CN108563249A - A kind of automatic tracing heating system and method based on uwb positioning - Google Patents

A kind of automatic tracing heating system and method based on uwb positioning Download PDF

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Publication number
CN108563249A
CN108563249A CN201810822430.XA CN201810822430A CN108563249A CN 108563249 A CN108563249 A CN 108563249A CN 201810822430 A CN201810822430 A CN 201810822430A CN 108563249 A CN108563249 A CN 108563249A
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China
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heating
positioning
temperature
anchor point
coordinated control
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CN201810822430.XA
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Chinese (zh)
Inventor
谢毅
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Zhejiang Gongshang University
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Zhejiang Gongshang University
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Priority to CN201810822430.XA priority Critical patent/CN108563249A/en
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00Control of position or direction
    • G05D3/12Control of position or direction using feedback

Abstract

The invention discloses a kind of automatic tracing heating systems and method based on uwb positioning, including positioning device, temperature measuring equipment, coordinated control system and heating device, location information is sent to coordinated control system by positioning device for being positioned to human body;Temperature measuring equipment measures human peripheral's environment temperature, and temperature information is transmitted to coordinated control system;Coordinated control system receives the location information and temperature information of people, and coordinated control system needs one or several heating devices of work to move to designated position according to the control of the location information of people;Temperature measuring equipment measures people's ambient temperature in real time, temperature information is sent to coordinated control system, coordinated control system adjusts the operating power of heating device according to Current Temperatures;The present invention to personnel positioning in region and can measure people's ambient temperature, and heating device is moved near personnel, directly be heated to the region around people, realize the function of automatic tracing heating.

Description

A kind of automatic tracing heating system and method based on uwb positioning
Technical field
The present invention relates to heating fields, more specifically, more particularly to a kind of automatic tracing heating system based on uwb positioning System and method.
Background technology
Heating system refers to that the temperature of the air of environment in building or structures is adjusted and is controlled by artificial means The process of system with the progress of society and the development of science and technology, in most large-scale occasions, such as school, factory or is write In building, heating system is obtained for very extensive application.
With becoming increasingly conspicuous for energy problem, using the saving of the energy just seems particularly necessary, and existing heating is System such as air-conditioning system is heated to whole region, such as the air-conditioning in factory or the air-conditioning in megastore, heating or Person's cooling is that either market region heats up or cools down to entire factory area, and the temperature-rise period speed is slow, heating time Long, energy consumption is high, and can also whole region be heated by only having less number even in region, or even is also required to very at nobody Heating system could be completely closed long, it is easy to resource be caused largely to waste.
Existing heating system and there is no in big region monomer or a small amount of target carry out specific aim part temperature The function of control is spent, therefore will greatly reduce the energy consumption of heating system in large area to the research of the direction, it is right The sustainable development of the energy has particularly important meaning.
Invention content
It is caused by being heated to whole region it is an object of the invention to solve existing heating system such as air-conditioning system A kind of problem that heating rate is slow, heating time has been grown, energy consumption is big, it is proposed that automatic tracing heating system based on uwb positioning And method, to personnel positioning in the region and people's ambient temperature can be measured, according to the position of personnel in region and week The position and direction, heating temperature, the quantity of heating device work of temperature adjustment heating device are enclosed to realize that automatic tracing adds The function of heat.
