CN108595006A - A kind of interactive system of the experimental facilities Automatic Control based on remote control - Google Patents
A kind of interactive system of the experimental facilities Automatic Control based on remote control Download PDFInfo
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Abstract
The invention belongs to experimental facilities control technology field, disclosing a kind of interactive system of the experimental facilities Automatic Control based on remote control includes：Power supply module, photographing module, parameter configuration module, single chip control module, wireless communication module, circuit detection module, VR operation modules, equipment fault locating module, display module.Three-dimensional operation may be implemented by VR operation modules in the present invention, meets the needs of a large amount of users use, simultaneously the present invention by equipment fault locating module according to historical failure data, positioning and the analysis of causes are carried out to equipment fault, the present invention can shift to an earlier date prediction data, while quickly identification abort situation and reason before failure occurs；The time for reducing service personnel's maintenance, a large amount of economic loss is saved.
Description
Technical field
It is complete certainly that the invention belongs to experimental facilities control technology fields more particularly to a kind of experimental facilities based on remote control
The interactive system of dynamic control.
Background technology
Currently, the prior art commonly used in the trade is such：
Experiment, is one of basic skills of scientific research.According to the purpose of scientific research, extraneous shadow is excluded as much as possible
It rings, prominent principal element simultaneously utilizes some special instrument and equipments, and artificially changes, controls or analog study object, makes certain
Some things (or process) occur or reproduce, to go to know natural environment appearance, natural property, the natural law.However, existing experiment
Equipment cost is high, and quantity is few, cannot meet a large amount of users and use；When equipment fault simultaneously, hand inspection is repaired, and can not only be spent
Take plenty of time and maintenance expense, malfunction elimination is difficult.
Network generally selects low cost, low-quality node, causes the collected data of sensor institute that can have many mistakes
Difference data, wrong data, inconsistent data possibly even lose data.There are so many for data collected by sensor node
Corrupt data is so that it can not be used directly to scientific research.For this purpose, in order to preferably use WSNs data, while for reality
Its existing various functions, being detected to the exceptional value in network becomes increasingly important.
Currently, having there is multiple rejecting outliers method：Method based on adjacent node is based on statistical method, base
In the method for sub-clustering, the method based on cluster and the method based on spectrum analysis.But some of sensor network itself are special
Point is so that not all existing detection method can be well directly used in wherein.For this purpose, in order to preferably design about
Efficient, the feasible rejecting outliers method of WSNs needs to consider following characteristics：
(1) node capacity is limited.The cheap miniature characteristic of sensor node causes the energy of its carrying power supply fairly limited.
The number of energy affects the processing, storage and transceiver communication ability of sensor node to a certain extent.Therefore, it is actually answering
In, it should fully consider the various energy and energy power limit of sensor node, however most traditional detection methods seldom consider
Performance of the algorithm in the case where node capacity is limited.
(2) distributed ad-hoc.In WSNs, all nodes are in identical status, and none of node is tight
" ruler " in lattice meaning, it is that it can guarantee by distributed collaborative that the equality between this network node, which directly affects,
The normal operation of network.Meanwhile the node of WSNs has very strong self organization ability, it can be in any severe or dynamic ring
Configuration network under border, and the monitoring data person that sends remote observation to is realized by the function of network by specific approach.Consider net
The superpower self organization ability of network can reduce network overhead very well, to design more effective rejecting outliers algorithm
(3) high energy consumption high load.The wireless communication of wireless sensor network node can consume most of energy of node,
It is a lot of times that node calculates consumption.However, side of most tradition rejecting outliers methods using the collected data of centralized processing
Method considerably increases node energy consumption and traffic load, reduces network life.Therefore, communication energy consumption can how be reduced to extend
The WSNs service life is the important consideration aspect for designing WSNs rejecting outliers methods.
(4) real-time.The application field of comprehensive analysis WSNs can obtain, be required for the detection of exceptional value online and real
When.Network is directly proportional to the reaction time of event and the performance of system.Therefore, design real-time rejecting outliers method be and its
It is necessary to.
In conclusion problem of the existing technology is：
Existing experimental facilities is of high cost, and quantity is few, cannot meet a large amount of users and use；When equipment is out of order simultaneously, people
Work inspection is repaired, and can not only be taken a significant amount of time and maintenance expense, malfunction elimination difficulty.
