CN112762972A - Mobile cart for environment monitoring and control system and control method thereof - Google Patents
Mobile cart for environment monitoring and control system and control method thereof Download PDFInfo
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- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B33/00—Castors in general; Anti-clogging castors
- B60B33/04—Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors
- B60B33/06—Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors mounted retractably
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Abstract
The invention belongs to the technical field of environmental monitoring, and discloses a mobile cart for environmental monitoring, a control system and a control method thereof, wherein the control system of the mobile cart for environmental monitoring comprises the following steps: the system comprises an environment monitoring module, an environment data acquisition module, a data preprocessing module, a data credibility evaluation module, a central control module, an analysis model construction module, an environment data analysis module, an abnormal data early warning module, a data storage module and an updating display module. The control method of the mobile cart for environment monitoring provided by the invention identifies the reliability of environment monitoring data by a particle swarm optimization method, has the advantages of simple structure, less control parameters, higher running speed and the like, and is convenient to operate; the method of machine learning and data mining is applied to the field of environmental monitoring, the fusion innovation of computer data science and environmental monitoring interdisciplinary subjects is realized, the working efficiency is improved, and the requirement of scientific management is met.
Description
Technical Field
The invention belongs to the technical field of environmental monitoring, and particularly relates to a mobile cart for environmental monitoring and a control system and a control method thereof.
Background
At present, environmental monitoring is a process of observing, measuring and analyzing one or more environmental elements or indexes and the influence on the environment intermittently or continuously by using a method of collecting environmental information and data which can be compared according to a pre-designed time and space for a specific purpose. The environmental monitoring is the basis of environmental protection work and is the basis of environmental legislation, environmental planning and environmental decision. Environmental monitoring is one of the important means of environmental management. According to the purpose of monitoring, environmental monitoring can be divided into the following categories: (1) the monitoring, also called routine monitoring or conventional monitoring, is to perform regular and long-term monitoring on the designated related items to determine the environmental quality and the pollution source condition, evaluate the effect of control measures, and measure the implementation condition of environmental standards and the progress of environmental protection work. This is the most extensive work with the greatest amount of monitoring work. Surveillance monitoring includes environmental quality monitoring and supervised monitoring of pollution sources. (2) The monitoring for special purposes, which is also called emergency monitoring or special case monitoring, includes emergency monitoring for pollution accidents, arbitration monitoring for disputes, monitoring for environmental assessment requirements, environmental acceptance monitoring for construction project completion and the like. (3) Research monitoring, also known as scientific research monitoring, is a high-level monitoring performed for scientific research of specific purposes, such as environmental local monitoring and research, research of standard analytical methods, development of standard substances, and the like. Environmental monitoring devices play a critical role in order to detect environmental conditions. But current environmental monitoring's removal shallow is when fixed, only installs the brake block on to the gyro wheel of removal shallow, has reduced the fixed stability of overall device. Meanwhile, the existing mobile cart for environment monitoring is inconvenient for mounting and dismounting the sensor in the using process, and the maintenance efficiency is reduced.
Through the above analysis, the problems and defects of the prior art are as follows:
(1) when the existing environment monitoring mobile cart is fixed, only the brake pads are arranged on the rollers of the mobile cart, so that the stability of fixing the whole device is reduced.
(2) The existing mobile trolley for environment monitoring is inconvenient for mounting and dismounting the sensor in the using process, and the maintenance efficiency is reduced.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a mobile cart for environment monitoring and a control system and a control method thereof.
The invention is realized in such a way that a control system of a mobile cart for environmental monitoring comprises:
the system comprises an environment monitoring module, an environment data acquisition module, a data preprocessing module, a data credibility evaluation module, a central control module, an analysis model construction module, an environment data analysis module, an abnormal data early warning module, a data storage module and an updating display module.
The environment monitoring module is connected with the central control module and is used for monitoring the environment around the mobile cart in real time through monitoring equipment;
the environment data acquisition module is connected with the central control module and used for acquiring environment data around the mobile cart through a sensor integrated in the sensor installation box;
the data preprocessing module is connected with the central control module and used for performing redundant processing on the acquired environmental data through a data preprocessing program and deleting obvious and unreasonable abnormal environmental data;
the data credibility evaluation module is connected with the central control module and used for carrying out credibility evaluation on the processed environment data by using the credibility weighting factor through a credibility evaluation program;
the central control module is connected with the environment monitoring module, the environment data acquisition module, the data preprocessing module, the data credibility evaluation module, the analysis model construction module, the environment data analysis module, the abnormal data early warning module, the data storage module and the updating display module and is used for coordinating and controlling the normal operation of each module of the control system of the mobile cart for environment monitoring through the central processing unit;
the analysis model building module is connected with the central control module and used for building an environment data analysis model by using environment data with high reliability through a model building program;
the environment data analysis module is connected with the central control module and used for analyzing the acquired environment data by utilizing the constructed environment data analysis model through a data analysis program;
the abnormal data early warning module is connected with the central control module and is used for carrying out early warning notification on unreasonable abnormal environment data through the early warning device;
the data storage module is connected with the central control module and used for storing the acquired environmental data, abnormal environmental data, data reliability evaluation results, an environmental data analysis model, environmental data analysis results and early warning notification information through a memory;
and the updating display module is connected with the central control module and used for updating and displaying the acquired environmental data, abnormal environmental data, data reliability evaluation results, the environmental data analysis model, the environmental data analysis results and the real-time data of the early warning notification information through the display.