The present invention is achieved through the following technical solutions above-mentioned purpose:A kind of automatic tracing heating system based on uwb positioning System, including positioning device, temperature measuring equipment, coordinated control system and heating device, the positioning device be used for human body into Row positioning, and location information is sent to coordinated control system;The temperature measuring equipment measures human peripheral's environment temperature, will Temperature information is transmitted to coordinated control system;The coordinated control system receives the location information and temperature information of people, coordinates control System processed needs one or several heating devices of work to move to designated position according to the control of the location information of people;Temperature is surveyed Amount device measures people's ambient temperature in real time, and temperature information is sent to coordinated control system, and coordinated control system is according to working as The operating power of preceding temperature adjustment heating device;
The positioning device is positioned using super-broadband tech, that is, UWB technology, and positioning device is by sending and receiving tool There are nanosecond or nanosecond ultra-narrow pulse below to carry out transmission data;Positioning device includes label, anchor point and location-server, label It is mobile and object to be positioned that coordinate is unknown, anchor point is node known to self-position or absolute coordinate, including several From anchor point and Bower Anchor point, directly and label communication completion ranging process, Bower Anchor point are responsible for collecting the ranging knot from anchor point from anchor point Fruit filters out null result, and is sent to location-server after preliminary data arrangement and carries out location Calculation, and sending time Calibration packet is given from anchor point to synchronize.Location-server calculates positioning result by the ranging information that Bower Anchor point is sent;
The temperature measuring equipment surveys target environment temperature using the noncontact measuring method of infrared radiation temperature method Amount, by infrared temperature sensor on the comprehensive holder that can be rotated but also be rotated on vertical guide in the horizontal plane, Cloud platform rotation is controlled using motor and loads onto encoder in revolvable both direction, and the encoder on horizontal plane can obtain The angle in the direction and due north of infrared sensor in the horizontal plane, the encoder on vertical guide can obtain the side of infrared sensor It needs to adjust infrared when needing adjustment infrared sensor direction to make some position of its face to the angle between plumb line The angle of angle between the direction and plumb line of sensor and direction and due north in the horizontal plane, that is, controlling motor makes level The output of two encoders on face and vertical guide reaches certain value;
Contact type measurement method measures target environment temperature, and thermal resistance temperature sensor or thermocouple sensor are filled On work clothes, target, which needs to put on work clothes just, can measure the environment temperature on its periphery, the front of work clothes, rear portion and Respectively there are one thermal resistance temperature sensor or thermocouple sensors for dress on two coat-sleeves, when the environment temperature for needing detection target periphery When spending, 4 sensors on work clothes work at the same time detection environment temperature, and obtained result is averaged as environment temperature;
The heating device is infrared lamp or hot-air mouth, when heating device is motionless, as needed, by n heating device It is arranged at certain altitude, the heating device of work is needed to execute heating strategy.
Further, whole region being separated into several sub-regions, multiple heating devices are responsible for heating a sub-regions, when When number is more than heating device in subregion, system control sytsem is equal according to obtained heat per capita, the maximum principle of gross energy Calculate the position of heating device;When number is less equal than heating device in subregion, everyone configures one or more heating Device, heating device are moved as the position of personnel is mobile.
A kind of automatic tracing heating means based on uwb positioning, include the following steps:Positioning device in real time carries out target Positioning, coordinated control system is sent to by location information;Coordinated control system needs work according to the control of the location information of target One or several heating devices move to designated position;Temperature measuring equipment measures target ambient temperature in real time, will Temperature information is sent to coordinated control system;Coordinated control system adjusts the operating power of heating device according to Current Temperatures;
The positioning device is positioned using super-broadband tech, that is, UWB technology, and positioning device is by sending and receiving tool There are nanosecond or nanosecond ultra-narrow pulse below to carry out transmission data;Positioning device includes label, anchor point and location-server, label It is mobile and target to be positioned that coordinate is unknown, anchor point is node known to self-position or absolute coordinate, including several It is a from anchor point and Bower Anchor point, directly and label communication completion ranging process, Bower Anchor point are responsible for collecting the ranging from anchor point from anchor point When as a result, being filtered out to null result, and being sent to location-server after preliminary data arrangement and carry out location Calculation, and sending Between calibration packet to from anchor point to synchronize.Location-server calculates positioning result by the ranging information that Bower Anchor point is sent;