In real time, distributed while relatively low communication energy consumption and traffic load can be kept, and may be implemented compared with high detection
The rejecting outliers method of rate and relatively low rate of false alarm is to be suitble to the rejecting outliers algorithm of wireless sensor network.
In wireless sensor network, theoretically the node data in adjacent area has spatial coherence, and same section
Data have temporal correlation in point continuous time section.But existing document only has a small number of method for detecting abnormality to consider simultaneously at present
Time and spatial coherence, this will necessarily make accuracy in detection reduce or testing cost is made to increase.
Invention content
In view of the problems of the existing technology, the present invention provides a kind of experimental facilities based on remote control automatically to control
The interactive system of system.
The invention is realized in this way a kind of interactive system of the experimental facilities Automatic Control based on remote control, institute
The interactive system for stating the experimental facilities Automatic Control based on remote control includes：
Parameter configuration module is connect with single chip control module, for carrying out initial parameter to experimental facilities control system
Configuration；
Single chip control module is connect with parameter configuration module, circuit detection module, VR operation modules, each for controlling
A module normal work；The control method of single chip control module includes：
1) test data is chosen；Data in the continuous two days same time periods of node, and selected first day are chosen in laboratory
Data be no different constant value presence；
2) sub-clustering, according to the data of the identical moment point of each node to node clustering；Specific method is：According to data point
PR is not calculatedk, wherein
Judge ri dWithIt is whether adjacent in kth dimension, further judge whether there is r to all ki dWithIt is adjacent, to right
Node clustering；
3) training super ellipsoids just include the super ellipsoids of all nodes in cluster to the cluster training divided；Specific method is：
(1) the covariance matrix Σ of multidimensional data collected by cluster interior nodes is write out respectively and calculates its character pair value；By characteristic value
Size be arranged in order, correspond to elliptical long axis, secondary long axis respectively；
4) Data Dimensionality Reduction calculates the corresponding proportionality coefficient a of each axial length of super ellipsoids by step 3)iAnd as linear dimensionality reduction
Coefficient, that is, do
5) curve matching, carries out curve fitting to the data after dimensionality reduction in two dimensional surface, and ten groups of data are fitted to one
Its starting point is simultaneously moved to origin by eight smooth nonlinear function curves, and the curve after translation is as test curve f (x)；
6) detection data is chosen, ten data are as testing number in laboratory selection different time sections；
7) selected detection data is made the processing of step 4), step 5) by processing detection data；The curve of gained is claimed
For detection curve g (x)；
8) test curve and detection curve are carried out similarity-rough set by comparison curves；Appropriate threshold value c is chosen, is judged whether
Have | f (x)-g (x) | ＜ c orIt sets up；
9) detection is abnormal, according to whether there is abnormal data at the judging result detection node in step 8)；
10) it repeats to detect, step 1)~step 9) in repetition, until having detected all node datas；
Circuit detection module, connect with single chip control module, for being detected to experimental facilities circuit；
VR operation modules, connect with single chip control module, are set for passing through structure experimental facilities three-dimensional simulation wearing VR
It is standby to carry out pseudo operation；
VR operation modules are integrated with the data helmet, data glasses, data glove, 720 degree of emulation seat storehouses, ball-type curtain, stand
Body projecting apparatus；The data helmet, data glasses, data glove, 720 degree of emulation sit storehouse, ball-type curtain, binocular projectors and monolithic
Machine connects.
Further, license radius includes：D ties up sensor data setWherein ri d=<ri
[1],...,ri[d]>, ri d[k] indicates the kth dimension data of i-th of node；Kth dimension permits that radius is：
If there isThen claim data ri dWithIt is adjacent in kth dimension；If ri dWith
K dimensions are adjacent, then it belongs to a cluster in kth dimension；To node i, j, as d dimension datas ri dWithIt is tieed up in all kth (1≤k≤d)
When belonging to a cluster, node i, j belongs to the same cluster；
Cluster section includes：Cluster CjCluster section be denoted asHave to 1≤k≤d
Wherein,For cluster CiIn the cluster section of kth dimension；
Given cluster CiAnd Cj, cluster section is respectivelyWithFor kth dimension data, if there is：
Then claim cluster sectionWithIt ties up and is overlapped in kth；
When cluster sectionWithWhen kth is tieed up and is overlapped, claim cluster CiWith cluster CjThe cluster that can merge, and newly be formed is tieed up in kth
Cluster radius be CR=[MIN ({ mini,minj}),MAX({maxi,maxj})]；As cluster CiAnd CjAt all kth (1≤k≤d)
When dimension is overlapped, cluster CiAnd CjMerge into new cluster；
Function is similar to include：Function g (x) and f (x) on X is similar, if when g (x) and f (x) move to identical starting point
Afterwards, have：To arbitrary x ∈ X, have | f (x)-g (x) | ＜ c；
Or have：
In above formula, c is a parameter more than 0, but cannot be excessive, it should far smaller than 1.
