CN113341787B - Teleoperation system for ground matching experiment of space station high-temperature cabinet - Google Patents
Teleoperation system for ground matching experiment of space station high-temperature cabinet Download PDFInfo
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- CN113341787B CN113341787B CN202110490226.4A CN202110490226A CN113341787B CN 113341787 B CN113341787 B CN 113341787B CN 202110490226 A CN202110490226 A CN 202110490226A CN 113341787 B CN113341787 B CN 113341787B
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Abstract
The invention discloses a teleoperation system for a ground matching experiment of a space station high-temperature cabinet, which comprises: the system comprises a teleoperation subsystem arranged at a mobile phone client, a cloud server communication module arranged at a cloud server and a routing module arranged at an equipment end; the equipment end is high-temperature cabinet ground detection equipment; the teleoperation subsystem is used for providing appointed router information for a routing module of the equipment end; the system comprises a cloud server, a data processing system and a data processing system, wherein the cloud server is used for sending equipment operation instructions to the cloud server and receiving and displaying field real-time experiment data from the cloud server; the cloud server communication module is used for respectively communicating with the mobile phone client and the equipment end, receiving an operation instruction of the mobile phone client, sending the operation instruction to the equipment end, and sending the field real-time experiment data of the equipment end to the mobile phone client; and the routing module is used for receiving the router information and connecting the high-temperature cabinet ground detection equipment to a specified router so as to access the internet environment.
Description
Technical Field
The invention belongs to the technical field of teleoperation monitoring, and particularly relates to a teleoperation system for a ground matching experiment of a high-temperature cabinet of a space station, which is a high-temperature material science experiment cabinet system applied to microgravity material science experiments.
Background
A space station in China is about to be established, a high-temperature material scientific experiment cabinet is built on the space station, and a large number of space material scientific experiments are developed on the space station in China by using the high-temperature material scientific experiment cabinet. Each material science experiment carried out in space needs to be carried out for a plurality of times under the foundation condition for verifying the mutual matching between the material and the equipment, and the aim of the foundation matching experiment is to grow a material sample needing to be carried out in space by utilizing the equipment (high-temperature cabinet) so as to ensure the success of the real space experiment. Each sample generally needs to be subjected to foundation matching tests for more than three times, the on-orbit service life of the space station in China is at least ten years, and 16 samples can be made in one batch of high-temperature cabinets; if a batch is made in 2 months, 96 samples are made in one year, nearly thousands of sample experiments are made in ten years, and thousands of matching experiments are carried out on the foundation. Such a large number of matching tests put high demands on experimental process management, data management, management of participants and the like. The personnel participating in the ground based matching experiment even include foreign scientists.
At present, existing teleoperation systems at home and abroad cannot meet the requirements of ground matching experiments of high-temperature cabinets of space stations in China. The ground matching experiment teleoperation client system of the space station high-temperature cabinet completely aims at the ground matching experiment of the space station high-temperature cabinet in China, and can greatly improve the efficiency of the ground matching experiment.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a teleoperation client system for a ground matching experiment of a high-temperature cabinet of a space station.
In order to achieve the above object, the present invention provides a teleoperation system for a ground matching experiment of a high temperature cabinet of a space station, wherein the teleoperation system comprises: the system comprises a teleoperation subsystem arranged at a mobile phone client, a cloud server communication module arranged at a cloud server and a routing module arranged at an equipment end; the equipment end is high-temperature cabinet ground detection equipment; wherein, the first and the second end of the pipe are connected with each other,
the teleoperation subsystem is used for providing appointed router information for a routing module of the equipment end; the cloud server is used for sending equipment operation instructions to the cloud server and receiving and displaying field real-time experimental data from the cloud server;
the cloud server communication module is used for respectively communicating with the mobile phone client and the equipment end, receiving an operation instruction of the mobile phone client, sending the operation instruction to the equipment end, and sending field real-time experiment data of the equipment end to the mobile phone client;
and the routing module is used for receiving the router information and connecting the high-temperature cabinet ground detection equipment to a specified router so as to access the internet environment.