The temperature measuring equipment surveys target environment temperature using the noncontact measuring method of infrared radiation temperature method Amount, by infrared temperature sensor on the comprehensive holder that can be rotated but also be rotated on vertical guide in the horizontal plane, Cloud platform rotation is controlled using motor and loads onto encoder in revolvable both direction, and the encoder on horizontal plane can obtain The angle in the direction and due north of infrared sensor in the horizontal plane, the encoder on vertical guide can obtain the side of infrared sensor It needs to adjust infrared when needing adjustment infrared sensor direction to make some position of its face to the angle between plumb line The angle of angle between the direction and plumb line of sensor and direction and due north in the horizontal plane, that is, controlling motor makes level The output of two encoders on face and vertical guide reaches certain value;
The heating device is infrared lamp or hot-air mouth, when heating device is motionless, as needed, by n heating device It is arranged at certain altitude, the heating device of work is needed to execute heating strategy;
When heating device is infrared lamp, infrared lamp radiant illumination value q and the point to infrared lamp axes that certain point receives Distance r is related with heated current I, the infrared lamp radiant illumination value received at certain point:
Q=f (r, I);
When heating device is hot-air mouth, per unit area heater power P (W/m2) and the point to hot wind that certain point receives The distance l of mouth, it is related with leaving air temp to go out wind velocity v.The per unit area heater power received at certain point:
P=f (l, v, t);
The effect of coordinated control system is to receive location information and temperature information, formulates the corresponding heating of control strategy control Device gives target heat supply;When one or more targets are in heating region, need to make the radiant illumination value at each target Or per unit area heater power reaches certain value;When having, when having m target in region, in order to reach heating demand, coordination controls System formulates control strategy, and control strategy is transmitted to the heating device for needing work;Control strategy includes which is controlled to add Thermal works and heating device is heated with great power;
Specific control strategy is as follows:
When there are multiple heating devices, the heat supply quantity of specific heating device and the heat supply heat of each heating device Decision-making technique is as follows:Assuming that there is n heating device, number is:1,L,n;The power of each heating device is Oi, wherein Oi>0:Altogether There is m to need the positions of heat supply, number to be:1, L, m, j-th are Q by heat source unit interval domestic demand heat to be offeredjWith dimension Hold or reach the temperature t of its needsj, wherein j=1, L, m and Qj>0, heating device i are to by available in the heat source j unit interval Heat is Pij
Step1:Each heating device i is calculatedAccording toValue rearrange correspondence from small to large Decision variable xiWherein,Value minimum xiBecome x1, it is worth maximum xiBecome xn, one binary system of decision scheme Number X=(x1x2L xn)2It indicates, such as X=(00L 01)2Indicate that n-th of heating device after rearranging is opened, remaining pass It closes;
Step2:If Y=∞,The scheme currently taken is X=(x1x2L xn)2=(00L 1)2;According to QjValue its constraints is ranked up from big to small, i.e. QjBe worth it is maximum be set as first constraint, it is secondary big to be set as second Constraint ..., minimum is set as the last one constraint;
Step3:Calculate the target function value of Current protocolsIf target function value is less than Y, then it is arranged first about Beam is present confinement, otherwise goes to Step6;
Step4:According to Current protocols X=(x1x2L xn)2Judge whether current constraints meet, turns if meeting To Step5, Step6 is otherwise gone to;
Step5:Judge whether also to constrain and not check, if any then taking next constraint to be used as present confinement, goes to Step4;Otherwise optimizing decision scheme is updatedFor Current protocols X, it is the target function value of current decision making scheme X to enable Y, is gone to Step6;
Step6:Judge X+1≤(11L 1)2Whether meet, next scheme is taken if meeting, works as even X=X+1 is used as Front case, goes to Step3;Otherwise Step7 is gone to;
Step7:Algorithm terminates, and exports optimizing decision schemeAnd corresponding optimal value Y, if Y=∞,Then Show problem without feasible solution;
Wherein, xiIt is decision variable, 0 indicates that i-th of heating device is closed in 0 or 1, opens 1 expression, i-th of heating device and beats It opens;J=1, L, m and xi=0or1 as constraints, whereinIt is for object function, i.e., minimum Change total energy consumption, j=1, L, m indicate that each heating source is greater than equal to its requirement the heat source provided by heat source;And xi= 0or1 indicates the value range of decision variable.
