CN108881467A - Industrial production machines people's real-time monitoring system - Google Patents
Industrial production machines people's real-time monitoring system Download PDFInfo
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- CN108881467A CN108881467A CN201810726818.XA CN201810726818A CN108881467A CN 108881467 A CN108881467 A CN 108881467A CN 201810726818 A CN201810726818 A CN 201810726818A CN 108881467 A CN108881467 A CN 108881467A
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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
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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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
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Abstract
The present invention provides industrial production machines people's real-time monitoring system, including wireless sensor network and monitoring and warning center, wireless sensor network is used to acquire the work on the spot status data of robot, and work on the spot status data is sent to monitoring and warning center；Monitoring and warning center is used to monitor the work on the spot status data of received robot of institute, and is analyzed and processed to work on the spot status data, exports corresponding alarm signal when operating state data exceeds the threshold range set at the scene；Wireless sensor network include aggregation node and be deployed in setting monitoring region in multiple sensor nodes, plurality of sensor node synergistically acquires, handles and transmits work on the spot status data to aggregation node, and aggregation node is for converging a received work on the spot status data and being transmitted to data processing centre.
Description
Technical field
The present invention relates to the industrial production machines people communications fields, and in particular to industrial production machines people's real-time monitoring system.
Background technique
In current industrial production, to save human cost and improving the quality of production, automatic production line is commonly provided with industry
Production machine people is to complete production process by cooperating.It is carried out to ensure to produce to stablize, needs to acquire industrial production machines
People's work on the spot status data simultaneously carries out real-time monitoring to it, so as to observer for industrial production machines people operation operating condition and
When make reasonable arrangement, avoid unexpected situation.
Summary of the invention
In view of the above-mentioned problems, the present invention provides industrial production machines people real-time monitoring system.
The purpose of the present invention is realized using following technical scheme：
Industrial production machines people's real-time monitoring system is provided, which includes in wireless sensor network and monitoring and warning
The heart, wireless sensor network are used to acquire the work on the spot status data of robot, and work on the spot status data is sent to
Monitoring and warning center；Monitoring and warning center be used for monitor received robot work on the spot status data, and to show
Field operating state data is analyzed and processed, and output is corresponding when operating state data is beyond the threshold range set at the scene reports
Alert signal；Wireless sensor network includes aggregation node and is deployed in the multiple sensor nodes set in monitoring region, wherein
Multiple sensor nodes synergistically acquire, handle and transmit work on the spot status data to aggregation node, and aggregation node is for converging
Poly- received work on the spot status data is simultaneously transmitted to data processing centre.
Preferably, the monitoring and warning center includes data processing module and warning module, wherein data processing module
Including sequentially connected data transceiving unit, data exception detection unit, data fusion unit；The wherein data transceiving unit
For receiving and storing the work on the spot status data of wireless sensor network transmission；And work on the spot status data is sent to
Data exception detection unit；The data exception detection unit is used for the work on the spot status data sent to data transceiving unit
It carries out abnormality detection, and the abnormal data detected is repaired；The data fusion unit is used for work on the spot state
Data carry out fusion treatment.
Preferably, sensor node includes the sensor of the work on the spot status data of the monitoring robot for acquiring.
It further, further include power supply unit, for being powered to each sensor.
Beneficial effects of the present invention are：Industrial production machines people's work on the spot is realized by wireless sensor network technology
The acquisition of status data, and by being analyzed and processed to work on the spot status data, operating state data exceeds and sets at the scene
Export corresponding alarm signal when fixed threshold range, can at the scene operating state data beyond setting threshold range when into
Row alarm avoids unexpected situation from sending out so that observer makes reasonable arrangement for the operation operating condition of industrial production machines people in time
It is raw.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings, but the embodiment in attached drawing is not constituted to any limit of the invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is the structural representation frame of industrial production machines people's real-time monitoring system of an illustrative embodiment of the invention
Figure；
Fig. 2 is the structural schematic block diagram at the monitoring and warning center of an illustrative embodiment of the invention；
Fig. 3 is the structural schematic block diagram of the data processing module of an illustrative embodiment of the invention.
Appended drawing reference：
Wireless sensor network 1, monitoring and warning center 2, power supply unit 3, data processing module 100, warning module 200,
Data transceiving unit 10, data exception detection unit 20, data fusion unit 30.
Specific embodiment
The invention will be further described with the following Examples.
Referring to Fig. 1, the embodiment of the invention provides industrial production machines people's real-time monitoring system, which includes wireless pass
Sensor network 1 and monitoring and warning center 2, wireless sensor network 1 are used to acquire the work on the spot status data of robot, and will
Work on the spot status data is sent to monitoring and warning center 2.
