CN106973086A - A kind of intelligent checking system based on Multi-sensor Fusion - Google Patents
A kind of intelligent checking system based on Multi-sensor Fusion Download PDFInfo
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- CN106973086A CN106973086A CN201710149537.8A CN201710149537A CN106973086A CN 106973086 A CN106973086 A CN 106973086A CN 201710149537 A CN201710149537 A CN 201710149537A CN 106973086 A CN106973086 A CN 106973086A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/01—Measuring temperature of body parts ; Diagnostic temperature sensing, e.g. for malignant or inflamed tissue
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/024—Detecting, measuring or recording pulse rate or heart rate
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Abstract
The present invention relates to a kind of intelligent checking system based on Multi-sensor Fusion, it is characterized in that, including multiple sensor fusion detection devices, each sensor fusion detection device sends data to high in the clouds by wireless network, MANET is carried out by Zigbee protocol between several sensor fusion detection devices, after networking, sensor fusion detection device sends data to telegon as node, and telegon sends data to host computer or sent by wireless network to high in the clouds.The present invention has advantages below：1) the real-time monitoring of temperature, humidity, carbon monoxide, hydrogen sulfide, acceleration, heart rate and GPS multisensors；2) multiple devices pass through ZigBee wireless networkings；3) host computer and Android customer side remote real-time monitoring；4) big data convergence analysis, draws the multi-period information of multiple data.
Description
Technical field
The present invention relates to the intelligent checking system of one kind of multiple sensors fusion, the Intelligent Measurement for various dangerous scenes
And the monitoring of personnel's essential information.
Background technology
With the development of intelligent testing technology, modern detecting also all the more advanced, and sensor lightness, intelligence
Energyization and the raising of the degree of accuracy, this development also for intelligent testing technology and with providing inborn primary condition.Intelligence
Energy detection technique is widely used in the infomation detection of environmental information detection, personal information detection and high precision apparatus, is transported
For fields such as industry, military affairs, fire-fighting and rescue, traffic.
In the case where industrializing fast development, while also having manufactured the dangerous scenes of many.Believe for hazardous environment
The detection of breath, often detects a kind of information incessantly, but is detected while much information, and it is basic so could to understand environment in detail
Situation.It is in hazardous environment, it should also focus on personal protection, testing staff's biological information and environment basic condition, it is pre- in time
Alert dangerous situation and easily and fast personnel rescuing.
In the detection for being dangerous circumstances not known, either the detection of environment is now required for either for personnel
It is a can with the multiple information of Intelligent Measurement and personnel's clothes can be embedded in or exploration dolly or robot is easy for carried
A intelligent apparatus.
The content of the invention
It is an object of the invention to provide a kind of system for being monitored to hazardous environment.
In order to achieve the above object, the technical scheme is that being examined there is provided a kind of intelligence based on Multi-sensor Fusion
Examining system, it is characterised in that including multiple sensor fusion detection devices, each sensor fusion detection device passes through wireless network
Network sends data to high in the clouds, and MANET, networking are carried out by Zigbee protocol between several sensor fusion detection devices
Afterwards, sensor fusion detection device sends data to telegon as node, telegon send data to host computer or
Sent by wireless network to high in the clouds：
Sensor fusion detection device includes sensor assembly, ZigBee networkings wireless transport module, wireless communication module
And data processing core control module, wherein：
Sensor assembly at least includes infrared temperature sensor and electrochemical sensor；
Current sensor fusion detection device passes through ZigBee networkings wireless transport module and other sensors fusion detection
Device realizes MANET；
Data processing core control module is obtained based on Nonlinear Self-tuning with temperature self-compensation algorithm to electrochemical sensor
The real-time detector data obtained is handled, and is comprised the following steps：
The performance plot that step 1, the self-characteristic curve for obtaining electrochemical sensor by statistics change with temperature；
Step 2, the real time detection signal U for obtaining electrochemical sensor, according to formula：
P=A0(T)+A1(T)U+A2(T)U2Calculate and obtain in the later detection signal P of data fusion compensation, formula, A0(T)、
A1(T)、A2(T) it is the coefficient varied with temperature, is obtained by below equation iteration：
A0(T)=a0+a1T+a2T2；
A1(T)=b0+b1T+b2T2；
A2(T)=c0+c1T+c2T2, in formula, T is temperature, a0、a1、a2、b0、b1、b2、c0、c1、c2To pass through the spy of step 1
The coefficient that property figure is obtained；
Wireless communication module, the detection data handled by data processing core control module are sent by wireless network
To high in the clouds.