Another object of the present invention is to provide a control method of a mobile cart for environmental monitoring to which the control system of a mobile cart for environmental monitoring is applied, the control method of a mobile cart for environmental monitoring including the steps of:
monitoring the environment around the mobile cart in real time by using monitoring equipment through an environment monitoring module; the environmental data around the mobile cart are collected by a sensor integrated in a sensor installation box through an environmental data collection module;
performing redundant processing on the acquired environmental data by using a data preprocessing program through a data preprocessing module, and deleting obvious unreasonable abnormal environmental data;
thirdly, performing credibility evaluation on the processed environment data by using a credibility evaluation program and a credibility weighting factor through a data credibility evaluation module;
step four, the central control module utilizes a central processing unit to coordinate and control the normal operation of each module of the control system of the mobile cart for environment monitoring;
fifthly, an analysis model building module builds an environment data analysis model by using a model building program and environment data with high reliability;
analyzing the acquired environmental data by utilizing the constructed environmental data analysis model through an environmental data analysis module by utilizing a data analysis program; carrying out early warning notification on unreasonable abnormal environment data by using an early warning device through an abnormal data early warning module;
storing the acquired environmental data, abnormal environmental data, data reliability evaluation results, an environmental data analysis model, environmental data analysis results and early warning notification information by using a memory through a data storage module;
and step eight, updating and displaying the acquired environmental data, abnormal environmental data, data reliability evaluation results, environmental data analysis models, environmental data analysis results and real-time data of early warning notification information by using the display through the updating and displaying module.
Further, in the first step, the environmental data around the mobile cart comprise temperature and humidity data, illumination intensity data, wind direction and wind speed data, and gas data around the mobile cart; wherein the gas data includes a carbon dioxide concentration value, a carbon monoxide concentration value, a nitrogen dioxide concentration value, a sulfur dioxide concentration value, and a PM2.5 value.
Further, in step two, the performing redundant processing on the acquired environmental data by the data preprocessing module using the data preprocessing program includes:
(1) removing obvious and unreasonable abnormal environmental data by a data logic judgment method of a data preprocessing module, and identifying implicit outlier data by applying an unsupervised learning algorithm;
(2) identifying the reliability of the monitoring data by adopting a supervised learning algorithm through a data preprocessing program;
if the deviation is not large, the data is reasonable, passes the audit and is added into the historical data set; and otherwise, if the deviation is overlarge, the data is listed as suspicious data, and abnormal data is separated from the monitoring data time sequence by applying a support vector machine regression method.
Further, the supervised learning algorithm is any one of a k-means clustering algorithm, a particle swarm optimization method, an artificial neural network algorithm and a support vector machine.
Further, in step three, the reliability evaluation specifically includes:
classifying the processed environment data according to the credibility grade, extracting corresponding characteristics of the obtained evaluation data, and taking the characteristics as input;
marking the reliability grade of the training data by adopting a method based on the combination of rules and manpower;
and calling the established credibility grade classification model according to the evaluation main body to obtain the credibility grade of the evaluation data.
Further, in the fifth step, the constructing an environmental data analysis model by using the model construction program and the environment data with high reliability through the analysis model construction module includes:
(1) dividing environment data with high reliability into training data and verification data through an analysis model building module, and converting the training data and the verification data into sequence data required by a model;
(2) constructing an environmental data analysis model by using training data through a model construction program, and selecting the optimal parameters of the model according to the MAE by using verification data;
(3) and verifying and debugging the environmental data analysis model by selecting the optimal parameters of the obtained model to obtain the final environmental data analysis model.
Further, the verification data selects an optimal parameter MAE of the model, including:
1) obtaining a predicted value c of the environmental data analysis modelpreAnd the true value cture；
2) The verification data is used as model input, and the model predicted value c is usedpreAnd the true value ctureAnd comparing, adopting MAE evaluation, and obtaining the optimal model parameters when the MAE is minimum:
wherein n represents the number of samples, ctrueRepresenting the true value, cpreRepresenting the predicted value.