Further, it is calculated using arrival time difference positioning algorithm, that is, TDOA location algorithms as the core of entire positioning device Method, TDOA location algorithms are to set up solution by a kind of mathematical model, and what it was mainly utilized is hyp in mathematics Characteristic, when there are two fixed points, another dynamic point can with the two fixed points on the hyperbola of focus, when simultaneously There are such two groups or when multigroup such data structure, these hyp intersection points are exactly the target object of requirement Position.
The beneficial effects of the present invention are:
1, the present invention to personnel positioning in region and can measure people's ambient temperature, according to the position of personnel in region It sets and the position and direction of ambient temperature adjustment heating device, heating temperature, the quantity etc. of heating device work, heating device moves It moves near personnel, directly the region around people is heated, the position and direction of heating device are moved with personnel, are realized automatic Track the function of heating.
2, the present invention can position personnel in the region in real time, and heating device can be moved with the position of personnel, realize Track the function of heating.
3, the present invention need not heat entire environment, only heat personnel peripheral region, heating rate is fast, heating time Short, energy consumption is few.
4, when the present invention is fewer in number in region, the corresponding heating device work of people, remaining heating device can be at waiting for Machine state;When in the region nobody when, heating system is stopped, effectively the drawbacks of solving existing heating system, reduction energy Consumption.
5, the present invention is positioned using UWB technology, its indoors high-precision fixed may be implemented in target carrying label Position, improves the accuracy of heating location.
6, the present invention measures target ambient temperature using infrared temperature sensor, realizes non-cpntact measurement.
7, heating device of the invention uses infrared lamp or hot-air mouth, and the Heating body as core is whole without movement Mechanical structure is simple, reduces overall cost, and heating device can rotate, heating device direction can be with the change of target location Change and change, realizes that the function of tracking heating, heating effect are promoted, energy consumption reduces.
8, the present invention adjusts heating power according to the temperature around target, improves the comfort level of target ambient enviroment.
9, the present invention is when destination number is less in subregion, the corresponding heating device work of target, remaining heating device It can be at standby mode;When in the region without target, heating system is stopped, and effectively solves the disadvantage of existing heating system End reduces energy consumption.
Description of the drawings
Fig. 1 is that the present invention is based on the basic structure schematic diagrams of the uwb automatic tracing heating systems positioned.
Fig. 2 is the structural schematic diagram of positioning device of the present invention.
Fig. 3 is a kind of workflow schematic diagram of the automatic tracing heating means positioned based on uwb of the present invention.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings:
As depicted in figs. 1 and 2, a kind of automatic tracing heating system based on uwb positioning, including positioning device, temperature are surveyed Device, coordinated control system and heating device are measured, the positioning device sends location information for being positioned to human body To coordinated control system;The temperature measuring equipment measures human peripheral's environment temperature, and temperature information is transmitted to coordination control system System;The coordinated control system receives the location information and temperature information of people, and coordinated control system is according to the location information of people Control needs one or several heating devices of work to move to designated position;Temperature measuring equipment measures ring around people in real time Temperature information is sent to coordinated control system by border temperature, and coordinated control system adjusts the work of heating device according to Current Temperatures The rate of doing work;
The positioning device is positioned using super-broadband tech, that is, UWB technology, and positioning device is by sending and receiving tool There are nanosecond or nanosecond ultra-narrow pulse below to carry out transmission data;Positioning device includes label, anchor point and location-server, label It is mobile and object to be positioned that coordinate is unknown, anchor point is node known to self-position or absolute coordinate, including several From anchor point and Bower Anchor point, directly and label communication completion ranging process, Bower Anchor point are responsible for collecting the ranging knot from anchor point from anchor point Fruit filters out null result, and is sent to location-server after preliminary data arrangement and carries out location Calculation, and sending time Calibration packet is given from anchor point to synchronize.Location-server calculates positioning result by the ranging information that Bower Anchor point is sent;
The temperature measuring equipment surveys target environment temperature using the noncontact measuring method of infrared radiation temperature method Amount, by infrared temperature sensor on the comprehensive holder that can be rotated but also be rotated on vertical guide in the horizontal plane, Cloud platform rotation is controlled using motor and loads onto encoder in revolvable both direction, and the encoder on horizontal plane can obtain The angle in the direction and due north of infrared sensor in the horizontal plane, the encoder on vertical guide can obtain the side of infrared sensor It needs to adjust infrared when needing adjustment infrared sensor direction to make some position of its face to the angle between plumb line The angle of angle between the direction and plumb line of sensor and direction and due north in the horizontal plane, that is, controlling motor makes level The output of two encoders on face and vertical guide reaches certain value;
The heating device is infrared lamp or hot-air mouth, when heating device is motionless, as needed, by n heating device It is arranged at certain altitude, the heating device of work is needed to execute heating strategy.