Preferably, several described sensor fusion detection devices pass through tree networking.
Preferably, the sensor assembly also includes 3-axis acceleration sensor, is drawn by 3-axis acceleration sensor
The motion state of wearer, is divided into three-axis moving by human motion, during proper motion, and acceleration is less than 4g, when falling over of human body,
Acceleration reach more than 6g, coordinate attitude detection, by the data processing core control module judge now human body posture whether
Lie low, thus judge wearer whether accidental falls, while judging whether it stands again after falling down, if not standing again
Then judge now to need timely to rescue.
Preferably, the sensor fusion detection device also includes power module, and power module uses lithium battery, lithium battery
The linear voltage stabilizing chip of output after powered sensor module, ZigBee networkings wireless transport module, wireless communication module with
And data processing core control module.
Preferably, the data process core core module, the ZigBee networkings wireless transport module and the wireless telecommunications
Module is designed using high concentration, while using sealed construction.
The present invention has advantages below：1) sensed temperature, humidity, carbon monoxide, hydrogen sulfide, acceleration, heart rate and GPS more
The real-time monitoring of device；2) multiple devices pass through ZigBee wireless networkings；3) host computer and Android customer side remote real-time monitoring；4)
Big data convergence analysis, draws the multi-period information of multiple data.
Brief description of the drawings
Fig. 1 is system entire block diagram；
Fig. 2 is electrochemical sensor self-correcting schematic diagram.
Embodiment
To become apparent the present invention, hereby with preferred embodiment, and accompanying drawing is coordinated to be described in detail below.
The Intelligent treatment of fusion and sensor information of the present invention based on multisensor, realizes such as fire-fighting and rescue environment
The detection of middle hazardous gas and essential information, the detection of status information such as carbon monoxide, hydrogen sulfide, temperature, humidity；Simultaneously
The essential information of personnel can also be detected, the essential information such as the body temperature of personnel, motion state, GPS location information
Detection.It is easy to detect hazardous environment information and protects the safety of personnel.The device designs for black box minor simultaneously, can be with embedding
It in the clothes for entering personnel, can also be placed on machine human body, pass through ZigBee networking, it is possible to achieve for multiple dresses
The real-time parallel monitoring put.High in the clouds can be transmitted information to by 4G networks, long-range PC real-time monitoring is realized, coordinated simultaneously
Android software, can be in mobile client remote monitoring.High in the clouds stores multiple historical data informations of different periods, can be in peace
Zhuo checks historical variations curve and comparative analysis data, draws environment or body heath's analysis.
In order to reach above-mentioned effect, a kind of intelligent checking system based on Multi-sensor Fusion that the present invention is provided is logical
Following technical proposal is crossed to realize：
Including multiple sensor fusion detection devices, each sensor fusion detection device is sent out data by wireless network
High in the clouds is delivered to, MANET is carried out by Zigbee protocol between several sensor fusion detection devices, after networking, sensor melts
Detection means is closed as node and sends data to telegon, telegon sends data to host computer or by wireless network
Send to high in the clouds.
With reference to Fig. 1, Multi-sensor Fusion detection means include each sensor assembly, power module, ZigBee networkings without
Line transport module, 4G communication modules and data processing core control module.
Sensor assembly is mainly comprising infrared temperature sensor, humidity sensor, carbon monoxide transducer, hydrogen sulfide sensing
Device, heart rate sensor, acceleration transducer and GPS module etc..Sensed by infrared temperature sensor, Electrochemical carbon monoxide
Device, electrochemical hydrogen sulfide sensor, infrared heart rate sensor, 3-axis acceleration sensor and GPS sensor can be detected respectively
Personnel's temperature and environment temperature, carbonomonoxide concentration, concentration of hydrogen sulfide, personnel's heart rate, personnel's motion state and gps coordinate letter
Breath.Concrete condition and environment increase and decrease sensor can be regarded, sensor passes through general UART with data processing core control module
Serial ports is directly connected to, and is convenient to the utilization needed such as fire-fighting and rescue environment difference.