Further, in the sixth step, the method for detecting abnormal environmental data adopted by the abnormal data early warning module includes:
constructing an information matrix and a similarity matrix by using the collected environmental data;
calculating the similarity between any two pieces of environment data, and constructing a similarity matrix of the environment data according to the obtained similarity result;
performing K-media clustering on the constructed similarity matrix for multiple times with different K values, and recording different K values and corresponding clustering results thereof;
and performing evaluation analysis through an evaluation function according to the obtained clustering result to obtain an optimal clustering and abnormal environment data set.
Another object of the present invention is to provide a mobile cart for environmental monitoring to which the control method of the mobile cart for environmental monitoring is applied, the mobile cart for environmental monitoring being provided with:
a main chassis;
a support base is fixed at the lower end of the main case, and support legs are arranged at four corners of the main case;
a support table is fixed on the upper side of the mainframe box, a support rod is fixed on the upper side of the support table, and a solar cell panel is fixed on the upper side of the support rod;
a rotating seat is fixed at the upper end of the supporting rod, and an installation groove is formed in the upper side of the rotating seat;
a rotating motor and a bearing are fixed in the mounting groove, an output shaft of the rotating motor is connected with a sensor mounting box, and a sensor mounting groove is formed in the side surface of the sensor mounting box;
the middle position of the bottom of the main case is provided with a mounting groove, and the mounting groove is provided with a supporting base;
the support base upside is provided with the part and places the case, supports the base bottom side and is provided with the pull groove, and pull inslot portion joint has the backup pad, and the backup pad tip is provided with the pull groove.
Further, a box door is fixed on the front face of the main box through a pin shaft, a ventilation grid is arranged on the box door, and a handle is arranged at the right end of the box door;
the bottom side of the mainframe box is provided with a clamping groove, and the end part of the clamping groove is connected with a connecting rod through a pin shaft; a roller supporting frame is fixed at the end part of the connecting rod, and a roller is fixed at the lower end of the roller supporting frame through a pin shaft;
the joint groove internally mounted has electric telescopic handle, and electric telescopic handle passes through the hinge and is connected with the connecting rod.
Further, threaded holes are uniformly distributed in the supporting plate, fixing bolts are screwed in the threaded holes, poking rings are welded at the end parts of the fixing bolts, and the lower ends of the fixing bolts are clamped in clamping grooves in the rubber disc;
a rotating motor is fixed on the supporting rod, and a fixing ring is fixed on an output shaft of the rotating motor; the fixed ring is welded with a support frame, and the support frame is provided with a solar cell panel.
It is a further object of the present invention to provide a computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface for implementing said method of controlling a mobile cart for environmental monitoring when executed on an electronic device.
Another object of the present invention is to provide a computer-readable storage medium storing instructions which, when executed on a computer, cause the computer to perform the method for controlling a mobile cart for environmental monitoring.
By combining all the technical schemes, the invention has the advantages and positive effects that: according to the mobile cart for environment monitoring, the supporting legs are arranged at the four corners of the main case, so that the positions of the supporting legs can be adjusted according to the movement or fixation of the device, the operation is convenient, and the working efficiency is improved. According to the invention, the solar cell panel is fixed on the upper side of the support rod, so that solar energy can be converted into electric energy, the sufficient electric quantity is ensured, and the working time is prolonged. Meanwhile, the sensor mounting groove is formed in the side face of the sensor mounting box, so that the sensor is convenient to disassemble and mount and is convenient to maintain.
According to the invention, the box door is fixed on the front side of the main box through a pin shaft, and the box door is provided with the ventilating grid for radiating the inside of the main box; the bottom side of the mainframe box is provided with a clamping groove, and the end part of the clamping groove is connected with the connecting rod through a pin shaft; the end part of the connecting rod is fixed with a roller supporting frame, and the lower end of the roller supporting frame is fixed with a roller through a pin shaft, so that the whole device is convenient to move. When the integral device is moved, the roller on one side of the connecting rod is contacted with the ground through the electric telescopic rod, and the integral device is moved. When the integral device is fixed, the roller on one side of the connecting rod is separated from the ground through the electric telescopic rod, and the integral device is fixed; the rubber disc is in contact with the ground to fix the whole device, so that the stability is improved; and adjusting the angle of the solar cell in time according to the angle of the solar ray.
Meanwhile, the control method of the mobile cart for environment monitoring provided by the invention identifies the reliability of environment monitoring data by a particle swarm optimization method, and has the advantages of simple structure, less control parameters, higher running speed and the like; the method of machine learning and data mining is applied to the field of environmental monitoring, the fusion innovation of computer data science and environmental monitoring interdisciplinary subjects is realized, and the requirement of scientific management is met.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a mobile cart for environmental monitoring according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of the bottom side of the mobile cart for environmental monitoring according to the embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a supporting base according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a dial ring, a fixing bolt and a rubber disc provided by the embodiment of the invention.
