CN110262544B - A supervision robot for nanofiber production - Google Patents
A supervision robot for nanofiber production Download PDFInfo
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- CN110262544B CN110262544B CN201910460824.XA CN201910460824A CN110262544B CN 110262544 B CN110262544 B CN 110262544B CN 201910460824 A CN201910460824 A CN 201910460824A CN 110262544 B CN110262544 B CN 110262544B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention provides a monitoring robot for nanofiber production, which comprises a control center, a positioning system and a monitoring system, wherein the positioning system is formed by interaction of a plurality of positioning signal sources based on UWB technology, the monitoring system comprises an unmanned aerial vehicle platform and a monitoring unmanned aerial vehicle, the control center comprises a positioning engine server and a cruise track planning server, and a wireless charger is arranged on the unmanned aerial vehicle platform And improve the monitoring effect, simultaneously, the wireless charging technique of set provides long-term continuation of the journey for control unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of nanofiber production, in particular to a monitoring robot for nanofiber production.
Background
The nanofiber is a linear material with a diameter of nanometer scale and a large length and a certain length-diameter ratio, and is produced by adopting an electrostatic spinning method mostly during production.
In order to ensure the safe production of the nano fibers or monitor the working state of workers, a lot of monitoring devices are usually distributed in a production area for monitoring or supervision, but most of the monitoring devices are fixed-point cameras, so that a large number of dead corners exist, the monitoring range is small, the flexibility is extremely poor, an integrated sensor is not usually arranged, and the induction early warning is lacked.
Disclosure of Invention
Aiming at the problems, the invention discloses a monitoring robot for nanofiber production.
The specific technical scheme is as follows:
the utility model provides a monitoring robot for nanofiber production, its characterized in that, includes control center, positioning system and monitoring system, positioning system comprises a plurality of UWB technique based positioning signal source interactions, monitoring system and positioning signal source one-to-one, including unmanned aerial vehicle platform and control unmanned aerial vehicle, and the signal source is installed on the unmanned aerial vehicle platform, and control unmanned aerial vehicle is carried on by the unmanned aerial vehicle platform, control center is including serving the positioning engine server of signal source, serving unmanned aerial vehicle's cruising track planning server and display device;
the positioning signal source based on the UWB technology establishes a coordinate system through a positioning engine server and provides position coordinates for a cruise track planning server and a monitoring unmanned aerial vehicle, and the cruise track planning server provides cruise track planning for the monitoring unmanned aerial vehicle based on the coverage range and the corresponding coordinate interval of the current positioning signal source.
The monitoring robot for nanofiber production is characterized in that the positioning system is used for laying the positioning signal sources in a one-dimensional or two-dimensional manner according to the shape of the nanofiber production area.
The monitoring robot for nanofiber production is characterized in that the one-dimensional layout means that a plurality of positioning signal sources are linearly and continuously interacted, so that one-dimensional linear positioning coordinates are formed in the positioning engine server.
The above monitoring robot for nanofiber production, wherein the two-dimensional layout is to extend the positioning signals forming the linear positioning coordinates in parallel on a two-dimensional plane, so as to form two-dimensional plane positioning coordinates in the positioning engine server.
The monitoring robot for nanofiber production is characterized in that the two-dimensional arrangement means that outward radiation of a central positioning signal source is realized by grading the positioning signal sources, and a two-dimensional plane positioning coordinate is formed; the central positioning signal source is a main positioning signal source, the main positioning signal source radiates outwards in an annular shape, a plurality of positioning signal sources of the first ring are primary positioning signal sources, a plurality of positioning signal sources of the second ring are secondary positioning signal sources, and a plurality of positioning signal sources of the ring of the Nth ring are N-level positioning signal sources.
The monitoring robot for nanofiber production is characterized in that a plurality of positioning signal sources forming linear positioning coordinates are interacted with each other through a wireless communication module, and finally interacted with a positioning engine server through the wireless communication module.
The monitoring robot for nanofiber production comprises a plurality of positioning signal sources forming a plane positioning coordinate, wherein the positioning signal sources sequentially interact with each other according to an annular hierarchy through a wireless communication module, and a main positioning signal source interacts with a positioning engine server through the wireless communication module.
The utility model provides an foretell monitoring robot for nanofiber production, wherein, the unmanned aerial vehicle platform carries out the fixed point installation according to the design of positioning signal source, is equipped with a plurality of unmanned aerial vehicle landing platforms on it, the unmanned aerial vehicle landing platform is used for bearing control unmanned aerial vehicle, and embedded in the period is equipped with based on UWB technique, is used for fixing a position the first location receiver that unmanned aerial vehicle rises and falls the coordinate point, first location receiver passes through wireless communication module and interacts with the positioning signal source on the current unmanned aerial vehicle platform, establishes unmanned aerial vehicle rise and fall the coordinate point.