Whole region is separated into several sub-regions, multiple heating devices are responsible for heating a sub-regions, when in subregion When number is more than heating device, system control sytsem is equal according to obtained heat per capita, and the maximum principle of gross energy calculates heating The position of device;When number is less equal than heating device in subregion, everyone configures one or more heating devices, heating Device is moved as the position of personnel is mobile.
A kind of automatic tracing heating means based on uwb positioning, include the following steps:Positioning device in real time carries out target Positioning, coordinated control system is sent to by location information;Coordinated control system needs work according to the control of the location information of target One or several heating devices move to designated position;Temperature measuring equipment measures target ambient temperature in real time, will Temperature information is sent to coordinated control system;Coordinated control system adjusts the operating power of heating device according to Current Temperatures;
The positioning device is positioned using super-broadband tech, that is, UWB technology, and positioning device is by sending and receiving tool There are nanosecond or nanosecond ultra-narrow pulse below to carry out transmission data;Positioning device includes label, anchor point and location-server, label It is mobile and target to be positioned that coordinate is unknown, anchor point is node known to self-position or absolute coordinate, including several It is a from anchor point and Bower Anchor point, directly and label communication completion ranging process, Bower Anchor point are responsible for collecting the ranging from anchor point from anchor point When as a result, being filtered out to null result, and being sent to location-server after preliminary data arrangement and carry out location Calculation, and sending Between calibration packet to from anchor point to synchronize.Location-server calculates positioning result by the ranging information that Bower Anchor point is sent;
The temperature measuring equipment surveys target environment temperature using the noncontact measuring method of infrared radiation temperature method Amount, by infrared temperature sensor on the comprehensive holder that can be rotated but also be rotated on vertical guide in the horizontal plane, Cloud platform rotation is controlled using motor and loads onto encoder in revolvable both direction, and the encoder on horizontal plane can obtain The angle in the direction and due north of infrared sensor in the horizontal plane, the encoder on vertical guide can obtain the side of infrared sensor It needs to adjust infrared when needing adjustment infrared sensor direction to make some position of its face to the angle between plumb line The angle of angle between the direction and plumb line of sensor and direction and due north in the horizontal plane, that is, controlling motor makes level The output of two encoders on face and vertical guide reaches certain value;
The heating device is infrared lamp or hot-air mouth, when heating device is motionless, as needed, by n heating device It is arranged at certain altitude, the heating device of work is needed to execute heating strategy;
When heating device is infrared lamp, infrared lamp radiant illumination value q and the point to infrared lamp axes that certain point receives Distance r is related with heated current I, the infrared lamp radiant illumination value received at certain point:
Q=f (r, I);
When heating device is hot-air mouth, certain per unit area heater power P for receiving of point and the point to hot-air mouth away from From l, it is related with leaving air temp t to go out wind velocity v.The per unit area heater power received at certain point:
P=f (l, v, t);