As an improvement of the above system, the teleoperation subsystem comprises: the system comprises a system management module, a data monitoring module and a teleoperation instruction module; wherein, the first and the second end of the pipe are connected with each other,
the system management module is used for receiving registration information of a user, sending the registration information to the cloud server, receiving login information, and providing detection control authority of the user to the equipment side according to login success information returned by the cloud server; for providing password modification functionality; the router is also used for sending the name and the password information of the router to be connected at the equipment end in a broadcasting mode, and stopping broadcasting after receiving the returned success information of the equipment end;
the data monitoring module is used for receiving, storing and displaying the equipment-side field real-time experimental data forwarded by the cloud server communication module;
and the teleoperation instruction module is used for sending an equipment operation instruction to the cloud server communication module.
As an improvement of the above system, the specific processing procedure of the data monitoring module includes:
acquiring user identification information and an equipment name of specified high-temperature cabinet ground detection equipment, sending the user identification information and the equipment name to a cloud server communication module, receiving on-site real-time experimental data of an equipment end of the specified equipment from the cloud server communication module, storing the on-site real-time experimental data in a local database, and performing visual display;
the field real-time experimental data of the equipment terminal comprises: device list data, sample list data, field experiment data and device and environment monitoring information; the equipment list data includes data of high-temperature furnace equipment and data of medium-temperature furnace equipment: wherein the high-temperature furnace equipment comprises three temperature zones and ten thermocouples, and the heating temperature of each thermocouple is 0-1600 ℃; the medium temperature furnace equipment comprises four temperature areas and eight thermocouples, wherein the heating temperature of each thermocouple is 0-1200 ℃;
the sample list data is sample name data for carrying out experiments;
the field experiment data comprises the sample temperature, the sample growth position and the experiment duration collected in the ongoing sample growth experiment process; the sample growth position is the length of the sample, and the unit is mm;
the equipment and environment monitoring information comprises furnace wire current, furnace wire secondary voltage, furnace wire power supply temperature, magnetic field voltage and current, secondary power supply voltage and current, optical module voltage, instruction voltage, furnace vacuum degree, shell temperature of an internal module of the equipment, temperature of a high-power component, X-ray thermocouple data, visible-ray thermocouple data, high-temperature furnace temperature thermoelectric even data, thermocouple cold end temperature data, valve state, enabling signal state, 5 motor strokes, limit switch state, power supply control voltage of a temperature zone, magnetic field control information, acceleration sensor signal state, system time code and data packet sequence number.
As an improvement of the above system, the specific processing procedure of the teleoperation instruction module is as follows:
and acquiring an equipment operation instruction selected by a user from the operation instruction list and set parameters, and sending the equipment operation instruction to the cloud server communication module, wherein the equipment operation instruction comprises a sample transposition instruction in the equipment and a position and temperature setting instruction of a growth motor.
As an improvement of the above system, a specific processing procedure of the cloud server communication module is as follows:
receiving registration information sent by a client, uploading the registration information to a server background, receiving login information, uploading the login information to the server background, and sending returned login success information to the client;
packaging user identification information and equipment operation instructions of a mobile phone client by using a post method of an OKHttp3 network request framework, uploading different equipment operation instructions to a cloud server background through different URL connections, acquiring response return information, and sending the response return information to an equipment end;
and analyzing the Json data returned by the server background, acquiring data information of specific fields and sending the data information to the client.
As an improvement of the above system, the routing module supports WIFI communication, and connects with a designated router according to the received router name and password information, thereby accessing to the internet environment; the routing module also supports a cloud service access protocol.
Compared with the prior art, the invention has the advantages that:
the system provided by the invention solves the remote monitoring problem of the ground matching experiment of the high-temperature cabinet of the space station, and simultaneously solves the problems of long detection time and complex data recording of experimenters, so that the experimenters can remotely monitor and control the experiment through terminals such as mobile phones.