Fig. 5 is a schematic structural diagram of a rotating motor, a support frame and a support rod according to an embodiment of the present invention.
Fig. 6 is a block diagram of a control system of a mobile cart for environmental monitoring according to an embodiment of the present invention.
Fig. 7 is a flowchart of a control method of a mobile cart for environmental monitoring according to an embodiment of the present invention.
Fig. 8 is a flowchart of a method for performing redundant processing on collected environment data by a data preprocessing program through a data preprocessing module according to an embodiment of the present invention.
Fig. 9 is a flowchart of a method for constructing an environmental data analysis model by using a model construction program through an analysis model construction module according to an embodiment of the present invention.
Fig. 10 is a flowchart illustrating specific steps of reliability evaluation according to an embodiment of the present invention.
Fig. 11 is a flowchart of a method for detecting abnormal environmental data used by the abnormal data early warning module according to an embodiment of the present invention.
In the figure: 1. a sensor mounting box; 2. a rotating seat; 3. a solar panel; 4. a support bar; 5. a support table; 6. a main chassis; 7. a ventilation grid; 8. a support base; 9. supporting legs; 10. mounting grooves; 11. a pin shaft; 12. a clamping groove; 13. a connecting rod; 14. an electric telescopic rod; 15. a roller support frame; 16. a roller; 17. a part placing box; 18. drawing the groove; 19. a support plate; 20. a dial ring; 21. fixing the bolt; 22. a rubber disc; 23. rotating the motor; 24. a support frame; 25. an environment monitoring module; 26. an environmental data acquisition module; 27. a data preprocessing module; 28. a data credibility evaluation module; 29. a central control module; 30. an analysis model construction module; 31. an environmental data analysis module; 32. an abnormal data early warning module; 33. a data storage module; 34. and updating the display module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In view of the problems of the prior art, the present invention provides a mobile cart for environmental monitoring, which is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the mobile monitoring device is convenient to detect the environment according to the working requirement. According to the invention, a box door is fixed on the front surface of the main box 6 through a pin shaft, a ventilation grid 7 is arranged on the box door, and a handle is arranged at the right end of the box door. A supporting base 8 is fixed at the lower end of the mainframe box 6, and supporting legs 9 are arranged at the four corners of the mainframe box 6. Meanwhile, a support table 5 is fixed on the upper side of a main case 6, a support rod 4 is fixed on the upper side of the support table 5, and a solar cell panel 3 is fixed on the upper side of the support rod 4. A rotating seat 2 is fixed at the upper end of the support rod 4, an installation groove is formed in the upper side of the rotating seat 2, and a rotating motor and a bearing are fixed in the installation groove; wherein, rotating motor output shaft and being connected with sensor installation case 1, sensor installation case 1 side is provided with the sensor mounting groove for the parameter of testing environment.
As shown in fig. 2-3, to facilitate securing and moving the integrated device; in the invention, a clamping groove 12 is arranged at the bottom side of a main case 6, and the end part of the clamping groove 12 is connected with a connecting rod 13 through a pin shaft 11; wherein, the end of the connecting rod 13 is fixed with a roller supporting frame 15, and the lower end of the roller supporting frame 15 is fixed with a roller 16 through a pin shaft. Meanwhile, an electric telescopic rod is arranged inside the clamping groove 12 and is connected with the connecting rod 13 through a hinge. When the entire device is moved, the roller 16 on the side of the link 13 is brought into contact with the ground by the electric telescopic rod, and the entire device is moved. When the whole device is fixed, the roller 16 on one side of the connecting rod 13 is separated from the ground through the electric telescopic rod, and the whole device is fixed. Meanwhile, in order to fix the whole device, a mounting groove 10 is formed in the middle of the bottom of the main case, and a supporting base 8 is mounted in the mounting groove 10; support 8 upside and be provided with the part and place case 17, support 8 bottoms sides of base and be provided with pull groove 18, the inside joint in pull groove 18 has backup pad 19, and 19 tip in backup pad are provided with the pull groove.
As shown in fig. 4, in order to improve the stability of the entire apparatus. According to the invention, threaded holes are uniformly distributed on the supporting plate 19, the threaded holes are screwed with fixing bolts 21, the end parts of the fixing bolts 21 are welded with the stirring ring 21, so that rotating rods can be conveniently inserted, and the auxiliary fixing bolts 21 are screwed in the threaded holes. The lower end of the fixing bolt 21 is clamped in a clamping groove on the rubber disc 22. When the whole device needs to be fixed, the rotating rod is inserted into the poking ring 21, and the fixing bolt 21 is screwed into the threaded hole; the puck 22 is then placed on the underside of the support plate 19 with the ends of the fixing bolts 21 inserted into the puck 22.