Further, the interactive system of the experimental facilities Automatic Control based on remote control further includes：
Power supply module is connect with single chip control module, for being powered to experimental facilities；
Photographing module is connect with single chip control module, is supervised using operation to experimental facilities for passing through camera
Control；
Wireless communication module is connect with single chip control module, for being wirelessly connected internet by wireless transmitter, into
The row remote control management；
Display module is connect with single chip control module, is used for the video information of display monitoring.
Further, the VR operation modules operating method is as follows：
First, threedimensional model is created：It is carried out in threedimensional model Software for producing according to the design drawing of the experimental facilities
Threedimensional model makes or is directly scanned generation threedimensional model to equipment using three-dimensional scanner, then according to the experiment
Corresponding site of the materials and color of each component of equipment in the threedimensional model is arranged corresponding true material and forms three-dimensional mould
Type file；
Then, virtual reality scenario is built：The threedimensional model file is put into real-time rendering engine, while phase is added
The three dimensional environmental model and relevant material and facility model answered, and virtual reality is added in the three dimensional environmental model
Observation assembly；
Finally, the virtual reality operation of experimental facilities is realized：It is device model according to the operation principle of the experimental facilities
In switch, movable device, display panel and control assembly add corresponding control program, can be with the hand of user
Handle or motion capture operating interactive.
Further, the equipment fault locating module localization method is as follows：
1st step obtains equipment detection data, Supervision measured value is calculated according to the equipment detection data, will be described
Supervision measured value is compared with equipment normal operation data, judges equipment running status, and recording exceptional data；
2nd step identifies abnormal data associated components, and the Mishap Database of abnormal data and associated components is compared, identification
Failure；
Identification failure is pushed to monitoring personnel by the 3rd step, and corresponding repair is extracted from Maintenance plan and suggests pushing away together
Give monitoring personnel；
4th step judges to identify whether correctly, to enter step 5 if correct, otherwise enter step 6 after maintenance；
5th step, by fault data typing Mishap Database and to be labeled as identification correct, and as the reference of machine learning
Data, positioning terminate；
6th step in fault data typing Mishap Database and will be labeled as identification mistake, and as the reference of machine learning
Data, positioning terminate.
Another object of the present invention is to provide the experimental facilities Automatic Control based on remote control described in a kind of realize
The computer program of interactive system control method.
Another object of the present invention is to provide a kind of experimental facilities Automatic Control based on remote control equipped with described
Interactive system information data processing terminal.
Another object of the present invention is to provide a kind of computer readable storage medium, including instruction, when its on computers
When operation so that computer executes the interactive system control method of the experimental facilities Automatic Control based on remote control.
Advantages of the present invention and good effect are：
Three-dimensional operation may be implemented by VR operation modules in the present invention, meets the needs of a large amount of users use, together
When the present invention by equipment fault locating module according to historical failure data, positioning and the analysis of causes are carried out to equipment fault, this
Invention can shift to an earlier date prediction data, while quickly identification abort situation and reason before failure occurs.Reduce service personnel
The time of maintenance has saved a large amount of economic loss.
Clustering process of the present invention considers the spatial coherence between network node, this makes Data Dimensionality Reduction process more accurate
Really and targetedly.
The present invention carries out linear dimensionality reduction by using ellipse to data, avoids and is directly calculated using caused by multidimensional data
Measure excessive disadvantage.
The temporal correlation between node data is utilized in the process for carrying out rejecting outliers in the present invention, connects by comparing
Continue two day data matched curves to realize detection process.
The present invention can realize the testing requirements in different monitoring of environmental by suitably adjusting the size of ratio parameter c.
The present invention consumes, therefore it is equally applicable to the wireless of dynamic change in entire detection process without additional communication
Sensor network.
