening state.
The corresponding request-to-open signal queue processing is illustrated as follows:
(1) When the fireproof door controller receives a door opening request, if the fireproof door is in an unopened state, the fireproof door is opened, data containing a requester ID and a requester type are placed in a requester queue, and the count value of the data is initialized to be a positive integer N;
(2) When the fireproof door controller receives a door closing request, searching whether a requester record with the same ID as the current requester exists in a requester queue according to the ID, and if so, deleting the record from the requester queue;
(3) Checking the requester queue at regular time, subtracting 1 from the count value of the record with the requester type being the robot in the queue, and deleting the record from the requester queue if the record with the count value being 0 exists;
(4) And when the requester queue is empty, if the fireproof door is not closed, closing the fireproof door.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a system framework diagram of an embodiment of the invention;
FIG. 2 is a schematic view of a door open request processing flow according to an embodiment of the present invention;
FIG. 3 is a schematic view of a door closing request processing flow according to an embodiment of the invention;
FIG. 4 is a diagram illustrating a timing check requester queue according to an embodiment of the present invention.
In fig. 1, the connecting lines are directly connected or indirectly connected or wirelessly connected and perform signal interaction, in fig. 1, the control unit is connected with N inspection robots, and N is greater than or equal to 1.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "bottom", "top", "front", "rear", "inner", "outer", "lateral", "vertical", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, are used only for convenience in describing the present invention and for simplification of description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it is to be noted that, unless otherwise specifically stated or limited, the terms "coupled," "communicating," "connected," "coupled," and "coupled" are to be construed broadly and may, for example, be fixedly coupled, integrally coupled, or detachably coupled; may be communication within the two elements; can be directly connected or indirectly connected through an intermediate medium; "mating" may be a surface-to-surface mating, a point-to-surface or line-to-surface mating, and also includes a hole axis mating, and it is obvious to those skilled in the art that the above terms have specific meanings in the present invention.
The invention has the following inventive concept that a request opening signal queue is formed according to the request opening signals of a plurality of request units, the control unit is utilized to process the request opening signal queue and receive other signals from the request opening signal queue, such as a request for closing a fireproof door signal, so that the problem that the fireproof door is in a normally open state if a fireproof door controller does not receive a door closing instruction of an inspection robot due to communication and other reasons after a robot passes through the fireproof door is solved; control requests from multiple controllers cannot be accepted and processed simultaneously; the problem that different control strategies cannot be executed for different controllers (such as a monitoring platform or a robot) and the like.
Embodiments of the invention will now be described with reference to the accompanying drawings, in which FIG. 1 is a system framework diagram of an embodiment of the invention; FIG. 2 is a schematic view of a door open request processing flow according to an embodiment of the present invention; FIG. 3 is a schematic view of a door closing request processing flow according to an embodiment of the invention; FIG. 4 is a diagram illustrating a timing check requester queue according to an embodiment of the present invention.
As shown in fig. 1 to 4, according to the embodiment of the present invention, an opening request signal requesting the opening of the fire door from the request unit is transmitted to the fire door control unit, and sequentially enters an opening request queue of the opening request signal to wait for processing, if the current state of the fire door is detected by the fire door control unit to be closed, the fire door control unit gives a fire door opening signal, the fire door is opened, if the current state of the fire door is detected by the fire door control unit to be opened, the fire door control unit does not give the fire door opening signal, and the fire door is kept opened; when the request unit sends a signal requesting to close the fireproof door, the fireproof door control unit immediately processes the signal requesting to close the fireproof door, searches the same opening request signal sent by the request unit in the opening request queue, and deletes the signal if the opening request signal exists;
the subsequent request units move to the fireproof door in sequence and send opening request signals and pass, or send closing request signals after the opening request signals pass, the fireproof door control unit continues to process the opening request signals entering the opening request queue, immediately processes the received signals requesting to close the fireproof door, and carries out the deleting operation;
until the request opening queue is processed, when the request opening signal is processed, the request opening queue is empty, and if the fireproof door is opened currently, the fireproof door is closed;
the fire door control unit continues to cycle until operation is terminated.
The request unit which is arranged on the track and moves, such as an inspection robot, is provided with a self-identification, such as an IP address, an MAC address and the like, so as to carry out identity recognition; and the request signal carries the category or type of the request unit, such as an inspection robot or a control platform, etc., so as to distinguish the signal sources and determine the possible priority level, etc.; the request signal sent by the request unit enters a request opening signal queue to wait for the control unit to process.
In addition, the fire door controller multi-signal processing method for the inspection robot system further has the following additional technical characteristics:
according to the embodiment of the invention, the request starting signal comprises a self identification mark forming the request unit, the type of the request unit and the content of a request starting instruction;
the request opening signal enters the request opening queue, the request for closing the fireproof door comprises a self identification mark of the request unit, the type of the request unit and the request closing instruction content.
