CN106597962A - Unattended measurement robot field control system - Google Patents

Abstract

The invention discloses an on-site control system of an unattended measuring robot, which is used for monitoring the deformation area by the measuring robot. module; the control module is connected with a data transmission unit through a local area network; the data transmission unit is connected with a server through a wireless network; the power supply module includes an air switch connected in series, a UPS uninterruptible power supply and an industrial power supply; wherein The control module sends an instruction to the measurement robot, so that the measurement robot performs a monitoring operation according to the instruction, and the collected information during the monitoring process is stored in the control module and uploaded to the server through the wireless network. The on-site control system of the unattended measuring robot of the present invention is not affected by network communication, and can remotely control the measuring robot to automatically complete monitoring tasks according to instructions.

Description

On-site Control System of Unattended Measuring Robot

technical field

The invention belongs to the technical field of deformation monitoring, and in particular relates to an on-site control system of an unattended measuring robot.

Background technique

The traditional deformation monitoring method adopts manual measurement, using a level and a total station to monitor the monitoring points in the deformation area, and some special monitoring areas cannot be manually monitored, such as tunnels in operation, and no one is allowed to enter during operation hours Tunnels must adopt unattended automatic monitoring technology. Measuring robots are widely used in deformation monitoring of subway tunnels, bridges, and dams due to their flexibility, convenience, high measurement accuracy, and non-contact measurement. The measuring robot is an intelligent total station that combines laser, communication, and CCD technologies, and integrates automatic target recognition, automatic sighting, automatic angle measurement, automatic distance measurement, automatic tracking of targets, remote control, and automatic data recording.

The current automatic monitoring system based on measuring robots has the following problems:

(1) The measuring robot is located in the monitoring area, which is remotely connected to the industrial computer through the corresponding data transmission unit DTU and wireless network. This architecture is too dependent on the network. Once the network is interrupted, the industrial computer cannot send control information to the measurement robot, and the measurement robot cannot send the collected information back to the industrial computer. Eventually, the measurement robot cannot work and reduces unattended control. system reliability;

(2) The model support of measuring robots is relatively simple: most of the current automatic monitoring systems are only for specific types of measuring robots, and the compatibility is poor;

(3) Insufficient system exception handling capability: the monitoring area is complex and prone to various abnormal situations. Generally, the abnormality can be corrected by restarting and resetting the software, but when the measuring robot cannot be controlled by the software, the restart cannot be completed Operation of software reset. Even if the external power is cut off, since the measurement robot generally has a built-in battery, it cannot complete the reset operation of the hard restart.

Contents of the invention

In order to solve the above problems, the purpose of the present invention is to provide an unattended on-site control system for measuring robots, which can remotely control the measuring robot to automatically complete monitoring tasks according to instructions without being affected by network communication.

To achieve the above object, the present invention is realized according to the following technical solutions:

The unattended measurement robot field control system of the present invention is used for the monitoring of the deformation area by the measurement robot. The system includes a power supply module connected to the measurement robot through a cable, and the measurement robot is also connected to a control module through a cable. ;

The control module is connected with a data transmission unit through a local area network;

The data transmission unit is connected to a server through a wireless network;

The power supply module includes air switches, UPS uninterruptible power supplies and industrial power supplies connected in series;

Wherein, the control module sends instructions to the measurement robot, so that the measurement robot performs monitoring operations according to the instructions, and the collected information during the monitoring process is stored in the control module and uploaded to the server through the wireless network.

Further, the control module is provided with a transmission protocol analysis interface.

Further, the control module includes an industrial computer and a relay for disconnecting the power supply module and connecting the measuring robot; the relay is connected to the industrial computer.

Further, the relay is a USB relay.

Further, the cable is a Y-shaped cable.

Further, the Y-shaped cable is provided with an RS232 serial port.

Further, the local area network is Ethernet.