Monitoring and warning center be used to monitor in real time received robot work on the spot status data, and to work on the spot
Status data is analyzed and processed, and exports corresponding alarm signal when operating state data exceeds the threshold range of setting at the scene
Number.In a kind of mode of possible implementation, monitoring and warning center 2 includes data processing module 100 and warning module 200.Data
For being analyzed and processed to work on the spot status data, and at the scene, operating state data exceeds setting to processing module 100
Start warning module 200 when threshold range, and then warning module 200 exports corresponding alarm signal.
As shown in Fig. 2, data processing module 100 includes sequentially connected data transceiving unit 10, data exception detection list
First 20, data fusion unit 30；Wherein the data transceiving unit 10 is used to receive and store the transmission of wireless sensor network 1
Work on the spot status data；And work on the spot status data is sent to data exception detection unit 20；The data exception inspection
It surveys the work on the spot status data that unit 20 is used to send data transceiving unit 10 to carry out abnormality detection, and different to what is detected
Regular data is repaired；The data fusion unit 30 is used to carry out fusion treatment to work on the spot status data.
In one embodiment, wireless sensor network 1 includes aggregation node and is deployed in more in setting monitoring region
A sensor node, plurality of sensor node synergistically acquire, handle and transmit work on the spot status data to converge section
Point, aggregation node is for converging a received work on the spot status data and being transmitted to data processing centre.
Wherein, sensor node includes the sensor of the work on the spot status data of the monitoring robot for acquiring.
Further, system further includes power supply unit 3, for being powered to each sensor.
The above embodiment of the present invention realizes industrial production machines people's work on the spot shape by wireless sensor network technology
The acquisition of state data, and by being analyzed and processed to work on the spot status data, operating state data is beyond setting at the scene
Threshold range when export corresponding alarm signal, can at the scene operating state data beyond setting threshold range when carry out
Alarm avoids unexpected situation so that observer makes reasonable arrangement for the operation operating condition of industrial production machines people in time.
In a kind of mode of possible implementation, in the netinit stage, sensor node with aggregation node by communicating
It obtains information of neighbor nodes and constructs neighboring node list, wherein the neighbor node of sensor node is in its communication range
Other sensors node；In the path discovery stage, sensor node obtains it to the optimal path of aggregation node；Work at the scene
Making the status data transfers stage will be with optimal path pair when sensor node sends the work on the spot status data of itself acquisition
The forward node mark answered is stored into the work on the spot status data message to be sent；Remaining sensor node listens to one now
When the operating state data message of field, the mark of forward node is obtained from work on the spot status data message, if oneself is not existing
Next-hop forward node specified by the operating state data message of field, sensor node abandon the work on the spot status data report
Otherwise text forwards the work on the spot status data message.
In one embodiment, sensor node is by communicating acquisition information of neighbor nodes with aggregation node and constructing neighbours
Node listing, specially：In the netinit stage, aggregation node sends hello packet, the Hello to each sensor node
Message includes position coordinates, the distance to aggregation node and the hop count to aggregation node of each sensor node；Each sensor
After node receives hello packet, corresponding information is extracted, constructs neighboring node list, and calculate the path of each neighbor node
Quality, storage corresponding position into neighboring node list；Wherein, the calculation formula of the path quality of neighbor node is set as：
In formula, GijIndicate the path quality of the neighbor node j of sensor node i, D (i, j) is sensor node i and it is adjacent
The distance of node j is occupied, D (j, sink) is distance of the neighbor node j to aggregation node, and D (j, k) is neighbor node j to its k-th
The distance of neighbor node, njFor the neighbor node number that neighbor node j has, D (i, sink) is that sensor node i is saved to convergence
The distance of point；λ is the weight coefficient of setting, and 0<λ<0.5.
The present embodiment solves the problems, such as that sensor node obtains information of neighbor nodes and constructs neighboring node list, wherein
The calculation formula of the path quality of neighbor node is innovatively set, which is based on neighbor node and ambient sensors
Positional relationship between node, aggregation node carries out the calculating of path quality, can preferably measure neighbor node forwarding scene
Position advantage situation when operating state data provides basic data reference when determining optimal path for subsequent sensor node,
To be conducive to improve the efficiency of the subsequent forwarding work on the spot status data of sensor node；
The present embodiment only stores the mark and path quality of neighbor node when constructing neighboring node list, compared to
It needs to store the location information of neighbor node in the prior art, to the hop count of aggregation node and range information etc., saves biography
The memory space of sensor node.