As shown in fig. 5, the angle of the solar cell can be adjusted in time according to the angle of the solar ray. According to the invention, the rotating motor 23 is fixed on the support rod 4, the fixing ring is fixed on the output shaft of the rotating motor 23, the support frame 24 is welded on the fixing ring, and the solar cell panel 3 is installed on the support frame 24.
As shown in fig. 6, a control system of a mobile cart for environmental monitoring according to an embodiment of the present invention includes: the system comprises an environment monitoring module 25, an environment data acquisition module 26, a data preprocessing module 27, a data credibility evaluation module 28, a central control module 29, an analysis model construction module 30, an environment data analysis module 31, an abnormal data early warning module 32, a data storage module 33 and an update display module 34.
The environment monitoring module 25 is connected with the central control module 29 and is used for monitoring the environment around the mobile cart in real time through monitoring equipment;
the environmental data acquisition module 26 is connected with the central control module 29 and is used for acquiring environmental data around the mobile cart through a sensor integrated in the sensor installation box;
the data preprocessing module 27 is connected with the central control module 29 and is used for performing redundancy processing on the acquired environmental data through a data preprocessing program and deleting obvious unreasonable abnormal environmental data;
the data credibility evaluation module 28 is connected with the central control module 29 and is used for carrying out credibility evaluation on the processed environment data by using a credibility weighting factor through a credibility evaluation program;
the central control module 29 is connected with the environment monitoring module 25, the environment data acquisition module 26, the data preprocessing module 27, the data credibility evaluation module 28, the analysis model construction module 30, the environment data analysis module 31, the abnormal data early warning module 32, the data storage module 33 and the update display module 34, and is used for coordinating and controlling the normal operation of each module of the control system of the mobile cart for environment monitoring through a central processing unit;
the analysis model construction module 30 is connected with the central control module 29 and used for constructing an environment data analysis model by using environment data with high reliability through a model construction program;
the environmental data analysis module 31 is connected with the central control module 29 and used for analyzing the acquired environmental data by utilizing the constructed environmental data analysis model through a data analysis program;
the abnormal data early warning module 32 is connected with the central control module 29 and is used for carrying out early warning notification on unreasonable abnormal environment data through an early warning device;
the data storage module 33 is connected with the central control module 29 and used for storing the acquired environmental data, abnormal environmental data, data reliability evaluation results, environmental data analysis models, environmental data analysis results and early warning notification information through a memory;
and the updating display module 34 is connected with the central control module 29 and is used for updating and displaying the acquired environmental data, abnormal environmental data, data reliability evaluation results, environmental data analysis models, environmental data analysis results and real-time data of early warning notification information through a display.
As shown in fig. 7, a control method of a mobile cart for environmental monitoring according to an embodiment of the present invention includes the following steps:
s101, utilizing monitoring equipment to monitor the environment around the mobile cart in real time through an environment monitoring module; the environmental data around the mobile cart are collected by a sensor integrated in a sensor installation box through an environmental data collection module;
s102, carrying out redundancy processing on the acquired environmental data by using a data preprocessing program through a data preprocessing module, and deleting obvious unreasonable abnormal environmental data;
s103, performing credibility evaluation on the processed environment data by using a credibility evaluation program through a data credibility evaluation module and using a credibility weighting factor;
s104, coordinating and controlling normal operation of each module of the control system of the mobile cart for environment monitoring by using a central processing unit through a central control module;
s105, constructing an environmental data analysis model by using a model construction program through an analysis model construction module and using environmental data with high reliability;
s106, analyzing the acquired environmental data by utilizing the constructed environmental data analysis model through the environmental data analysis module by utilizing a data analysis program; carrying out early warning notification on unreasonable abnormal environment data by using an early warning device through an abnormal data early warning module;
s107, storing the acquired environmental data, abnormal environmental data, data reliability evaluation results, environmental data analysis models, environmental data analysis results and early warning notification information by using a memory through a data storage module;
and S108, updating and displaying the acquired environmental data, abnormal environmental data, data reliability evaluation results, environmental data analysis models, environmental data analysis results and real-time data of early warning notification information by using the display through the updating and displaying module.
In step S101 provided by the embodiment of the present invention, the environmental data around the mobile cart includes temperature and humidity data, illumination intensity data, wind direction and wind speed data, and gas data around the mobile cart; wherein the gas data includes a carbon dioxide concentration value, a carbon monoxide concentration value, a nitrogen dioxide concentration value, a sulfur dioxide concentration value, and a PM2.5 value.