Each sensor is standalone module, is connected by Universal USB interface with control module, can under concrete application situation
To change the species of sensor, such as in fire-fighting and rescue, rescue personnel wears, can be with the body temperature, heart rate, motion of testing staff
State and GPS information, while the information such as the temperature of environment, carbonomonoxide concentration and concentration of hydrogen sulfide can also be detected.Using
Heart rate module can be then subtracted when exploration dolly, Hall sensor is changed to, in real time detection dolly electricity.Such a general sensing
Device interface type is designed and sensor standalone module design augmentation application scenarios significantly, and convenience is used while improving.
In sensor assembly, the electrochemical sensor of such as carbon monoxide transducer and oxygen concentration sensor etc is deposited
It is exactly that the characteristic curve of itself changes with temperature in inborn shortcoming.The present invention draws the performance plot of change by statistics,
The high-precision infrared temperature sensor built-in in advance in the present apparatus, based on regression analysis, has write carbonomonoxide concentration electrification
The Nonlinear Self-tuning and temperature self-compensation algorithm of sensor and concentration of hydrogen sulfide electrochemical sensor are learned, fundamental system model is such as
Fig. 2.Nonlinear Self-tuning algorithm carries out scale conversion using the inversion model of unitary second order trinomial, and formula is as follows：
P=A0(T)+A1(T)U+A2(T)U2
In formula, U is the real time detection signal of the electrochemical sensor obtained, P for calculate obtained data fusion compensate with
Detection signal afterwards.
A0(T)、A1(T)、A2(T) it is the coefficient varied with temperature, is obtained by below equation iteration：
A0(T)=a0+a1T+a2T2；
A1(T)=b0+b1T+b2T2；
A2(T)=c0+c1T+c2T2, in formula, T is temperature, a0、a1、a2、b0、b1、b2、c0、c1、c2To be obtained by performance plot
The coefficient obtained.
Bring parameter value into formula, obtain our temperature self-compensation formula, ultimate density value and actual value error can be made
Less than 1%.
When adding and subtracting sensor simultaneously, the dominant frequency for data processing core control module will also result in certain influence, this
The heart rate sensor high to Clock Frequency Accuracy requirement can be directly influenced by planting change, by counting core data sensor
Dominant frequency variation characteristic, so as to write out correct algorithm, correction of frequency change, finally by below control errors and one thousandth, significantly
Better than the precision of heart rate detection module on the market.
The motion state of wearer can be drawn by 3-axis acceleration sensor, human motion is divided into three-axis moving,
Proper motion brief acceleration is the typically smaller than 4g in certain limit, and when falling over of human body brief acceleration may be up to 6g, coordinates posture
Detection, judges whether the posture of now human body lies low, may determine that completely wearer whether accidental falls, while judge its
Whether stood again after falling down, judge now to need timely to rescue if not standing again.
ZigBee module can help multiple device automated wireless networkings, by multiple device data message common transports to remote
Journey PC ends, long-range host computer can with the multiple device data messages of synchronization monitoring, while 4G modules data message can be sent to
High in the clouds, is analyzed using big data, real-time analyte sensors information, draws data report, coordinates Android customer side, can be remotely real
When obtain each sensor historic of device and real time data.
Data processing core control module is connected with modules using cable modem with USB interface, is adapted to multiple biographies
Sensor, gathers the information of multiple sensors, and processing, and each biography is corrected by the cooperation and intelligent algorithm of multiple sensors
The data of sensor, to draw high-precision sensing data.Wireless module is sent data to finally by UART serial communications
By data transfer, wireless module sends data to long-range customer side or high in the clouds, and it is right that data will carry out intelligence with safety value
Than data exceed preset value, and now system promptly can point out personnel to note.
Networking can be carried out by ZigBee module between each sensor fusion detection device of the present invention, data can be with
Synchronous wireless transmission is to host computer and remote terminal simultaneously, between each device networking mainly by tree networking, each
Node sends data to telegon, and telegon sends data to host computer or sent by 4G to high in the clouds, and host computer is adopted
Write with VB, realize synchronous refresh data, each node details is shown in real time.