Drawings
Fig. 1 is a structural diagram of a teleoperation system for a ground matching experiment of a high-temperature cabinet of a space station in embodiment 1 of the present invention;
fig. 2 is a functional block diagram of a client according to embodiment 1 of the present invention;
fig. 3 is a diagram of a client architecture according to embodiment 1 of the present invention.
Detailed Description
In order to solve the problems of remote monitoring and control of the ground matching experiment of the high-temperature cabinet of the space station and solve the problems that an experimenter needs to be in close contact with a test site due to long detection time and complicated data recording, the invention realizes a remote operation client system facing the ground matching experiment of the high-temperature cabinet of the space station, so that the experimenter can remotely monitor and control the experiment through terminals such as a mobile phone at any place (as long as the experimenter can access the Internet). The system comprises: the system comprises a cloud server communication module, a system management module, a data monitoring module and a teleoperation instruction module; the system management module, the data monitoring module and the teleoperation instruction module are required to communicate between the client and the cloud server background, and the functions of the system management module, the data monitoring module and the teleoperation instruction module are completed through the cloud server communication module.
The technical solution of the present invention is described in detail below with reference to the accompanying drawings and examples.
Example 1
The embodiment 1 of the invention provides a remote monitoring system for a ground matching experiment of a high-temperature cabinet of a space station.
The teleoperation system of the ground matching experiment of the space station high-temperature cabinet is totally divided into three parts: the system comprises a teleoperation subsystem arranged at a mobile phone client, a cloud server communication module arranged at a cloud server and a routing module arranged at an equipment end; the equipment end is high-temperature cabinet ground detection equipment, as shown in fig. 1. The mobile phone client connects the equipment to a designated router through a WiFi module of the ground detection equipment, and accesses the internet environment, so that the communication between the equipment and the cloud server is realized. The client communicates with the cloud server, timely acquires the parameter information of the equipment operation, issues the next operation instruction to the equipment, and can display the visual processing result of the data.
The cloud server communication module is used for realizing communication between the client system and the server background, sending data to the cloud end and processing return information; the server background is carried on the cloud server; the cloud server communication module uses a post method of an OKHttp3 network request framework to submit and request data, packages the function, packages identification information and request information of a user, uploads different function modules to a cloud server background through different URL connections, acquires return information of a response, processes and displays the return information.
As shown in fig. 2, the client teleoperation subsystem includes: the system comprises a system management module, a data monitoring module, a teleoperation instruction module and a communication module. In the system management module, the functions of registration and login of operators and password modification are realized; meanwhile, the information of the connected router is acquired, the communication with the equipment is realized through a data transmission module of the hardware equipment, and the returned information of the equipment is processed; in the data monitoring module, 128 field experiment data are acquired; in the teleoperation instruction module, the acquisition of an operation object and an operation instruction list is realized, and an instruction set by a user is submitted to a server background. The communication module realizes communication between the client and the background server.
As shown in fig. 3, the architecture of the client system can be divided into five layers from bottom to top: the system comprises a base layer, a data layer, a support layer, a business layer and a presentation layer. The basic layer is a component at the lowest layer of the program, and realizes communication between the client and the server and between the client and the hardware devices. And communicating with a server by adopting an OKHttp3 network request framework, and acquiring information of a designated router by using a WiFiManager class in Android when communicating with hardware equipment. The data layer provides a data source of the program, and the data source in the client system mainly comprises return data of a cloud server background and historical data stored in a local database LitePal. The support layer provides support for technologies and functions in the program, and comprises return information of a Gson analysis framework analysis server background, a unit test framework unit and the like. The service layer is mainly used for realizing the logic of each function, and comprises data input, verification, processing and the like. The presentation layer displays data, interface design is carried out through various layout modes and controls provided by Android, a device list and a sample list are displayed by using a ListView control provided by the Android, and drawing of data change curves such as temperature in the experimental process is realized through a user-defined View component.