As shown in fig. 8, in step S102 provided in the embodiment of the present invention, the performing, by the data preprocessing module, redundant processing on the acquired environmental data by using the data preprocessing program includes:
s201, removing obvious unreasonable abnormal environment data through a data logic judgment method of a data preprocessing module, and identifying implicit outlier data by applying an unsupervised learning algorithm;
s202, identifying the reliability of the monitoring data by adopting a supervised learning algorithm through a data preprocessing program.
In step S202 provided in the embodiment of the present invention, if the deviation is not large, the data is reasonable, passes the audit, and is added to the historical data set; and otherwise, if the deviation is overlarge, the data is listed as suspicious data, and abnormal data is separated from the monitoring data time sequence by applying a support vector machine regression method.
The supervised learning algorithm provided by the embodiment of the invention is any one of a k-means clustering algorithm, a particle swarm optimization method, an artificial neural network algorithm and a support vector machine.
As shown in fig. 9, in step S105 provided in the embodiment of the present invention, the building, by the analysis model building module, an environment data analysis model using a model building program and using environment data with high reliability includes:
s301, dividing environment data with high reliability into training data and verification data through an analysis model building module, and converting the training data and the verification data into sequence data required by a model;
s302, an environment data analysis model is built through a model building program by utilizing training data, and then the optimal parameters of the model are selected according to MAE through verification data;
and S303, verifying and debugging the environmental data analysis model through the selected optimal parameters of the model to obtain a final environmental data analysis model.
The optimal parameter MAE of the verification data selection model provided by the embodiment of the invention comprises the following steps:
1) obtaining a predicted value c of the environmental data analysis modelpreAnd the true value cture；
2) The verification data is used as model input, and the model predicted value c is usedpreAnd the true value ctureAnd comparing, adopting MAE evaluation, and obtaining the optimal model parameters when the MAE is minimum:
wherein n represents the number of samples, ctrueRepresenting the true value, cpreRepresenting the predicted value.
As shown in fig. 10, in step S103 in the embodiment of the present invention, the specific steps of the reliability evaluation include:
s401, carrying out credibility grade classification on the processed environment data, extracting corresponding characteristics of the obtained evaluation data, and taking the characteristics as input;
s402, marking the reliability grade of the training data by adopting a method based on rules and manual combination;
s403, calling the established credibility grade classification model according to the evaluation subject to obtain the credibility grade of the evaluation data;
as shown in fig. 11, in step S106 in the embodiment of the present invention, the method for detecting abnormal environment data adopted by the abnormal data early warning module includes:
s501, constructing an information matrix and a similarity matrix by using the collected environmental data;
s502, calculating the similarity between any two pieces of environment data, and constructing a similarity matrix of the environment data according to the obtained similarity result;
s503, performing K-media clustering on the constructed similarity matrix for multiple times with different K values, and recording different K values and corresponding clustering results thereof;
and S504, evaluating and analyzing through an evaluating function according to the obtained clustering result to obtain an optimal clustering and abnormal environment data set.
The invention is further described below in connection with the working principle.
The working principle of the mobile cart for environment monitoring provided by the invention is as follows: in the invention, an output shaft of a rotating motor is connected with a sensor installation box 1, and a sensor installation groove is arranged on the side surface of the sensor installation box 1 and used for detecting environmental parameters. When the whole device is fixed, the roller 16 on one side of the connecting rod 13 is separated from the ground through the electric telescopic rod, and the whole device is fixed. When the whole device needs to be fixed, the rotating rod is inserted into the poking ring 21, and the fixing bolt 21 is screwed into the threaded hole; the puck 22 is then placed on the underside of the support plate 19 with the ends of the fixing bolts 21 inserted into the puck 22.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention, and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents, and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A control method of a mobile cart for environmental monitoring, characterized by comprising the steps of:
monitoring the environment around the mobile cart in real time by using monitoring equipment through an environment monitoring module; the environmental data around the mobile cart are collected by a sensor integrated in a sensor installation box through an environmental data collection module;
performing redundant processing on the acquired environmental data by using a data preprocessing program through a data preprocessing module, and deleting obvious unreasonable abnormal environmental data;
thirdly, performing credibility evaluation on the processed environment data by using a credibility evaluation program and a credibility weighting factor through a data credibility evaluation module;
the reliability evaluation method specifically comprises the following steps:
classifying the processed environment data according to the credibility grade, extracting corresponding characteristics of the obtained evaluation data, and taking the characteristics as input;
marking the reliability grade of the training data by adopting a method based on the combination of rules and manpower;
calling the established credibility grade classification model according to the evaluation main body to obtain the credibility grade of the evaluation data;
step four, the central control module utilizes a central processing unit to coordinate and control the normal operation of each module of the control system of the mobile cart for environment monitoring;
fifthly, an analysis model building module builds an environment data analysis model by using a model building program and environment data with high reliability;
analyzing the acquired environmental data by utilizing the constructed environmental data analysis model through an environmental data analysis module by utilizing a data analysis program; carrying out early warning notification on unreasonable abnormal environment data by using an early warning device through an abnormal data early warning module;
the detection method of the abnormal environment data adopted by the abnormal data early warning module comprises the following steps:
constructing an information matrix and a similarity matrix by using the collected environmental data;
calculating the similarity between any two pieces of environment data, and constructing a similarity matrix of the environment data according to the obtained similarity result;
performing K-media clustering on the constructed similarity matrix for multiple times with different K values, and recording different K values and corresponding clustering results thereof;
performing evaluation analysis through an evaluation function according to the obtained clustering result to obtain an optimal clustering and abnormal environment data set;
storing the acquired environmental data, abnormal environmental data, data reliability evaluation results, an environmental data analysis model, environmental data analysis results and early warning notification information by using a memory through a data storage module;
and step eight, updating and displaying the acquired environmental data, abnormal environmental data, data reliability evaluation results, environmental data analysis models, environmental data analysis results and real-time data of early warning notification information by using the display through the updating and displaying module.