In one embodiment, sensor node obtains it to the optimal path of aggregation node, specifically includes：
(1) sensor node that send the work on the spot status data of itself acquisition is set as source node, and source node is raw
At a Front ant message and it is sent to optimal neighbor node；
(2) when Front ant message v reaches sensor node i, current remaining is not less than by sensor node i to be set
Fixed minimum energy threshold value, without forwarded over Front ant message v neighbor node as both candidate nodes, and select probability is maximum
Both candidate nodes l continue forward Front ant message v；
(3) if sensor node i has selected for next-hop node of the both candidate nodes l as forwarding Front ant message v,
The address link list of Front ant message v then is added in the sensor node mark of itself, and Front ant message v is sent out
It goes；
(4) sensor node for receiving Front ant message v continues the maximum next-hop node forwarding of select probability and is somebody's turn to do
Front ant message v, until Front ant message v is sent to aggregation node, aggregation node generates corresponding feedback information,
Wherein feedback information carries the address link list and aggregation node mark of Front ant message v, and aggregation node is along forward direction ant
The inverse path of ant message v sends feedback information；
(5) when sensor node i receives the feedback information of sensor node u forwarding, according to the following formula more
It is new itself to sensor node u pheromone concentration：
In formula, Qiu' it is pheromone concentration of the updated sensor node i to sensor node u, QiuBefore updating
The pheromone concentration of sensor node i to sensor node u, Δ Q by setting it is primary update in the pheromone concentration that discharges
Total amount, N (v) is the total hop count for sending Front ant message v to from source node aggregation node；
(6) information that current sensor node is indicated according to the address link list of feedback information, continues forwarding feedback information, directly
Source node is reached to feedback information, extremely convergence saves source node using the path determined according to the address link list in feedback information as it
The optimal path of point；
Wherein, set the calculation formula of probability as：
In formula, HilIndicate the probability of sensor node i selection both candidate nodes l, miFor the both candidate nodes of sensor node i
Number, GilIndicate the path quality of the both candidate nodes l, PlFor the current remaining of the both candidate nodes l, TlFor the time
Select the size of the currently available caching of node l, QilPheromones for sensor node i to the chain road of the both candidate nodes l are dense
Degree；GirFor the path quality of r-th of both candidate nodes of sensor node i, PrFor the current residual energy of r-th of both candidate nodes
Amount, TrFor the size of the currently available caching of r-th of both candidate nodes, QirFor the candidate section of sensor node i to described r-th
The pheromone concentration of the chain road of point；PminFor the minimum energy threshold value of setting, Tm7nFor the minimum cache threshold of setting；When initial
Each link information element concentration is 0, and α, β, γ, δ are the weight coefficient of setting.
The optimal path that the present embodiment sets sensor node to aggregation node based on ant colony optimization algorithm determines mechanism,
According to the mechanism, current sensor node selects the both candidate nodes of maximum probability in the transmittance process for carrying out Front ant message
As next-hop node, wherein innovatively setting the calculation formula of probability.Link of the calculation formula based on both candidate nodes
The influence factor of quality, energy, available cache memory and link information concentration as probability calculation, so that the sensor node established arrives
The optimal path of aggregation node has certain link stability, and link overhead is small, is conducive to save work on the spot state
Data transmissions amount cost, the life cycle of prolonging wireless sensor network 1.
In one embodiment, source node generates a Front ant message and is sent to optimal neighbor node, specifically
Including：
(1) source node calculates the preferred value of each neighbor node according to the following formula：
In formula, EabIndicate the preferred value of the neighbor node b of source node a, GabFor the path quality of the neighbor node b, Pb
For the current remaining of the neighbor node b, xbFor the Front ant message amount that the neighbor node b has received, nbFor
The neighbor node quantity of the neighbor node b, ω are the regulation coefficient of setting；y1、y2For the weight coefficient and y of setting1+y2=
1；
(2) the Front ant message of generation is sent to the maximum neighbor node of preferred value by source node.
The present embodiment energy, position and reception three factors of Front ant message amount based on sensor node, wound
The calculation formula of preferred value is set to new property, which enables to energy, position more for the neighbor node of advantage
The initial forwarding of Front ant message is carried out with bigger probability, and the calculation formula is provided with attenuation coefficientIt enables to source node when selecting the starting forward node of optimal path, avoids saving with other multiple sources as far as possible
Point selects the same neighbor node as starting forward node, to be conducive to the load of balanced periphery neighbor node, improves road
By reliability.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although explaining in detail referring to preferred embodiment to the present invention, those skilled in the art are answered
Work as understanding, it can be with modification or equivalent replacement of the technical solution of the present invention are made, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (6)
1. industrial production machines people's real-time monitoring system, characterized in that including wireless sensor network and monitoring and warning center, nothing
Line sensor network is used to acquire the work on the spot status data of robot, and work on the spot status data is sent to monitoring in advance
Alert center；Monitoring and warning center be used to monitor in real time received robot work on the spot status data, and to work on the spot
Status data is analyzed and processed, and exports corresponding alarm signal when operating state data exceeds the threshold range of setting at the scene
Number；Wireless sensor network includes aggregation node and is deployed in the multiple sensor nodes set in monitoring region, plurality of
Sensor node synergistically acquires, handles and transmits work on the spot status data to aggregation node, and aggregation node is for converging institute
Received work on the spot status data is simultaneously transmitted to data processing centre.