The system management module is used for receiving registration and login information of experiment operators, judging the authenticity of verification information after comparing the registration and login information with information in a background database table through the cloud server communication module, and receiving data or sending instructions through the data monitoring module and the remote operation instruction module after successful login; the operator is a professional with authority to detect and control the field experiment; the system management module also has the function of equipment management, and the equipment which can be managed by the system management module comprises a high-temperature furnace, a medium-temperature furnace, an X-ray observation module, a visible light observation module, a subsequent expansion module and the like; the router name and password information which are required to be connected by the high-temperature cabinet ground detection equipment are transmitted to the equipment end by a datagram broadcasting method, so that the access to the Internet is ensured; the high-temperature cabinet ground detection equipment is experimental equipment which needs to be remotely controlled by a client; the method specifically comprises the following steps:
the name and the password of the router which needs to be connected with the hardware equipment are input at the client, then the input information is encoded and encapsulated into the UDP message, and the UDP message is continuously sent to the environment in a broadcasting mode. At this time, the WiFi module of the hardware device starts a monitoring state, and after monitoring the UDP packet broadcast by the client, decodes the packet to obtain the SSID and the password of the router, and then connects to the designated router. Sending return information to the client after the connection is successful, and judging by the client to stop broadcasting according to the return information;
the data monitoring module is used for receiving field experiment data, acquiring real-time data through the cloud server communication module and displaying the real-time data in a client interface; these data include: the method comprises the steps of counting 128 items of data including a device list under a current account, a sample list, furnace wire current, furnace wire secondary voltage, furnace wire power supply temperature, magnetic field voltage and current, secondary power supply voltage and current, optical module voltage, instruction voltage, furnace vacuum degree, shell temperature of each module (including a high-temperature furnace module, an X-ray module, a visible light module and the like), high-power component temperature (including an FPGA (field programmable gate array), a CPU (central processing unit), a heating power supply and the like), 5-path X-ray thermocouple data, 5-path visible ray thermocouple data, 10-path high-temperature furnace temperature thermoelectricity even data, 5-path thermocouple cold end temperature data, valve state, enabling signals (including an LED (light emitting diode), a CCD (charge coupled device), 5-path motor stroke, limit switch state, power supply control voltage of 4 temperature zones, magnetic field control (subdivision, rotation direction, rotation frequency, magnetic field intensity and the like), acceleration sensor signals (X, Y and Z directions), system time codes, data packet sequence numbers and the like. Historical experimental data needs to be recorded, and the data is subjected to visualization processing; for the experiment historical data, in the process of the experiment, the data collected at intervals are recorded and stored in a local database of the client; for visualization processing, the growth position and temperature change condition of the sample in the process of one experiment are drawn into a curve, and specific numerical values of important turning points are marked in the curve graph. The data monitoring module is used for receiving field experiment data which comprises a device list under the current login account; the equipment list mainly comprises two high-temperature equipment, namely a high-temperature furnace and a medium-temperature furnace:
the high-temperature furnace equipment comprises three temperature areas, wherein the three temperature areas comprise ten thermocouples, and the heating temperature of each thermocouple is 0-1600 ℃;
the medium temperature furnace equipment comprises four temperature areas, wherein the four temperature areas comprise ten thermocouples, and the heating temperature of each thermocouple is 0-1200 ℃;
the sample list includes sample name data for the experiment, sample No. i, for which there are currently 16 samples;
the field experiment data comprises the collected sample temperature, the sample growth position and the experiment already carried out time in the ongoing sample growth experiment process; the sample growth position is the length of the sample and the unit is mm;