According to the embodiment of the invention, when the opening request signal of the request unit is transmitted to the fireproof door control unit, the fireproof door control unit sets the count value initialization value of the opening request signal of the request unit to be N, the fireproof door control unit detects the opening request queue at regular time, the count value of the request unit type of the inspection robot is reduced, and if the count value of the corresponding inspection robot is reduced to be 0, the opening request signal is deleted.
According to the embodiment of the invention, the request unit is a monitoring platform, the request opening signal of the request unit is transmitted to the fireproof door control unit and enters the request opening queue to wait for the control unit to process, when the monitoring platform sends a signal requesting to close the fireproof door, the fireproof door control unit detects the request opening queue, and if the request opening signal sent by the monitoring platform exists, the request opening signal is deleted.
Different processing strategies of the processing method for different request units are formed in this way.
According to the embodiment of the invention, part or all of the request units are inspection robots; or comprises an inspection robot; or include a monitoring platform that may also issue a request signal in certain circumstances.
According to some embodiments of the invention, the processing method further comprises the steps that the polling robot requests to open the overtime deletion operation of the queue, and the overtime signal requesting to open is deleted after the time exceeds the preset time.
According to some embodiments of the invention, the timeout deleting operation includes setting a preset time, and deleting the request-to-open signal when the request-to-open signal exceeds the preset time;
or
And setting different preset time for the request starting signal according to the type of the request unit, and deleting the corresponding request starting signal when the request starting signal exceeds the corresponding preset time.
According to the embodiment of the invention, when the request opening queue is not empty and the fire door control unit does not receive the fire door closing signal, the fire door maintains the opening state.
In accordance with one embodiment of the present invention,
(1) When the fireproof door controller receives a door opening request, if the fireproof door is not in an opened state, the fireproof door is opened, data containing a requester ID and a requester type are put into a requester queue, and the count value of the data is initialized to be a positive integer N;
(2) When the fireproof door controller receives a door closing request, searching whether a requester record with the same ID as the current requester exists in a requester queue according to the ID, and if so, deleting the record from the requester queue;
(3) Checking the requester queue at regular time, subtracting 1 from the count value of the record with the requester type being the robot in the queue, and deleting the record from the requester queue if the record with the count value being 0 exists;
(4) And when the requester queue is empty, if the fireproof door is not closed, closing the fireproof door.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
According to an embodiment of the present invention, when the a robot reaches the fire door, the a robot requests to open the door, the a robot request signal and the count value forming the initialization value N (wherein the a robot request signal and the count value forming the initialization value N are hereinafter referred to as an a signal, the B robot and the like) enter the opening request queue, if the fire door is in a closed state, the fire door is opened, the a robot passes through, if the a robot sends the opening request signal, at this time, the control unit detects whether the a signal of the a robot exists in the opening request queue, if so, the a signal is deleted from the opening request queue, at this time, the opening request queue is empty, and the fire door is closed.
According to one embodiment of the invention, when the robot a arrives at a fireproof door, the robot a requests to open the door, the robot a requests a signal and a count value forming an initialization value N (wherein the robot a requests a signal and the count value forming the initialization value N are simply referred to as a signal, and the robot B and the rest are the same) to enter the request opening queue, if the fireproof door is in a closed state, the fireproof door is opened, the robot a passes through, if the robot a sends the request closing signal, at this time, the control unit detects whether the signal a of the robot a exists in the request opening queue, if so, the signal a is deleted from the request opening queue, at this time, the request opening queue is empty, and the fireproof door is closed; if the robot B reaches a fireproof door before the robot A sends a request closing signal and sends a request opening signal, the robot B requests a signal and forms a counting value with an initialization value of N to enter the request opening queue, the control unit regularly monitors the request opening queue and performs value reduction operation on the counting values of different robots, if the signal B just enters the request opening queue and t periods pass from the time of the signal A, the counting value of the signal A is N-t, and the counting value of the signal B is N; when a door-closing request signal of the robot A arrives, the control unit or the monitoring platform detects whether the signal A of the robot A exists in the door-opening request queue or not, if so, the signal A is deleted from the door-opening request queue, but at the moment, the door-opening request queue is not empty, so that the fire door is kept open until the robot B passes through, after the robot B passes through and sends the door-closing request signal, the control unit or the monitoring platform detects whether the signal B of the robot B exists in the door-opening request queue or not, if so, the signal B is deleted from the door-opening request queue, at the moment, the door-opening request queue forms an empty queue, and if the fire door is in an opening state, the fire door is closed.
According to an embodiment of the present invention, in the above embodiment, when the count value becomes 0 after N cycles, a timeout deleting operation is performed, and when the request opening queue is empty, the fire door is closed.
Any reference to "one embodiment," "an embodiment," "example embodiment," etc., means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Such schematic representations throughout the specification do not necessarily refer to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with any embodiment, it is submitted that it is within the purview of one skilled in the art to effect such feature, structure, or characteristic in connection with other ones of the embodiments.