The present invention takes full advantage of spatial coherence and same section between network adjacent node data in detection process
The temporal correlation of point data；By sub-clustering to Data Dimensionality Reduction, it is higher to avoid directly processing multidimensional data computation complexity
Disadvantage；Rejecting outliers method can accurately detect continuously occur the case where exceptional value at network node, and recall rate is higher,
False drop rate is relatively low.
Description of the drawings
Fig. 1 is the interactive system structure of the experimental facilities Automatic Control provided in an embodiment of the present invention based on remote control
Block diagram.
In figure：1, power supply module；2, photographing module；3, parameter configuration module；4, single chip control module；5, it wirelessly communicates
Module；6, circuit detection module；7, VR operation modules；8, equipment fault locating module；9, display module.
Specific implementation mode
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and coordinate attached drawing
Detailed description are as follows.
As shown in Figure 1, the interaction system of the experimental facilities Automatic Control provided in an embodiment of the present invention based on remote control
System, including：Power supply module 1, photographing module 2, parameter configuration module 3, single chip control module 4, wireless communication module 5, circuit
Detection module 6, VR operation modules 7, equipment fault locating module 8, display module 9.
Power supply module 1 is connect with single chip control module 4, for being powered to experimental facilities；
Photographing module 2 is connect with single chip control module 4, for being carried out using operation to experimental facilities by camera
Monitoring；
Parameter configuration module 3 is connect with single chip control module 4, for initially being joined to experimental facilities control system
Number configuration；
Single chip control module 4, with power supply module 1, photographing module 2, parameter configuration module 3, wireless communication module 5, electricity
Road detection module 6, VR operation modules 7, equipment fault locating module 8, display module 9 connect, normal for controlling modules
Work；
Wireless communication module 5 is connect with single chip control module 4, for being wirelessly connected internet by wireless transmitter,
Carry out the remote control management；
Circuit detection module 6 is connect with single chip control module 4, for being detected to experimental facilities circuit；
VR operation modules 7 are connect with single chip control module 4, for wearing VR by building experimental facilities three-dimensional simulation
Equipment carries out pseudo operation；
Equipment fault locating module 8 is connect with single chip control module 4, precisely fixed for being carried out to experimental facilities failure
Position；
Display module 9 is connect with single chip control module 4, is used for the video information of display monitoring.
7 operating method of VR operation modules provided by the invention is as follows：
First, threedimensional model is created：It is carried out in threedimensional model Software for producing according to the design drawing of the experimental facilities
Threedimensional model makes or is directly scanned generation threedimensional model to equipment using three-dimensional scanner, then according to the experiment
Corresponding site of the materials and color of each component of equipment in the threedimensional model is arranged corresponding true material and forms three-dimensional mould
Type file；
Then, virtual reality scenario is built：The threedimensional model file is put into real-time rendering engine, while phase is added
The three dimensional environmental model and relevant material and facility model answered, and virtual reality is added in the three dimensional environmental model
Observation assembly；
Finally, the virtual reality operation of experimental facilities is realized：It is device model according to the operation principle of the experimental facilities
In switch, movable device, display panel and control assembly add corresponding control program, can be with the hand of user
Handle or motion capture operating interactive.
8 localization method of equipment fault locating module provided by the invention is as follows：
1st step obtains equipment detection data, Supervision measured value is calculated according to the equipment detection data, will be described
Supervision measured value is compared with equipment normal operation data, judges equipment running status, and recording exceptional data；
2nd step identifies abnormal data associated components, and the Mishap Database of abnormal data and associated components is compared, identification
Failure；
Identification failure is pushed to monitoring personnel by the 3rd step, and corresponding repair is extracted from Maintenance plan and suggests pushing away together
Give monitoring personnel；
4th step judges to identify whether correctly, to enter step 5 if correct, otherwise enter step 6 after maintenance；
5th step, by fault data typing Mishap Database and to be labeled as identification correct, and as the reference of machine learning
Data, positioning terminate；
6th step in fault data typing Mishap Database and will be labeled as identification mistake, and as the reference of machine learning
Data, positioning terminate.
When the present invention controls, experimental facilities is powered by power supply module 1；By photographing module 2 to experimental facilities
It is monitored using operation；Initial parameter configuration is carried out to experimental facilities control system by parameter configuration module 3；Microcontroller control
4 scheduling wireless communications module 5 of molding block is wirelessly connected internet, carries out the remote control management；By circuit detection module 6 to reality
Circuitry is tested to be detected；Pseudo operation is carried out by VR operation modules 7；Experiment is set by equipment fault locating module 8
Standby failure carries out precise positioning；Pass through the video information of 9 display monitoring of display module.