2. The control method of the mobile cart for environmental monitoring according to claim 1, wherein in the first step, the environmental data around the mobile cart includes temperature and humidity data, light intensity data, wind direction and wind speed data, and gas data around the mobile cart; wherein the gas data includes a carbon dioxide concentration value, a carbon monoxide concentration value, a nitrogen dioxide concentration value, a sulfur dioxide concentration value, and a PM2.5 value.
3. The method for controlling a mobile cart for environmental monitoring as set forth in claim 1, wherein in step two, the redundant processing of the collected environmental data by the data preprocessing module using the data preprocessing program comprises:
(1) removing obvious and unreasonable abnormal environmental data by a data logic judgment method of a data preprocessing module, and identifying implicit outlier data by applying an unsupervised learning algorithm;
(2) identifying the reliability of the monitoring data by adopting a supervised learning algorithm through a data preprocessing program;
if the deviation is not large, the data is reasonable, passes the audit and is added into the historical data set; and otherwise, if the deviation is overlarge, the data is listed as suspicious data, and abnormal data is separated from the monitoring data time sequence by applying a support vector machine regression method.
4. The method as claimed in claim 3, wherein the supervised learning algorithm is any one of k-means clustering algorithm, particle swarm optimization, artificial neural network algorithm, and support vector machine.
5. The method for controlling a mobile cart for environmental monitoring according to claim 1, wherein in step five, the building of the environmental data analysis model using the model building program by the analysis model building module and the environment data with high reliability includes:
(1) dividing environment data with high reliability into training data and verification data through an analysis model building module, and converting the training data and the verification data into sequence data required by a model;
(2) constructing an environmental data analysis model by using training data through a model construction program, and selecting the optimal parameters of the model according to the MAE by using verification data;
(3) and verifying and debugging the environmental data analysis model by selecting the optimal parameters of the obtained model to obtain the final environmental data analysis model.
6. The method for controlling a mobile cart for environmental monitoring according to claim 5, wherein in the step (2), the verifying data selects the optimal parameter MAE of the model, comprising:
1) obtaining a predicted value c of the environmental data analysis modelpreAnd the true value cture；
2) The verification data is used as model input, and the model predicted value c is usedpreAnd the true value ctureAnd comparing, adopting MAE evaluation, and obtaining the optimal model parameters when the MAE is minimum:
wherein n represents the number of samples, ctrueRepresenting the true value, cpreRepresenting the predicted value.
7. A control system of a mobile cart for environmental monitoring implementing the control method of the mobile cart for environmental monitoring according to any one of claims 1 to 6, characterized in that the control system of the mobile cart for environmental monitoring comprises:
the system comprises an environment monitoring module, an environment data acquisition module, a data preprocessing module, a data credibility evaluation module, a central control module, an analysis model construction module, an environment data analysis module, an abnormal data early warning module, a data storage module and an updating display module;
the environment monitoring module is connected with the central control module and is used for monitoring the environment around the mobile cart in real time through monitoring equipment;
the environment data acquisition module is connected with the central control module and used for acquiring environment data around the mobile cart through a sensor integrated in the sensor installation box;
the data preprocessing module is connected with the central control module and used for performing redundant processing on the acquired environmental data through a data preprocessing program and deleting obvious and unreasonable abnormal environmental data;
the data credibility evaluation module is connected with the central control module and used for carrying out credibility evaluation on the processed environment data by using the credibility weighting factor through a credibility evaluation program;
the central control module is connected with the environment monitoring module, the environment data acquisition module, the data preprocessing module, the data credibility evaluation module, the analysis model construction module, the environment data analysis module, the abnormal data early warning module, the data storage module and the updating display module and is used for coordinating and controlling the normal operation of each module of the control system of the mobile cart for environment monitoring through the central processing unit;
the analysis model building module is connected with the central control module and used for building an environment data analysis model by using environment data with high reliability through a model building program;
the environment data analysis module is connected with the central control module and used for analyzing the acquired environment data by utilizing the constructed environment data analysis model through a data analysis program;
the abnormal data early warning module is connected with the central control module and is used for carrying out early warning notification on unreasonable abnormal environment data through the early warning device;
the data storage module is connected with the central control module and used for storing the acquired environmental data, abnormal environmental data, data reliability evaluation results, an environmental data analysis model, environmental data analysis results and early warning notification information through a memory;
and the updating display module is connected with the central control module and used for updating and displaying the acquired environmental data, abnormal environmental data, data reliability evaluation results, the environmental data analysis model, the environmental data analysis results and the real-time data of the early warning notification information through the display.