the equipment and environment monitoring information comprises Hall current and secondary voltage of four furnace wires in the equipment, voltage and current of a magnetic field, temperature of a magnetic field power supply, secondary voltage of a visible light and X-ray module, instruction voltage of each module, temperature of four furnace wire power supplies, shell temperature of the furnace, monitoring values of two vacuum gauges, collected data of an X-ray thermocouple and the like, 128 data are counted, and the following table shows:
TABLE 1 Experimental data sheet
The remote operation instruction module is used for sending operation instruction data to the server by the client through the cloud server communication module, and the server background forwards the operation instruction data to the hardware equipment end; these instructions include: the temperature set value, the temperature climbing value, the temperature rising time, the heat preservation time, the temperature reduction time, PID control parameters (including P, I, D and control period) and the open-loop control voltage of each furnace wire (total 4) are controlled; the sample is transposed and sent into a hearth; sample growth (three temperature shift positions and velocities); magnetic field control subdivision, magnetic field intensity, magnetic field rotation direction and magnetic field rotation frequency; valve, LED, and CCD. The equipment distribution network module acquires WiFi information and passwords input by a user, communicates with the high-temperature cabinet ground detection equipment in a broadcasting mode, and processes return information of the high-temperature cabinet ground detection equipment;
acquiring WiFi information, which refers to information such as the name of a router connected with a WiFi module of high-temperature cabinet ground detection equipment;
the high-temperature cabinet ground detection equipment comprises a WiFi module used for internet communication, wherein the WiFi module is a data transmission module capable of carrying out WIFI communication, can be connected with a router, ensures that the WiFi module is accessed into an internet environment, provides a cloud service access protocol, is communicated with a cloud service, and can be communicated with a client to transmit data;
the teleoperation instruction module comprises an operation instruction acquisition list, an operation instruction submission module and an operation instruction sending module, wherein the operation instruction list is used for sending the operation instruction to the server background through the client;
submitting an operation instruction, and uploading the selected instruction and the set parameters to a server background by a client;
the operation instruction list comprises sample transposition in the equipment, namely, a specified sample is sent into a hearth of the heating equipment through a control motor; setting the position and temperature of a growth motor so as to complete the control of temperature field distribution;
the growth motor can control the heating conditions of different positions of the sample by adjusting the position of the growth motor, thereby adjusting the temperature field distribution around the sample and controlling the growth process of the sample;
the growth process is to complete the change of the forms such as the growth process and the like through the continuous melting and solidification of the sample;
the user management module, the field data receiving module and the teleoperation instruction module in the client system function module are required to communicate between the client and the cloud server background and are completed through the cloud server communication module. The cloud server communication module submits and requests data by using a post method of an OKHttp3 network request framework, the functions are packaged, identification information and request information of a user are packaged, different function modules are connected and uploaded to a cloud server background through different URLs, and return information of responses is acquired and processed and displayed.
The user management module uploads the input registration or login information to the server background, and the suffix of login url is "/tokens/login1? ", register url suffix"/register? "displaying the acquired information on the interface in a Toast mode, and logging in the main interface to perform the next operation if the acquired information is successful;
a module for receiving field data, uploading user identification information newToken and a device information name to be requested to a server background, wherein the url suffix is "/deviceshop? After uploading successfully, returning field experiment data, and displaying the data on a relevant interface by the client;
the teleoperation instruction module provides an operation instruction list, and after selection, the teleoperation instruction and data set in detail by the instruction are sent and uploaded to a server background, and the url suffix is "/editdevice? And after uploading is successful, returning information about whether the operation is successful or not, and displaying the information on the interface by the client in a Toast mode.