The control method of single chip control module of the present invention includes：
1) test data is chosen；Data in the continuous two days same time periods of node, and selected first day are chosen in laboratory
Data be no different constant value presence；
2) sub-clustering, according to the data of the identical moment point of each node to node clustering；Specific method is：According to data point
PR is not calculatedk, wherein
Judge ri dWithIt is whether adjacent in kth dimension, further judge whether there is r to all ki dWithIt is adjacent, to right
Node clustering；
3) training super ellipsoids just include the super ellipsoids of all nodes in cluster to the cluster training divided；Specific method is：
(1) the covariance matrix Σ of multidimensional data collected by cluster interior nodes is write out respectively and calculates its character pair value；By characteristic value
Size be arranged in order, correspond to elliptical long axis, secondary long axis respectively；
4) Data Dimensionality Reduction calculates the corresponding proportionality coefficient a of each axial length of super ellipsoids by step 3)iAnd as linear dimensionality reduction
Coefficient, that is, do
5) curve matching, carries out curve fitting to the data after dimensionality reduction in two dimensional surface, and ten groups of data are fitted to one
Its starting point is simultaneously moved to origin by eight smooth nonlinear function curves, and the curve after translation is as test curve f (x)；
6) detection data is chosen, ten data are as testing number in laboratory selection different time sections；
7) selected detection data is made the processing of step 4), step 5) by processing detection data；The curve of gained is claimed
For detection curve g (x)；
8) test curve and detection curve are carried out similarity-rough set by comparison curves；Appropriate threshold value c is chosen, is judged whether
Have | f (x)-g (x) | ＜ c orIt sets up；
9) detection is abnormal, according to whether there is abnormal data at the judging result detection node in step 8)；
10) it repeats to detect, step 1)~step 9) in repetition, until having detected all node datas；
Circuit detection module, connect with single chip control module, for being detected to experimental facilities circuit；
VR operation modules, connect with single chip control module, are set for passing through structure experimental facilities three-dimensional simulation wearing VR
It is standby to carry out pseudo operation；
VR operation modules are integrated with the data helmet, data glasses, data glove, 720 degree of emulation seat storehouses, ball-type curtain, stand
Body projecting apparatus；The data helmet, data glasses, data glove, 720 degree of emulation sit storehouse, ball-type curtain, binocular projectors and monolithic
Machine connects.
Further, license radius includes：D ties up sensor data setWherein ri d=<ri
[1],...,ri[d]>, ri d[k] indicates the kth dimension data of i-th of node；Kth dimension permits that radius is：
If there is | ri d[k]-rj d[k] | ＜ PRk, then claim data ri dWithIt is adjacent in kth dimension；If ri dWith
Kth dimension is adjacent, then it belongs to a cluster in kth dimension；To node i, j, as d dimension datas ri dWithIn all kth (1≤k≤d)
When dimension belongs to a cluster, node i, j belongs to the same cluster；
Cluster section includes：Cluster CjCluster section be denoted asHave to 1≤k≤d
Wherein,For cluster CiIn the cluster section of kth dimension；
Given cluster CiAnd Cj, cluster section is respectivelyWithFor kth dimension data, if there is：
Then claim cluster sectionWithIt ties up and is overlapped in kth；
When cluster sectionWithWhen kth is tieed up and is overlapped, claim cluster CiWith cluster CjThe cluster that can merge, and newly be formed is tieed up in kth
Cluster radius be CR=[MIN ({ mini,minj}),MAX({maxi,maxj})]；As cluster CiAnd CjAt all kth (1≤k≤d)
When dimension is overlapped, cluster CiAnd CjMerge into new cluster；
Function is similar to include：Function g (x) and f (x) on X is similar, if when g (x) and f (x) move to identical starting point
Afterwards, have：To arbitrary x ∈ X, have | f (x)-g (x) | ＜ c；
Or have：
In above formula, c is a parameter more than 0, but cannot be excessive, it should far smaller than 1.
With reference to emulation experiment, the invention will be further described.
Simulated conditions
The present invention illustrates the validity of the algorithm by the experiment simulation to IBRL laboratory data collection.Emulation experiment is
In a 4G memory, Celeron double-core 2.6GHz under 32 win7 operating systems, uses matlab2008a to carry out.It was emulating
C=0.05, c=0.08 and c=0.1 are taken in journey respectively.