The effect of coordinated control system is to receive location information and temperature information, formulates the corresponding heating of control strategy control Device gives target heat supply;When one or more targets are in heating region, need to make the radiant illumination value at each target Or per unit area heater power reaches certain value;When having, when having m target in region, in order to reach heating demand, coordination controls System formulates control strategy, and control strategy is transmitted to the heating device for needing work;Control strategy includes which is controlled to add Thermal works and heating device is heated with great power;
Specific control strategy is as follows:
When there are multiple heating devices, the heat supply quantity of specific heating device and the heat supply heat of each heating device Decision-making technique is as follows:Assuming that there is n heating device, number is:1,L,n;The power of each heating device is Oi, wherein Oi>0:Altogether There is m to need the positions of heat supply, number to be:1, L, m, j-th are Q by heat source unit interval domestic demand heat to be offeredjWith dimension Hold or reach the temperature t of its needsj, wherein j=1, L, m and Qj>0, heating device i are to by available in the heat source j unit interval Heat is Pij
Step1:Each heating device i is calculatedAccording toValue rearrange correspondence from small to large Decision variable xiWherein,Value minimum xiBecome x1, it is worth maximum xiBecome xn, one binary system of decision scheme Number X=(x1x2L xn)2It indicates, such as X=(00L 01)2Indicate that n-th of heating device after rearranging is opened, remaining pass It closes;
Step2:If Y=∞,The scheme currently taken is X=(x1x2L xn)2=(00L 1)2;According to QjValue its constraints is ranked up from big to small, i.e. QjBe worth it is maximum be set as first constraint, it is secondary big to be set as second Constraint ..., minimum is set as the last one constraint;
Step3:Calculate the target function value of Current protocolsIf target function value is less than Y, then it is arranged first about Beam is present confinement, otherwise goes to Step6;
Step4:According to Current protocols X=(x1x2L xn)2Judge whether current constraints meet, turns if meeting To Step5, Step6 is otherwise gone to;
Step5:Judge whether also to constrain and not check, if any then taking next constraint to be used as present confinement, goes to Step4;Otherwise optimizing decision scheme is updatedFor Current protocols X, it is the target function value of current decision making scheme X to enable Y, is gone to Step6;
Step6:Judge X+1≤(11L 1)2Whether meet, next scheme is taken if meeting, works as even X=X+1 is used as Front case, goes to Step3;Otherwise Step7 is gone to;
Step7:Algorithm terminates, and exports optimizing decision schemeAnd corresponding optimal value Y, if Y=∞,Then Show problem without feasible solution;
Wherein, xiIt is decision variable, 0 indicates that i-th of heating device is closed in 0 or 1, opens 1 expression, i-th of heating device and beats It opens;J=1, L, m and xi=0or1 as constraints, whereinIt is for object function, i.e., minimum Change total energy consumption, j=1, L, m indicate that each heating source is greater than equal to its requirement the heat source provided by heat source;And xi= 0or1 indicates the value range of decision variable.
Using arrival time difference positioning algorithm, that is, TDOA location algorithms as the core algorithm of entire positioning device, TDOA is fixed Position algorithm is to set up solution by a kind of mathematical model, and what it was mainly utilized is hyp characteristic in mathematics, when depositing When fixed point at two, another dynamic point can with the two fixed points on the hyperbola of focus, when existing simultaneously in this way Two groups or when multigroup such data structure, these hyp intersection points are exactly the position of the target object of requirement.
Above-described embodiment is presently preferred embodiments of the present invention, is not the limitation to technical solution of the present invention, as long as Without the technical solution that creative work can be realized on the basis of the above embodiments, it is regarded as falling into patent of the present invention Rights protection scope in.