The monitoring robot for nanofiber production is characterized in that a second positioning receiver is arranged in the monitoring unmanned aerial vehicle, the second positioning receiver interacts with a positioning signal source on a current unmanned aerial vehicle platform through a wireless communication module, the motion coordinate of the current monitoring unmanned aerial vehicle is determined, and the motion coordinate is fed back to a positioning engine server, so that cruise monitoring is provided for a cruise track planning server.
The utility model provides an foretell monitoring robot for nanofiber production, wherein, be equipped with wireless charger on the unmanned aerial vehicle platform, establish battery and wireless charging coil in the control unmanned aerial vehicle, wireless charger and first location receiver and the locating signal source on the unmanned aerial vehicle platform are supplied power by the power supply cable to charge for the control unmanned aerial vehicle that parks through wireless charger.
The monitoring robot for nanofiber production is characterized in that a monitor and various sensors are integrated on the monitoring unmanned aerial vehicle, wherein the sensors comprise one or more of a dangerous gas sensor, a flame sensor and a dust sensor.
The invention has the beneficial effects that:
the invention provides a monitoring robot for nanofiber production, which comprises a control center, a positioning system and a monitoring system, wherein the positioning system is formed by interaction of a plurality of positioning signal sources based on UWB technology, the monitoring system comprises an unmanned aerial vehicle platform and a monitoring unmanned aerial vehicle, the control center comprises a positioning engine server and a cruise track planning server, and a wireless charger is arranged on the unmanned aerial vehicle platform. Reasonable and effective positioning signal source arrangement schemes are formulated for production areas, monitoring cost is saved, monitoring effect is improved, meanwhile, wireless charging technology is integrated, and long-acting cruising is provided for monitoring unmanned aerial vehicles.
Drawings
FIG. 1 is a schematic view of the present invention.
Fig. 2 is a schematic diagram of a positioning signal source.
Fig. 3 is a schematic view of one-dimensional layout in the second embodiment.
Fig. 4 is a schematic diagram of two-dimensional layout in the third embodiment.
Fig. 5 is a schematic diagram of two-dimensional layout in the fourth embodiment.
Detailed Description
In order to make the technical solution of the present invention clearer and clearer, the present invention is further described below with reference to embodiments, and any solution obtained by substituting technical features of the technical solution of the present invention with equivalents and performing conventional reasoning falls within the scope of the present invention.
Example one
The utility model provides a monitoring robot for nanofiber production, its characterized in that, includes control center, positioning system and monitoring system, positioning system comprises a plurality of UWB technique based positioning signal source interactions, monitoring system and positioning signal source one-to-one, including unmanned aerial vehicle platform and control unmanned aerial vehicle, and the signal source is installed on the unmanned aerial vehicle platform, and control unmanned aerial vehicle is carried on by the unmanned aerial vehicle platform, control center is including serving the positioning engine server of signal source, serving unmanned aerial vehicle's cruising track planning server and display device;
the positioning signal source based on the UWB technology establishes a coordinate system through a positioning engine server and provides position coordinates for a cruise track planning server and a monitoring unmanned aerial vehicle, and the cruise track planning server provides cruise track planning for the monitoring unmanned aerial vehicle based on the coverage range and the corresponding coordinate interval of the current positioning signal source.
The monitoring robot for nanofiber production of this embodiment adopts control unmanned aerial vehicle as the means of control, carries out the control in nanofiber production region, adopts the locating signal source based on the UWB technique to carry out the setting of coordinate interval to the trajectory planning of cruising for the trajectory planning server provides the data basis, and then realizes control unmanned aerial vehicle's flight control.
Example two
In the embodiment, the positioning signal sources are arranged in a one-dimensional or two-dimensional manner through the positioning system according to the shape of the nanofiber production region based on the dimension.
As shown in fig. 2, reference numeral 1 is a positioning signal source, and reference numeral 2 is a signal coverage of the positioning signal source;
as shown in fig. 3, the one-dimensional layout means that a plurality of positioning signal sources are linearly and continuously interacted, so that one-dimensional linear positioning coordinates are formed in the positioning engine server.
The setting of the linear positioning coordinate can be applied to linear areas such as channels and galleries, and the monitoring unmanned aerial vehicle can fly linearly and one-dimensionally along the formed linear positioning coordinate, so that monitoring is carried out.