Emulation content, it is real that the data that the wireless sensor network really disposed using the laboratories IBRL is collected carry out emulation
It tests.
IBRL networks are made of 54 Mica2dot sensors.It collected a number every 30 seconds sensor nodes
According to every group of data include data collection time point, temperature, humidity, voltage and illumination.It is sensor node that the website, which provides data,
Collected data.Its interior joint 5 is displayed without data with node 15, and there is also a small amount of deletion conditions for remaining node data, but can
Emulation experiment is carried out to choose appropriate time segment data.Only consider that two attributes of each node (choose temperature in simulation process
And humidity), but for more attributes the case where similar can handle.
To sum up, 52 node 2004-03-01 00 in addition to node 5 and 15 are chosen：57——2004-03-01 01：
03 period and 2004-03-02 00：57——2004-03-02 01：Temperature is emulated with humidity data in 03 period.
It can accurately detect continuously occur the case where exceptional value at network node, and recall rate is higher, false drop rate is relatively low.
The above is only the preferred embodiments of the present invention, and is not intended to limit the present invention in any form,
Every any simple modification made to the above embodiment according to the technical essence of the invention, equivalent variations and modification, belong to
In the range of technical solution of the present invention.
Claims (8)
1. a kind of interactive system of the experimental facilities Automatic Control based on remote control, which is characterized in that described based on long-range
The interactive system of the experimental facilities Automatic Control of control includes：
Parameter configuration module is connect with single chip control module, for carrying out initial parameter configuration to experimental facilities control system；
Single chip control module is connect with parameter configuration module, circuit detection module, VR operation modules, for controlling each mould
Block works normally；The control method of single chip control module includes：
1) test data is chosen；Data in the laboratory selection continuous two days same time periods of node, and selected first day
Data are no different constant value presence；
2) sub-clustering, according to the data of the identical moment point of each node to node clustering；Specific method is：It is counted respectively according to data
Calculate PRk, wherein
Judge ri dWithIt is whether adjacent in kth dimension, further judge whether there is r to all ki dWithIt is adjacent, to node
Sub-clustering；
3) training super ellipsoids just include the super ellipsoids of all nodes in cluster to the cluster training divided；Specific method is：(1)
The covariance matrix Σ of multidimensional data collected by cluster interior nodes is write out respectively and calculates its character pair value；By the big of characteristic value
It is small to be arranged in order, elliptical long axis, secondary long axis are corresponded to respectively；
4) Data Dimensionality Reduction calculates the corresponding proportionality coefficient a of each axial length of super ellipsoids by step 3)iAnd it is as linear dimensionality reduction
Number, i.e.,
5) curve matching carries out curve fitting to the data after dimensionality reduction in two dimensional surface, by ten groups of data be fitted to one eight times
Its starting point is simultaneously moved to origin by smooth nonlinear function curve, and the curve after translation is as test curve f (x)；
6) detection data is chosen, ten data are as testing number in laboratory selection different time sections；
7) selected detection data is made the processing of step 4), step 5) by processing detection data；The curve of gained is known as examining
Survey curve g (x)；
8) test curve and detection curve are carried out similarity-rough set by comparison curves；Appropriate threshold value c is chosen, is judged whether there is | f
(x)-g (x) | ＜ c orIt sets up；
9) detection is abnormal, according to whether there is abnormal data at the judging result detection node in step 8)；
10) it repeats to detect, step 1)~step 9) in repetition, until having detected all node datas；
Circuit detection module, connect with single chip control module, for being detected to experimental facilities circuit；
VR operation modules, connect with single chip control module, for by build experimental facilities three-dimensional simulation wear VR equipment into
Row pseudo operation；
VR operation modules are integrated with the data helmet, data glasses, data glove, 720 degree of emulation seat storehouses, ball-type curtain, three-dimensional throwings
Shadow instrument；The data helmet, data glasses, data glove, 720 degree of emulation are sat storehouse, ball-type curtain, binocular projector and are connected with microcontroller
It connects.