Claims (4)

1. a kind of automatic tracing heating system based on uwb positioning, it is characterised in that:Including positioning device, temperature measuring equipment, Location information is sent to coordination by coordinated control system and heating device, the positioning device for being positioned to human body Control system;The temperature measuring equipment measures human peripheral's environment temperature, and temperature information is transmitted to coordinated control system;It is described Coordinated control system receives the location information and temperature information of people, and coordinated control system controls needs according to the location information of people One or several heating devices of work move to designated position;Temperature measuring equipment measures people's ambient temperature in real time, Temperature information is sent to coordinated control system, coordinated control system adjusts the operating power of heating device according to Current Temperatures;
The positioning device is positioned using super-broadband tech, that is, UWB technology, and positioning device is received by sending and receiving to have Second or nanosecond ultra-narrow pulse below carry out transmission data;Positioning device includes label, anchor point and location-server, and label is to move Dynamic and unknown coordinate object to be positioned, anchor point is node known to self-position or absolute coordinate, including several are from anchor Point and Bower Anchor point, from anchor point directly and label communication completion ranging process, Bower Anchor point is responsible for collecting the distance measurement result from anchor point, right Null result is filtered out, and is sent to location-server after preliminary data arrangement and is carried out location Calculation, and sends time calibration Wrap to from anchor point to synchronize;Location-server calculates positioning result by the ranging information that Bower Anchor point is sent;
The temperature measuring equipment measures target environment temperature using the noncontact measuring method of infrared radiation temperature method, will Infrared temperature sensor uses electricity on the comprehensive holder that can be rotated but also be rotated on vertical guide in the horizontal plane Machine controls cloud platform rotation and loads onto encoder in revolvable both direction, and the encoder on horizontal plane can obtain infrared biography The angle in the direction and due north of sensor in the horizontal plane, the encoder on vertical guide can obtain direction and the lead of infrared sensor Angle between vertical line needs to adjust infrared sensor when needing adjustment infrared sensor direction to make some position of its face Direction and plumb line between angle and direction and due north in the horizontal plane angle, that is, controlling motor makes horizontal plane and lead The output of two encoders on vertical plane reaches certain value;
The heating device is infrared lamp or hot-air mouth, and when heating device is motionless, as needed, n heating device is arranged At certain altitude, the heating device of work is needed to execute heating strategy.
2. the automatic tracing heating system according to claim 1 based on uwb positioning, it is characterised in that:By whole region Separating several sub-regions, multiple heating devices are responsible for heating a sub-regions, when number is more than heating device in subregion, System control sytsem is equal according to obtained heat per capita, and the maximum principle of gross energy calculates the position of heating device;Work as subregion When interior number is less equal than heating device, everyone configures one or more heating devices, heating device with personnel position It moves and moves.
3. a kind of automatic tracing heating means based on uwb positioning, it is characterised in that:Include the following steps:Positioning device is real-time Target is positioned, location information is sent to coordinated control system;Coordinated control system is according to the location information control of target System needs one or several heating devices of work to move to designated position;Temperature measuring equipment measures ring around target in real time Temperature information is sent to coordinated control system by border temperature;Coordinated control system adjusts the work of heating device according to Current Temperatures The rate of doing work;
The positioning device is positioned using super-broadband tech, that is, UWB technology, and positioning device is received by sending and receiving to have Second or nanosecond ultra-narrow pulse below carry out transmission data;Positioning device includes label, anchor point and location-server, and label is to move Dynamic and unknown coordinate target to be positioned, anchor point is node known to self-position or absolute coordinate, including several from Anchor point and Bower Anchor point, directly and label communication completion ranging process from anchor point, Bower Anchor point is responsible for collecting the distance measurement result from anchor point, Null result is filtered out, and is sent to location-server after preliminary data arrangement and carries out location Calculation, and sending time school Quasi- packet is given from anchor point to synchronize;Location-server calculates positioning result by the ranging information that Bower Anchor point is sent;