Compared with prior art, the beneficial effect of the present invention is:

The unattended on-site control system of the measuring robot of the present invention solves the problem in the prior art that the remote connection of the wireless network is interrupted and cannot work by connecting the control module and the measuring robot in the form of a cable. At the same time, the control module is connected to the data transmission unit in the form of a local area network, and the data transmission unit is connected to the server through a wireless network, so that the collected information in the monitoring process is uploaded to the server. Even when the wireless network is interrupted, the collected information will be sent to the control module in real time and stored. After the wireless network is restored, the information will continue to be uploaded automatically. In addition, the remote monitoring task is set through the server, and the monitoring task is transmitted to the control module through the data transmission unit, and the control module then sends the monitoring task to the measurement robot to perform monitoring operations according to the corresponding instructions in the monitoring task . In the above process, on the basis of the existing industrial power supply, the power supply module also adds a UPS uninterruptible power supply, so that even when the industrial power supply is interrupted unexpectedly, the UPS uninterruptible power supply can supplement the power for the measurement of robot machinery. Work, and the setting of the air switch, if the current exceeds the rated current in the circuit, it will be automatically disconnected, thereby further ensuring the safety of electricity use.

Description of drawings

Below in conjunction with accompanying drawing, specific embodiment of the present invention is described in further detail, wherein:

Fig. 1 is a schematic block diagram of the structure of an unattended measurement robot field control system provided by an embodiment of the present invention;

Fig. 2 is the working flow diagram of the unattended measuring robot site control system provided by the embodiment of the present invention;

Fig. 3 is the working flow diagram of single-point observation by the unattended measurement robot field control system provided by the embodiment of the present invention;

Fig. 4 is the working flow diagram of the unattended measurement robot site control system provided by the embodiment of the present invention to perform multi-measurement rounds of observation;

Fig. 5 is a work flow chart of the unattended measuring robot site control system provided by the embodiment of the present invention for end surface observation;

Fig. 6 is a schematic diagram of data management in the on-site control system of an unattended measuring robot provided by an embodiment of the present invention.

In the picture:

1: Control module

11: Industrial computer 12: Relay

2: Power module

21: Air switch 22: Industrial power supply 23: UPS uninterruptible power supply

3: Data transmission unit

4: server

detailed description

The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

As shown in Figure 1, the unattended measurement robot site control system of the present invention, by changing the connection mode between the measurement robot and the control module 1, ensures that the measurement robot is not in the communication of the control module in the form of cables. There will be interruptions, thereby ensuring that the various information collected by the measuring robot in real time is transmitted to the control module 1 for storage, and at the same time, the various information collected by the measuring robot is also completely in accordance with the instructions issued by the control module 1 operate. At the same time, the control module 1 is connected to the data transmission unit 3 through the local area network, and the data transmission unit 3 is connected to the server 4 through the wireless network, so the information stored in the control module 1 is uploaded to the server 4 in real time. Even when the wireless network is interrupted, the various information will not be lost, and are all stored in the control module 1. After the wireless network is restored, the information will be supplemented and uploaded to the server 4. This process greatly avoids the problems of data loss and failure to upload caused by the existing complete dependence on wireless network transmission data.

Wherein, the power supply module 2 for providing the power energy when the measuring robot, the control module 1 and the data transmission unit 3 work includes an air switch 21, an industrial power supply 22 and a UPS uninterruptible power supply 23, and the air switch 21 and the UPS are uninterruptible The power supply 23 and the industrial power supply 22 are connected in series, wherein the air switch 21 is a switch integrating control and multiple protection functions, which will automatically disconnect the current in the circuit if it exceeds the rated current, thereby protecting the measuring robot. effect. The industrial power supply 22 is used to provide the power supply for the measuring robot when it is working, and the UPS uninterruptible power supply 23 can provide the measuring robot to continue to work after the industrial power supply 22 has an unexpected power failure, thereby ensuring that the measuring robot can operate continuously throughout Work without interruption. Since the power supply module 2 is also controlled by the control module 1, when the measurement robot has an abnormal situation and does not work according to the preset instructions, it needs to reset the software to correct the abnormality, but there are still problems after the software restarts. If it cannot be corrected, it is necessary to deal with the external power failure of the measuring robot to achieve the purpose of hard restart. Therefore, the UPS uninterruptible power supply 23 can be disconnected from the power supply under the control of the control module 1 , which is essentially different from the way in which the built-in battery provides uninterruptible power supply in the prior art, and also achieves the purpose of hard restart.