2. industrial production machines people real-time monitoring system according to claim 1, characterized in that in the monitoring and warning
Pericardium includes data processing module and warning module, and wherein data processing module includes sequentially connected data transceiving unit, data
Abnormality detecting unit, data fusion unit；Wherein the data transceiving unit is for receiving and storing wireless sensor network hair
The work on the spot status data sent；And work on the spot status data is sent to data exception detection unit；The data exception
Detection unit is used to carry out abnormality detection the work on the spot status data that data transceiving unit is sent, and to the exception detected
Data are repaired；The data fusion unit is used to carry out fusion treatment to work on the spot status data.
3. industrial production machines people real-time monitoring system according to claim 1, characterized in that sensor node includes using
In the sensor of the work on the spot status data of acquisition institute's monitoring robot.
4. industrial production machines people real-time monitoring system according to claim 3, characterized in that it further include power supply unit,
For being powered to each sensor.
5. industrial production machines people real-time monitoring system according to claim 1-4, characterized in that at the beginning of network
Stage beginning, sensor node information of neighbor nodes and construct neighboring node list by communicating to obtain with aggregation node, wherein
The neighbor node of sensor node is the other sensors node in its communication range；In the path discovery stage, sensor
Node obtains it to the optimal path of aggregation node；Operating state data transmits the stage at the scene, and sensor node sends itself
When the work on the spot status data of acquisition, forward node corresponding with optimal path mark is stored into the work on the spot to be sent
Status data message；When remaining sensor node listens to a work on the spot status data message, from work on the spot status number
According to the mark of forward node is obtained in message, if oneself not being the forwarding section of next-hop specified by work on the spot status data message
Point, sensor node abandon the work on the spot status data message, otherwise forward the work on the spot status data message.
6. industrial production machines people real-time monitoring system according to claim 5, characterized in that sensor node obtains it
To the optimal path of aggregation node, specifically include：
(1) sensor node that send the work on the spot status data of itself acquisition is set as source node, and source node generates one
A Front ant message is simultaneously sent to optimal neighbor node；
(2) when Front ant message v reaches sensor node i, sensor node i is by current remaining not less than setting
Minimum energy threshold value, without forwarded over Front ant message v neighbor node as both candidate nodes, and the maximum time of select probability
Node l is selected to continue to forward Front ant message v；
It (3), will if sensor node i has selected for next-hop node of the both candidate nodes l as forwarding Front ant message v
The address link list of Front ant message v is added in the sensor node mark of itself, and Front ant message v is sent；
(4) receive Front ant message v sensor node continue the maximum next-hop node of select probability forward this preceding to
Ant message v, until Front ant message v is sent to aggregation node, aggregation node generates corresponding feedback information, wherein
Feedback information carries the address link list and aggregation node mark of Front ant message v, and aggregation node is along Front ant report
The inverse path of literary v sends feedback information；
(5) it when sensor node i receives the feedback information of sensor node u forwarding, updates according to the following formula certainly
Body to sensor node u pheromone concentration：
In formula, Qiu' it is pheromone concentration of the updated sensor node i to sensor node u, QiuFor the sensor before update
Node i to sensor node u pheromone concentration, Δ Q by setting it is primary update in the total amount of pheromone concentration that discharges,
N (v) is the total hop count for sending Front ant message v to from source node aggregation node；
(6) information that current sensor node is indicated according to the address link list of feedback information, continues forwarding feedback information, until anti-
Feedforward information reaches source node, and source node is using the path determined according to the address link list in feedback information as it to aggregation node
Optimal path；
Wherein, set the calculation formula of probability as：
In formula, HilIndicate the probability of sensor node i selection both candidate nodes l, miFor the number of the both candidate nodes of sensor node i
Mesh, GilIndicate the path quality of the both candidate nodes l, PlFor the current remaining of the both candidate nodes l, TlFor the candidate
The size of the currently available caching of node l, QilFor sensor node i to the pheromone concentration of the chain road of the both candidate nodes l；
GirFor the path quality of r-th of both candidate nodes of sensor node i, PrFor the current remaining of r-th of both candidate nodes,
TrFor the size of the currently available caching of r-th of both candidate nodes, QirFor sensor node i to r-th of both candidate nodes
Chain road pheromone concentration；PminFor the minimum energy threshold value of setting, TminFor the minimum cache threshold of setting；It is each when initial
Link information element concentration is 0, and α, β, γ, δ are the weight coefficient of setting.
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