The temperature measuring equipment measures target environment temperature using the noncontact measuring method of infrared radiation temperature method, will Infrared temperature sensor uses electricity on the comprehensive holder that can be rotated but also be rotated on vertical guide in the horizontal plane Machine controls cloud platform rotation and loads onto encoder in revolvable both direction, and the encoder on horizontal plane can obtain infrared biography The angle in the direction and due north of sensor in the horizontal plane, the encoder on vertical guide can obtain direction and the lead of infrared sensor Angle between vertical line needs to adjust infrared sensor when needing adjustment infrared sensor direction to make some position of its face Direction and plumb line between angle and direction and due north in the horizontal plane angle, that is, controlling motor makes horizontal plane and lead The output of two encoders on vertical plane reaches certain value;
The heating device is infrared lamp or hot-air mouth, and when heating device is motionless, as needed, n heating device is arranged At certain altitude, the heating device of work is needed to execute heating strategy;
When heating device is infrared lamp, infrared lamp radiant illumination value q and the point to infrared lamp axial line distance r that certain point receives Infrared lamp radiant illumination value related with heated current I, being received at certain point:
Q=f (r, I);
When heating device is hot-air mouth, per unit area heater power P (W/m2) and the point to hot-air mouth that certain point receives It is related with leaving air temp to go out wind velocity v by distance l.The per unit area heater power received at certain point:
P=f (l, v, t);
The effect of coordinated control system is to receive location information and temperature information, formulates control strategy and controls corresponding heating device Give target heat supply;When one or more targets are in heating region, need to make the radiant illumination value at each target or list Plane product heating power reaches certain value;When have have m target in region when, in order to reach heating demand, coordinated control system Control strategy is formulated, and control strategy is transmitted to the heating device for needing work;Control strategy includes which heating dress controlled Work and heating device is set to be heated with great power;
Specific control strategy is as follows:
When there are multiple heating devices, the decision of the heat supply quantity of specific heating device and the heat supply heat of each heating device Method is as follows:Assuming that there is n heating device, number is:1,L,n;The power of each heating device is Oi, wherein Oi>0:Shared m A position for needing heat supply, number are:1, L, m, j-th are Q by heat source unit interval domestic demand heat to be offeredjWith maintain or Reach the temperature t of its needsj, wherein j=1, L, m and Qj>0, heating device i are to by available heat in the heat source j unit interval For Pij
Step1:Each heating device i is calculatedAccording toValue rearrange corresponding decision from small to large Variable xiWherein,Value minimum xiBecome x1, it is worth maximum xiBecome xn, one binary number X=of decision scheme (x1x2L xn)2It indicates, such as X=(00L 01)2Indicate that n-th of heating device after rearranging is opened, remaining closing;
Step2:If Y=∞,The scheme currently taken is X=(x1x2L xn)2=(00L 1)2;According to Qj's Value is from big to small ranked up its constraints, i.e. QjBe worth it is maximum be set as first constraint, it is secondary big to be set as second about Beam ..., minimum is set as the last one constraint;
Step3:Calculate the target function value of Current protocolsIf target function value is less than Y, then being arranged first is constrained to Otherwise present confinement goes to Step6;
Step4:According to Current protocols X=(x1x2L xn)2Judge whether current constraints meet, is gone to if meeting Otherwise Step5 goes to Step6;
Step5:Judge whether also to constrain and not check, if any then taking next constraint to be used as present confinement, goes to Step4; Otherwise optimizing decision scheme is updatedFor Current protocols X, it is the target function value of current decision making scheme X to enable Y, goes to Step6;
Step6:Judge X+1≤(11L 1)2Whether meet, next scheme is taken if meeting, even X=X+1, which is used as, works as front Case goes to Step3;Otherwise Step7 is gone to;
Step7:Algorithm terminates, and exports optimizing decision schemeAnd corresponding optimal value Y, if Y=∞,Then show Problem is without feasible solution;
Wherein, xiIt is decision variable, 0 indicates that i-th of heating device is closed in 0 or 1, opens 1 expression, i-th of heating device and opens;J=1, L, m and xi=0 or 1 is used as constraints, whereinFor object function, that is, minimize Total energy consumption, j=1, L, m indicate that each heating source is greater than equal to its requirement the heat source provided by heat source;And xi=0 or 1 indicates the value range of decision variable.
4. the automatic tracing heating means according to claim 1 based on uwb positioning, it is characterised in that:When using reaching Between difference positioning algorithm, that is, core algorithm of the TDOA location algorithms as entire positioning device, TDOA location algorithms are by a kind of number It learns model foundation to get up solution, what it was mainly utilized is hyp characteristic in mathematics, when having two and pinpointing, separately Outer one dynamic point can with the two fixed points on the hyperbola of focus, when existing simultaneously such two groups or multigroup such When data structure, these hyp intersection points are exactly the position of the target object of requirement.
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