EXAMPLE III
As shown in fig. 4, in the present embodiment, on the basis of the second embodiment, the two-dimensional direction expansion is performed, that is, the positioning signals forming the linear positioning coordinates are extended in parallel on the two-dimensional plane, so that two-dimensional plane positioning coordinates are formed in the positioning engine server.
In the plane positioning coordinates formed by the method, the linear positioning coordinates used for forming the positioning coordinates are relatively independent, and the operation and the monitoring unmanned aerial vehicle in the linear positioning coordinates are in complementary interference.
The embodiment is developed based on the second embodiment, and the monitoring range can be expanded as required, but the ratio of the repeated coverage of the signal range of the positioning signal source in the adjacent linear positioning coordinates is extremely large, and the cost is high.
Example four
As shown in fig. 5, in the present embodiment, a different manner from the third embodiment is adopted to form a plane positioning coordinate;
wherein, the reference numeral 3 is a main positioning signal source, the reference numeral 4 is a secondary positioning signal source, and the reference numeral 5 is a tertiary positioning signal source and so on;
the forming of the plane positioning coordinate is to realize outward radiation of a central positioning signal source by grading the positioning signal sources so as to form a two-dimensional plane positioning coordinate; the central positioning signal source is a main positioning signal source, the main positioning signal source radiates outwards in an annular shape, a plurality of positioning signal sources of the first ring are primary positioning signal sources, a plurality of positioning signal sources of the second ring are secondary positioning signal sources, and a plurality of positioning signal sources of the ring of the Nth ring are N-level positioning signal sources.
In the embodiment, a method of positioning signal source graded radiation is adopted to form the plane positioning coordinates, the monitoring range can be expanded as required, the ratio of repeated coverage of the signal ranges of adjacent positioning signal sources is smaller, and the cost is greatly reduced compared with that of the second embodiment.
EXAMPLE five
The present embodiment is intended to illustrate, in the foregoing embodiments, a plurality of positioning signal sources forming a linear positioning coordinate interact with each other through a wireless communication module, and finally interact with a positioning engine server through the wireless communication module;
and a plurality of positioning signal sources forming the plane positioning coordinate are sequentially interacted through a wireless communication module and according to an annular hierarchy, and the main positioning signal source is interacted with the positioning engine server through the wireless communication module.
The wireless communication mode is a quick and effective communication mode, can greatly reduce the laying difficulty, does not need to arrange signal cables, and saves the acquisition cost and manpower.
EXAMPLE six
The present embodiment is intended to illustrate, in the above embodiments, the drone platform is installed in a fixed-point manner according to the design of a positioning signal source, and a plurality of drone landing platforms are arranged on the drone platform, and the drone landing platforms are used for carrying and monitoring a drone, and are internally embedded with a first positioning receiver based on UWB technology and used for positioning a landing coordinate point of the drone, where the first positioning receiver interacts with the positioning signal source on the current drone platform through a wireless communication module to determine the landing coordinate point of the drone;
meanwhile, a second positioning receiver is arranged in the monitoring unmanned aerial vehicle, the second positioning receiver interacts with a positioning signal source on a current unmanned aerial vehicle platform through a wireless communication module, the motion coordinate of the current monitoring unmanned aerial vehicle is determined, and the motion coordinate is fed back to a positioning engine server, so that cruise monitoring is provided for a cruise track planning server.
The embodiment perfects the flight coordinate monitoring of the monitoring unmanned aerial vehicle, and sets independent coordinates for the landing platform of the unmanned aerial vehicle, thereby improving the stopping accuracy of the monitoring unmanned aerial vehicle.
EXAMPLE seven
The system comprises an unmanned aerial vehicle platform, a wireless charger, a storage battery, a wireless charging coil, a power supply cable, a first positioning receiver, a positioning signal source, a wireless charger, a first positioning receiver, a second positioning receiver, a wireless charging coil, a wireless charging cable and a wireless charging coil, wherein the wireless charger, the first positioning receiver and the positioning signal source are arranged on the unmanned aerial vehicle platform;
the monitoring unmanned aerial vehicle is powered by the storage battery, and the wireless charging coil is arranged in the monitoring unmanned aerial vehicle, so that the monitoring unmanned aerial vehicle can be charged by the wireless charger on the unmanned aerial vehicle platform, the cruising ability of the monitoring unmanned aerial vehicle is greatly improved, and the monitoring effect is improved;
simultaneously, it has monitor and multiple sensor, multiple to integrate on the control unmanned aerial vehicle the sensor includes the combination of one kind or multiple in dangerous gas sensor, flame sensor, the dust sensor, through integrated monitor and multiple sensor, realizes control and diversified response early warning function.