Wherein, the measurement robot and the control module 1 are connected by a Y-shaped cable with an RS232 serial port. The control module 1 includes an industrial computer 11 and a relay 12, and the relay 12 adopts a USB relay, and communicates with the industrial computer 11 through a serial port to USB. The power-off operation of the control module 1 to the power supply module 2 to the measurement robot is actually completed through the relay 12, thereby realizing a hard restart of the measurement robot.

The control module 1 is also provided with a transmission protocol analysis interface (not shown in the figure), and its purpose is to support different types of measurement robots from different manufacturers. Therefore, when new equipment is added, it is only necessary to add an instruction protocol, thereby Added control mod 1 compatibility.

The above is a structural description of the unattended measurement robot field control system of the present invention, below, its measurement work is described in detail:

At present, the automatic monitoring method based on the measurement robot is to use the resection method to set up the measuring station, and use the polar coordinate measurement method to observe the three-dimensional coordinates of the monitoring points. According to the measurement method, the program automation observation control process was developed. The control flow of the data acquisition of the whole system is shown in Figure 2, and the specific steps are as follows:

Step 1: Create a project

Enter basic information such as project name, station ID, and project leader.

Step 2: Communication Settings

Set the communication parameters of the measuring robot, USB serial port, temperature barometer and extended sensor, including serial port number, baud rate, etc.

Step 3: Tolerance level selection

According to the specification requirements of the industry to which the specific engineering project belongs, select the corresponding grade. If the corresponding level is not found, the user can customize the observation level and set the relevant tolerance indicators, such as angle measurement, distance measurement, poor measurement rounds, etc.

Step 4: Set up the station

There are two ways of setting up stations: direct setting up and resection setting up, specifically:

1) Direct station setting: directly input the coordinates of the measuring station, select a reference point as the zero direction, and establish a local coordinate system.

2) Resection station setting: Import the coordinates of known points, measure, and then calculate the coordinates of the station.

Step 5: Learn to Measure

Sight the reference points and monitoring points for observation, and save them to the database. Later, the measurement robot will automatically sight search and then automatically observe according to the point positions recorded in the learning measurement.

Step 6: Monitoring point grouping

In order to facilitate the management of monitoring points, each monitoring point is grouped.

Step 7: Task Setup

According to the frequency requirements of project monitoring, set the start time and time interval of automatic observation of the system.

Step 8: Automatic Observation

After the observation task is set, the automatic observation thread of the system will automatically measure according to the observation plan and tolerance. The control process of automatic observation consists of single-point observation, multi-round observation and cross-section observation.

1) Single-point observation (as shown in Figure 3): The measuring robot aims at a single point and performs measurement. If the measurement fails, it will join the supplementary measurement point queue; if the observation is successful, it will judge the difference between the two readings of the horizontal angle. If the measurement point queue is qualified, the next point of observation will be carried out; after the completion of this observation task, a unified supplementary measurement will be performed on the abnormal observation points.

2) Multi-round observation (as shown in Figure 4): After completing the measurement of each round, calculate the zero difference, 2C mutual difference, vertical index difference, and round distance difference. If it exceeds the limit, enter Subsequent measurement of the current test round; if it is qualified, the data will be stored, and the observation will be carried out according to the task.

3) Section observation (as shown in Figure 5): judge whether the tolerance of the current section is qualified, if it is qualified, store the current section observation data HVS.xml file; After the completion, the out-of-limit test round data is eliminated.

Step 9: Automatic data upload

After the observation is completed, the data is saved to the industrial computer 11, and the data is automatically uploaded to the server 4 at the same time; when the network is interrupted, the data cannot be uploaded to the server 4, and the data of this period will be recorded in the unuploaded data table, waiting for recovery Once connected, continue uploading.

As shown in FIG. 6 , the main functions of the unattended measurement robot on-site control system include engineering project management, parameter setting, data collection, and data management.

Engineering project management is mainly, the functions include creating, opening, closing, and deleting projects. Its main function is to manage projects in a unified manner.

Parameter setting: including functions including station setting, communication parameters, and tolerance setting. Station setting, set the station type (stable, to be judged, changing), and set the coordinates of the station and the coordinate tolerance of the station change. Communication parameters, set the device type, serial port number, baud rate, check code, data bit, stop bit of the measuring robot, temperature sensor, barometer, and USB relay. Tolerance setting, setting observation level, horizontal angle reading difference, zero difference, 2C difference, measurement round difference, zenith distance reading difference, poor index, measurement round difference, distance observation Return difference, difference between measurement rounds.