While specific embodiments of the invention have been described in detail with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the spirit and scope of the principles of this invention. In particular, reasonable variations and modifications are possible in the component parts and/or arrangements of the subject combination arrangement within the scope of the foregoing disclosure, the drawings and the appended claims without departing from the spirit of the invention. Except variations and modifications in the component parts and/or arrangements, the scope of which is defined by the appended claims and equivalents thereof.
Claims (8)
1. A multi-signal processing method of a fireproof door controller for an inspection robot system is characterized in that a request opening signal from a request unit requesting the opening of a fireproof door is transmitted to a fireproof door control unit and sequentially enters a request opening queue of the request opening signal to wait for processing, if the current state of the fireproof door is detected to be closed by the fireproof door control unit, the fireproof door control unit gives a fireproof door opening signal, the fireproof door is opened, if the current state of the fireproof door is detected to be opened by the fireproof door control unit, the fireproof door control unit does not give the fireproof door opening signal, and the fireproof door is kept opened; after the request unit passes through a fireproof door, the request unit sends a signal for requesting to close the fireproof door, the fireproof door control unit immediately processes the signal for requesting to close the fireproof door and searches the same opening request signal sent by the request unit in the opening request queue, and if the opening request signal exists, the signal is deleted;
the subsequent request units move to the fireproof door in sequence and send opening request signals and pass, or send closing request signals after the opening request signals pass, the fireproof door control unit continues to process the opening request signals entering the opening request queue, immediately processes the received signals requesting to close the fireproof door, and carries out the deleting operation;
until the request opening queue is processed, when the request opening signal is processed, the request opening queue is empty, and if the fireproof door is opened currently, the fireproof door is closed;
the fire door control unit continuously performs a circulation operation until the operation is terminated.
2. The fire door controller multi-signal processing method for the inspection robot system according to claim 1, wherein the request for opening signal includes a self-identification flag forming the request unit, a type of the request unit, a request for opening instruction content;
the request opening signal enters the request opening queue, the request for closing the fireproof door comprises a self identification mark of the request unit, the type of the request unit and the request closing instruction content.
3. The multi-signal processing method of the fire door controller for the inspection robot system according to claim 1, wherein the request unit is a rail robot, the opening request signal of the request unit is transmitted to the fire door control unit, the fire door control unit sets a count value of the opening request signal of the request unit to an initialization value N, the fire door control unit periodically detects the opening request queue and decrements the count value of the request unit type of the inspection robot, and deletes the opening request signal if the count value of the inspection robot is decremented to 0.
4. The fire door controller multi-signal processing method for the inspection robot system according to claim 1, wherein the request unit is a monitoring platform, the opening request signal of the request unit is transmitted to the fire door control unit and enters the opening request queue to wait for the control unit to process, when the monitoring platform sends a signal requesting to close the fire door, the fire door control unit detects the opening request queue, and if the opening request signal sent by the monitoring platform is found, the opening request signal is deleted.
5. The multi-signal processing method of the fire door controller for the inspection robot system according to claim 1, wherein the request unit is partially or entirely an inspection robot; or comprises an inspection robot; or include a monitoring platform.
6. The multi-signal processing method for the fire door controller of the inspection robot system according to claim 1, wherein the processing method further includes the steps that the inspection robot requests to open the queue for deleting overtime, and when the time exceeds a preset time, the overtime signal for requesting to open is deleted.
7. The multi-signal processing method for the fire door controller of the inspection robot system according to claim 6, wherein the timeout deleting operation includes setting a preset time, and deleting the opening request signal when the opening request signal exceeds the preset time;
or
And setting different preset time for the request opening signal, and deleting the corresponding request opening signal when the request opening signal exceeds the corresponding preset time.
8. The multi-signal processing method for the fire door controller of the inspection robot system according to claim 1, wherein the fire door maintains an open state when the request open queue is not empty and the fire door control unit does not receive the fire door closing signal.
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| US10159181B2 (en) * | 2017-02-02 | 2018-12-25 | Robin Technologies, Inc. | Automated secure door for robotic mower |
| US10767383B2 (en) * | 2017-11-07 | 2020-09-08 | Robin Technologies, Inc. | Ground wire guidance system for robotic vehicle with doorway access |
| CN108286457B (en) * | 2017-12-04 | 2019-07-19 | 山东康威通信技术股份有限公司 | Electric tunnel inspection robot walking safety guarantee dispatching method and system |
| US10669768B2 (en) * | 2018-09-28 | 2020-06-02 | Toyota Research Institute, Inc. | Robotic power delivery |
| JP6603432B1 (en) * | 2019-07-12 | 2019-11-06 | アスクル株式会社 | Auto-locking door unlocking system, auto-locking door unlocking method, and auto-locking door unlocking program |
| CN111119653B (en) * | 2019-11-28 | 2021-06-18 | 广州赛特智能科技有限公司 | Automatic door cluster control method based on unmanned logistics distribution robot |
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