To sum up, above-mentioned embodiment reasonable in design, it is clear to arrange, based on UWB positioning technology, realize the control unmanned aerial vehicle's that cruises and response early warning, positioning function passes through the location receiver, positioning signal source and positioning engine server realize, accomplish a plurality of functions such as production area's coordinate interval, the point coordinate that rises and falls, flight coordinate tracking, plan the track of crusing for the track planning server that cruises, solid basis is provided, and the accessible one-dimensional lays or two-dimensional mode of laying, formulate reasonable for production area, effectual positioning signal source arrangement scheme, practice thrift the monitoring cost, and improve the monitoring effect, and simultaneously, set wireless charging technology, provide long-term continuation of journey for monitoring unmanned aerial vehicle.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. The utility model provides a monitoring robot for nanofiber production, its characterized in that, includes control center, positioning system and monitoring system, positioning system comprises a plurality of UWB technique based positioning signal source interactions, monitoring system and positioning signal source one-to-one, including unmanned aerial vehicle platform and control unmanned aerial vehicle, and the signal source is installed on the unmanned aerial vehicle platform, and control unmanned aerial vehicle is carried on by the unmanned aerial vehicle platform, control center is including serving the positioning engine server of signal source, serving unmanned aerial vehicle's cruising track planning server and display device;
the method comprises the steps that a positioning signal source based on the UWB technology establishes a coordinate system through a positioning engine server and provides position coordinates for a cruise track planning server and a monitoring unmanned aerial vehicle, and the cruise track planning server provides cruise track planning for the monitoring unmanned aerial vehicle based on the coverage range and the corresponding coordinate interval of the current positioning signal source;
the positioning system performs one-dimensional layout or two-dimensional layout on the layout of the positioning signal source according to the shape of the nanofiber production area;
the one-dimensional layout means that a plurality of positioning signal sources are subjected to linear continuous interaction, so that one-dimensional linear positioning coordinates are formed in a positioning engine server;
the two-dimensional arrangement means that outward radiation of a central positioning signal source is realized by grading the positioning signal sources, so that a two-dimensional plane positioning coordinate is formed; the central positioning signal source is a main positioning signal source, the main positioning signal source radiates outwards in an annular mode, the positioning signal sources in the first ring are primary positioning signal sources, the positioning signal sources in the second ring are secondary positioning signal sources, and the positioning signal sources in the Nth ring are N-level positioning signal sources.
2. The inspection robot for nanofiber production as claimed in claim 1, wherein a plurality of said positioning signal sources forming linear positioning coordinates interact with each other through a wireless communication module, and finally interact with the positioning engine server through a wireless communication module.
3. The inspection robot for nanofiber production as claimed in claim 2, wherein a plurality of said positioning signal sources forming a planar positioning coordinate interact with each other sequentially according to a ring hierarchy through a wireless communication module, and said main positioning signal source interacts with the positioning engine server through a wireless communication module.
4. The surveillance robot for nanofiber production as claimed in claim 3, wherein the drone platform is installed in a fixed-point manner according to the design of the positioning signal source, and has a plurality of drone landing platforms on it, the drone landing platforms are used for carrying and monitoring the drone, and a first positioning receiver based on UWB technology is embedded in the drone landing coordinate point, the first positioning receiver interacts with the positioning signal source on the current drone platform through the wireless communication module, and establishes the drone landing coordinate point.
5. The surveillance robot for nanofiber production as claimed in claim 4, wherein the monitoring drone is internally provided with a second positioning receiver, the second positioning receiver interacts with a positioning signal source on a current drone platform through a wireless communication module, establishes a motion coordinate of the current monitoring drone, and feeds the motion coordinate back to the positioning engine server, so as to provide cruise monitoring for the cruise trajectory planning server.
6. The surveillance robot for nanofiber production as claimed in claim 5, wherein a wireless charger is disposed on the unmanned aerial vehicle platform, a storage battery and a wireless charging coil are disposed in the surveillance unmanned aerial vehicle, the wireless charger on the unmanned aerial vehicle platform, the first positioning receiver and the positioning signal source are powered by a power supply cable, and the wireless charger charges the parked surveillance unmanned aerial vehicle.
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| FR2925169B1 (en) * | 2007-12-18 | 2012-03-09 | Commissariat Energie Atomique | METHOD AND SYSTEM FOR ASSISTING ENVIRONMENTAL CHARACTERIZATION WITH ULTRA BROADBAND RADIO FREQUENCY SIGNALS. |
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