2. the interactive system of the experimental facilities Automatic Control based on remote control as described in claim 1, which is characterized in that permitted
Can radius include：D ties up sensor data setWherein ri d=<ri[1],...,ri[d]>, ri d[k] table
Show the kth dimension data of i-th of node；Kth dimension permits that radius is：
If there isThen claim data ri dWithIt is adjacent in kth dimension；If ri dWithPhase is tieed up in kth
Neighbour, then its kth dimension belong to a cluster；To node i, j, as d dimension datas ri dWithIt is same in all kth (1≤k≤d) dimensions
When belonging to a cluster, node i, j belongs to the same cluster；
Cluster section includes：Cluster CjCluster section be denoted asHave to 1≤k≤d
Wherein,For cluster CiIn the cluster section of kth dimension；
Given cluster CiAnd Cj, cluster section is respectivelyWithFor kth dimension data, if there is：
Then claim cluster sectionWithIt ties up and is overlapped in kth；
When cluster sectionWithWhen kth is tieed up and is overlapped, claim cluster CiWith cluster CjIn the cluster for the cluster that kth dimension can merge, and newly be formed
Radius is CR=[MIN ({ mini,minj}),MAX({maxi,maxj})]；As cluster CiAnd CjIt is equal in all kth (1≤k≤d) dimension
When overlapping, cluster CiAnd CjMerge into new cluster；
Function is similar to include：Function g (x) and f (x) on X is similar, if after g (x) and f (x) move to identical starting point,
Have：To arbitrary x ∈ X, have | f (x)-g (x) | ＜ c；
Or have：
In above formula, c is a parameter more than 0, but cannot be excessive, it should far smaller than 1.
3. the interactive system of the experimental facilities Automatic Control based on remote control as described in claim 1, which is characterized in that institute
The interactive system for stating the experimental facilities Automatic Control based on remote control further includes：
Power supply module is connect with single chip control module, for being powered to experimental facilities；
Photographing module is connect with single chip control module, is monitored using operation to experimental facilities for passing through camera；
Wireless communication module is connect with single chip control module, for being wirelessly connected internet by wireless transmitter, is carried out remote
Process control management；
Display module is connect with single chip control module, is used for the video information of display monitoring.
4. the interactive system of the experimental facilities Automatic Control based on remote control as described in claim 1, which is characterized in that institute
It is as follows to state VR operation module operating methods：
First, threedimensional model is created：Three-dimensional is carried out in threedimensional model Software for producing according to the design drawing of the experimental facilities
Modelling is directly scanned generation threedimensional model using three-dimensional scanner to equipment, then according to the experimental facilities
Corresponding site setting corresponding true material of the materials and color of each component in the threedimensional model forms threedimensional model text
Part；
Then, virtual reality scenario is built：The threedimensional model file is put into real-time rendering engine, while being added corresponding
Three dimensional environmental model and relevant material and facility model, and in the three dimensional environmental model be added virtual reality observation
Component；
Finally, the virtual reality operation of experimental facilities is realized：It is in device model according to the operation principle of the experimental facilities
Switch, movable device, display panel and control assembly add corresponding control program, can with the handle of user or
Motion capture operating interactive.
5. the interactive system of the experimental facilities Automatic Control based on remote control as described in claim 1, which is characterized in that institute
It is as follows to state equipment fault locating module localization method：
1st step obtains equipment detection data, Supervision measured value is calculated according to the equipment detection data, by the equipment
Monitor value is compared with equipment normal operation data, judges equipment running status, and recording exceptional data；
2nd step identifies abnormal data associated components, and the Mishap Database of abnormal data and associated components is compared, and identifies failure；
Identification failure is pushed to monitoring personnel by the 3rd step, and corresponding repair is extracted from Maintenance plan and suggests being pushed to together
Monitoring personnel；
4th step judges to identify whether correctly, to enter step 5 if correct, otherwise enter step 6 after maintenance；
5th step, by fault data typing Mishap Database and to be labeled as identification correct, and as the reference number of machine learning
According to positioning terminates；
6th step in fault data typing Mishap Database and will be labeled as identification mistake, and as the reference number of machine learning
According to positioning terminates.
6. a kind of interaction for realizing the experimental facilities Automatic Control based on remote control described in Claims 1 to 4 any one
The computer program of system control method.
7. a kind of friendship equipped with the experimental facilities Automatic Control based on remote control described in Claims 1 to 4 any one
The information data processing terminal of mutual system.
8. a kind of computer readable storage medium, including instruction, when run on a computer so that computer is executed as weighed
Profit requires the interactive system control method of the experimental facilities Automatic Control based on remote control described in 1-4 any one.
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