8. A mobile cart for environmental monitoring to which the control system of the mobile cart for environmental monitoring of claim 7 is applied, characterized in that the mobile cart for environmental monitoring is provided with:
a main chassis;
a support base is fixed at the lower end of the main case, and support legs are arranged at four corners of the main case;
a support table is fixed on the upper side of the mainframe box, a support rod is fixed on the upper side of the support table, and a solar cell panel is fixed on the upper side of the support rod;
a rotating seat is fixed at the upper end of the supporting rod, and an installation groove is formed in the upper side of the rotating seat;
a rotating motor and a bearing are fixed in the mounting groove, an output shaft of the rotating motor is connected with a sensor mounting box, and a sensor mounting groove is formed in the side surface of the sensor mounting box;
the middle position of the bottom of the main case is provided with a mounting groove, and the mounting groove is provided with a supporting base;
the support base upside is provided with the part and places the case, supports the base bottom side and is provided with the pull groove, and pull inslot portion joint has the backup pad, and the backup pad tip is provided with the pull groove.
9. The mobile cart for environmental monitoring according to claim 8, wherein a door is fixed on the front side of the main cabinet through a pin shaft, the door is provided with a ventilation grid, and a handle is arranged at the right end of the door;
the bottom side of the mainframe box is provided with a clamping groove, and the end part of the clamping groove is connected with a connecting rod through a pin shaft; a roller supporting frame is fixed at the end part of the connecting rod, and a roller is fixed at the lower end of the roller supporting frame through a pin shaft;
the joint groove internally mounted has electric telescopic handle, and electric telescopic handle passes through the hinge and is connected with the connecting rod.
10. The mobile cart for environmental monitoring according to claim 8, wherein threaded holes are uniformly distributed on the support plate, fixing bolts are screwed in the threaded holes, a stirring ring is welded at the end of each fixing bolt, and the lower ends of the fixing bolts are clamped in clamping grooves on the rubber disc;
a rotating motor is fixed on the supporting rod, and a fixing ring is fixed on an output shaft of the rotating motor; the fixed ring is welded with a support frame, and the support frame is provided with a solar cell panel.
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| CN202110135565.0A CN112762972A (en) | 2021-02-01 | 2021-02-01 | Mobile cart for environment monitoring and control system and control method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116229036A (en) * | 2023-05-06 | 2023-06-06 | 山东国研自动化有限公司 | Data acquisition system, method, computer device and storage medium |
| CN116883755A (en) * | 2023-07-20 | 2023-10-13 | 广州新城建筑设计院有限公司 | Rural construction environment monitoring method, system, equipment and storage medium |
| CN117470306A (en) * | 2023-10-31 | 2024-01-30 | 上海永大菌业有限公司 | Mushroom shed growth environment monitoring and analyzing method and system |
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- 2021-02-01 CN CN202110135565.0A patent/CN112762972A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116229036A (en) * | 2023-05-06 | 2023-06-06 | 山东国研自动化有限公司 | Data acquisition system, method, computer device and storage medium |
| CN116883755A (en) * | 2023-07-20 | 2023-10-13 | 广州新城建筑设计院有限公司 | Rural construction environment monitoring method, system, equipment and storage medium |
| CN116883755B (en) * | 2023-07-20 | 2024-03-26 | 广州新城建筑设计院有限公司 | Rural construction environment monitoring method, system, equipment and storage medium |
| CN117470306A (en) * | 2023-10-31 | 2024-01-30 | 上海永大菌业有限公司 | Mushroom shed growth environment monitoring and analyzing method and system |
| CN117470306B (en) * | 2023-10-31 | 2024-04-02 | 上海永大菌业有限公司 | Mushroom shed growth environment monitoring and analyzing method and system |
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