Data acquisition, including station setting, learning measurement, section management, task setting, automatic measurement. There are two forms of station setting: single point orientation and resection station setting, mainly to determine the coordinate system of the station. Learn to measure, learn the location of monitoring points and reference points. Section management, manage monitoring points and reference points in groups, facilitate task setting and automatic observation process organization. Task settings, set the observation section, start time, maximum number of overrun measurements, observation time interval, and measurement mode. Automatic measurement, automatic observation according to the task set by the task.

Data management, the main functions are section data, observation data, coordinate data, deformation curve, report output, observation manual, data export. Cross-section data, the coordinates of each point of the cross-section can be queried according to time and cross-section. Observation data queries the original observation data of observations by time. Coordinate data, you can query the coordinate results of each monitoring point. The deformation curve can display the process curve of the monitoring point. Report output, according to the system prompt steps, automatically output deformation monitoring results. Observation Handbook, used to export original observation data. Data export, which can export the datum points, cross-sections, learning measurement files and original observation files of each period. When the automatic upload fails, the data can be manually exported and uploaded to the server.

The unattended on-site control system of the measuring robot has a powerful exception handling function. The measuring robot has been working in a harsh monitoring environment for a long time, and some abnormal situations will inevitably occur. When the measuring robot is in a dead state and cannot respond to instructions, this At this time, the power supply of the measuring robot can only be controlled by the USB relay, and the measuring robot can be hard restarted. At the same time, the system has a log recording function to record the measurement status of the measurement robot in the case of unattended work

Through the above description of the structure and working principle of the unattended measurement robot field control system of the present invention, it specifically has the following advantages:

(1) The system is not affected by network communication. The control module 1 is placed on site, and a remote control function is provided at the same time. It only needs to set the measurement task remotely (industrial computer 11 or server 4), and the field device autonomously controls the measurement robot to measure automatically according to the plan, and stores the data in the local machine (industrial computer 11). The wireless network of the data transmission unit 3 automatically uploads data to the server; when the communication is interrupted, the measurement work is not affected, and the data continues to be automatically uploaded after the communication is restored.

(2) The system has a strong ability to handle exceptions. The control module 1 has complete error log records and software operation transaction logs, which can record the running process of the system. When the measuring robot breaks down and does not respond to the command, the power supply module 2 can be controlled through the relay 12, and then the measuring robot can be hard restarted.

(3) The system has strong compatibility and supports different types of measuring robots from different manufacturers.

(4) The system has expandable rows. There are access interfaces for other sensors, such as air pressure sensor, temperature sensor, crack width sensor, etc., to facilitate the upgrade of system functions.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any form. Therefore, any modification, Equivalent changes and modifications all still belong to the scope of the technical solutions of the present invention.

Claims (7)

1. a kind of unattended robot measurement field control system, for monitoring of the robot measurement to deformed region, this is System includes the power supply module with robot measurement by cable connection, it is characterised in that：

The robot measurement also has control module by cable connection；

The control module is connected with data transmission unit by LAN；

The data transmission unit is connected with server by wireless network；

The power supply module includes air switch, UPS uninterrupted power sources and the industrial power being connected in series；

Wherein, the control module is by sending instruction to the robot measurement so that robot measurement is performed according to the instruction Monitoring operation, the collection information Store in the monitoring process is uploaded onto the server in control module by wireless network.

2. unattended robot measurement field control system according to claim 1, it is characterised in that：

The control module is provided with host-host protocol parsing interface.

3. unattended robot measurement field control system according to claim 1, it is characterised in that：

The control module includes industrial computer and the relay being connected with robot measurement for deenergization module；

The relay is connected with the industrial computer.

4. unattended robot measurement field control system according to claim 3, it is characterised in that：

The relay is USB relays.

5. unattended robot measurement field control system according to claim 1, it is characterised in that：

The cable is Y type cables.

6. unattended robot measurement field control system according to claim 5, it is characterised in that：

The Y types cable is provided with RS232 serial ports.

7. unattended robot measurement field control system according to claim 1, it is characterised in that：

The LAN is Ethernet.