The data received pass high in the clouds back in real time by 4G, and high in the clouds is preserved per a moment data, by coordinating Android mobile phone
APP, can check real-time data and historical data, the tendency and basic condition table of each item data can also be analyzed, in personnel
When wearing, motion state, body temperature, environment temperature and the heart rate data analysis that can combine personnel draw the health status of personnel,
Exercise intensity and real-time basic condition.
The present invention is designed as black box subtype, using lithium battery power supply, powered after linear voltage stabilizing chip CPU and each biography
Sensor module, data process core core module and data transport module are designed using high concentration, while sealed have necessarily
Waterproof ability, the connection of general-purpose interface formula, convenient dismounting, connection sensor is without operation, and key control unit automatic identification is simultaneously
Each node is connected automatically with telegon, by real-time data transmission to host computer and remote server.Exploration can be conveniently positioned over
Dolly is embedded in personnel's clothes, carries out data acquisition.
Claims (5)
1. a kind of intelligent checking system based on Multi-sensor Fusion, it is characterised in that including multiple sensor fusion detections dress
Put, each sensor fusion detection device sends data to high in the clouds by wireless network, several sensor fusion detections dress
MANET is carried out by Zigbee protocol between putting, after networking, sensor fusion detection device is sent data to as node
Telegon, telegon sends data to host computer or sent by wireless network to high in the clouds：
Sensor fusion detection device include sensor assembly, ZigBee networkings wireless transport module, wireless communication module and
Data processing core control module, wherein：
Sensor assembly at least includes infrared temperature sensor and electrochemical sensor；
Current sensor fusion detection device passes through ZigBee networkings wireless transport module and other sensors fusion detection device
Realize MANET；
Data processing core control module is obtained based on Nonlinear Self-tuning and temperature self-compensation algorithm to electrochemical sensor
Real-time detector data is handled, and is comprised the following steps：
The performance plot that step 1, the self-characteristic curve for obtaining electrochemical sensor by statistics change with temperature；
Step 2, the real time detection signal U for obtaining electrochemical sensor, according to formula：
P=A0(T)+A1(T)U+A2(T)U2Calculate and obtain in the later detection signal P of data fusion compensation, formula, A0(T)、A1
(T)、A2(T) it is the coefficient varied with temperature, is obtained by below equation iteration：
A0(T)=a0+a1T+a2T2；
A1(T)=b0+b1T+b2T2；
A2(T)=c0+c1T+c2T2, in formula, T is temperature, a0、a1、a2、b0、b1、b2、c0、c1、c2To pass through the performance plot of step 1
The coefficient obtained；
Wireless communication module, the detection data handled by data processing core control module are sent to cloud by wireless network
End.
2. a kind of intelligent checking system based on Multi-sensor Fusion as claimed in claim 1, it is characterised in that several institutes
State sensor fusion detection device and pass through tree networking.
3. a kind of intelligent checking system based on Multi-sensor Fusion as claimed in claim 1, it is characterised in that the sensing
Device module also includes 3-axis acceleration sensor, the motion state of wearer is drawn by 3-axis acceleration sensor, by human body
Motion is divided into three-axis moving, during proper motion, and acceleration is less than 4g, when falling over of human body, and acceleration reaches more than 6g, coordinates posture
Whether detection, the posture for judging now human body by the data processing core control module lies low, so as to judge that wearer is
No accidental falls, while judging whether it stands again after falling down, judge now to need timely to rescue if not standing again
Help.
4. a kind of intelligent checking system based on Multi-sensor Fusion as claimed in claim 1, it is characterised in that the sensing
Device fusion detection device also includes power module, and power module uses lithium battery, the linear voltage stabilizing chip of output of lithium battery with
Powered sensor module, ZigBee networkings wireless transport module, wireless communication module and data processing core control module afterwards.
5. a kind of intelligent checking system based on Multi-sensor Fusion as claimed in claim 1, it is characterised in that the data
Processing core module, the ZigBee networkings wireless transport module and the wireless communication module are designed using high concentration, together
Shi Caiyong sealed constructions.
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| CN201710149537.8A CN106973086B (en) | 2017-03-14 | 2017-03-14 | Intelligent detection system based on multi-sensor fusion |
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| CN201710149537.8A CN106973086B (en) | 2017-03-14 | 2017-03-14 | Intelligent detection system based on multi-sensor fusion |
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| CN106973086B CN106973086B (en) | 2020-07-31 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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