In the equipment distribution network module, the ground detection equipment is connected to the Internet, and the client is connected with the router. The process is as follows: the method comprises the steps of inputting the name and the password of a router which needs to be connected with hardware equipment at a client, encoding and packaging input information into a UDP message, and continuously sending the UDP message to the environment in a broadcasting mode. At this time, the WiFi module of the hardware device starts a monitoring state, and after monitoring the UDP packet broadcast by the client, decodes the packet to obtain the SSID and the password of the router, and then connects to the designated router. And sending return information to the client after the connection is successful, and judging by the client to stop broadcasting according to the return information.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (3)
1. A teleoperation system for a ground matching experiment of a space station high-temperature cabinet is characterized by comprising: the system comprises a teleoperation subsystem arranged at a mobile phone client, a cloud server communication module arranged at a cloud server and a routing module arranged at an equipment end; the equipment end is high-temperature cabinet ground detection equipment; wherein the content of the first and second substances,
the teleoperation subsystem is used for providing appointed router information for a routing module of the equipment end; the cloud server is used for sending equipment operation instructions to the cloud server and receiving and displaying field real-time experimental data from the cloud server;
the cloud server communication module is used for respectively communicating with the mobile phone client and the equipment end, receiving an operation instruction of the mobile phone client, sending the operation instruction to the equipment end, and sending field real-time experiment data of the equipment end to the mobile phone client;
the routing module is used for receiving router information, connecting the high-temperature cabinet ground detection equipment to a specified router and accessing to the Internet environment;
the teleoperational subsystem comprises: the system comprises a system management module, a data monitoring module and a teleoperation instruction module; wherein the content of the first and second substances,
the system management module is used for receiving registration information of a user, sending the registration information to the cloud server, receiving login information, and providing detection control authority of the user to the equipment side according to login success information returned by the cloud server; for providing password modification functionality; the router name and password information to be connected of the equipment end is sent out in a broadcasting mode, and the broadcasting is stopped after the successful information returned by the equipment end is received;
the data monitoring module is used for receiving, storing and displaying the equipment-side field real-time experimental data forwarded by the cloud server communication module;
the teleoperation instruction module is used for sending an equipment operation instruction to the cloud server communication module;
the specific processing procedure of the data monitoring module comprises the following steps:
acquiring user identification information and an equipment name of specified high-temperature cabinet ground detection equipment, sending the user identification information and the equipment name to a cloud server communication module, receiving on-site real-time experimental data of an equipment end of the specified equipment from the cloud server communication module, storing the on-site real-time experimental data in a local database, and performing visual display;
the field real-time experimental data of the equipment terminal comprises: device list data, sample list data, field experiment data and device and environment monitoring information; the equipment list data comprises data of high-temperature furnace equipment and data of medium-temperature furnace equipment; wherein the high-temperature furnace equipment comprises three temperature zones and ten thermocouples, and the heating temperature of each thermocouple is 0-1600 ℃; the medium temperature furnace equipment comprises four temperature areas and eight thermocouples, wherein the heating temperature of each thermocouple is 0-1200 ℃;
the sample list data is sample name data for carrying out experiments;
the field experiment data comprises the temperature of a sample, the growth position of the sample and the time length of the experiment carried out in the process of the sample growth experiment carried out; the sample growth position is the sample length, and the unit is mm;
the equipment and environment monitoring information comprises furnace wire current, furnace wire secondary voltage, furnace wire power supply temperature, magnetic field voltage and current, secondary power supply voltage and current, optical module voltage, instruction voltage, furnace vacuum degree, shell temperature of an internal module of the equipment, temperature of a high-power component, X-ray thermocouple data, visible-ray thermocouple data, high-temperature furnace temperature thermoelectric even data, thermocouple cold end temperature data, valve state, enabling signal state, 5 motor strokes, limit switch state, power supply control voltage of a temperature zone, magnetic field control information, acceleration sensor signal state, system time codes and data packet serial numbers; the specific processing process of the teleoperation instruction module is as follows:
and acquiring an equipment operation instruction selected by a user from the operation instruction list and set parameters, and sending the equipment operation instruction to the cloud server communication module, wherein the equipment operation instruction comprises a sample transposition instruction in the equipment and a position and temperature setting instruction of a growth motor.
2. The teleoperation system for the ground matching experiment of the space station high-temperature cabinet according to claim 1, wherein the specific processing process of the cloud server communication module is as follows:
receiving registration information sent by a client, uploading the registration information to a server background, receiving login information, uploading the login information to the server background, and sending returned login success information to the client;
packaging user identification information and equipment operation instructions of a mobile phone client by using a post method of an OKHttp3 network request framework, uploading different equipment operation instructions to a cloud server background through different URL connections, acquiring response return information, and sending the response return information to an equipment end;
and analyzing Json data returned by the server background, acquiring data information of specific fields and sending the data information to the client.
3. The teleoperation system for the ground matching experiment of the space station high-temperature cabinet as claimed in claim 2, wherein the routing module supports WIFI communication, and is connected with a designated router according to received router name and password information, so as to access an internet environment; the routing module also supports a cloud service access protocol.
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