CN113820151A - Method for detecting leakage point of fan filtering unit by using multiple unmanned aerial vehicles - Google Patents
Method for detecting leakage point of fan filtering unit by using multiple unmanned aerial vehicles Download PDFInfo
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- CN113820151A CN113820151A CN202110905478.9A CN202110905478A CN113820151A CN 113820151 A CN113820151 A CN 113820151A CN 202110905478 A CN202110905478 A CN 202110905478A CN 113820151 A CN113820151 A CN 113820151A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume, or surface-area of porous materials
- G01N15/06—Investigating concentration of particle suspensions
Abstract
The utility model relates to a method for using many unmanned aerial vehicles to detect Fan Filter Unit (FFU) leak source in clean factory building, belong to the clean field of indoor environment, this method adopts unmanned aerial vehicle as testing platform, carry on laser ranging sensor, the light stream sensor, UWB ultra wide band indoor location sensor, Openmv visual positioning sensor, multiple sensors such as particulate matter sensor, many unmanned aerial vehicles cruises according to established route and detects the FFU air outlet, through data transmission module to control system transmission particulate matter concentration and FFU positional information. Aiming at the standard reaching detection of the FFU in the clean workshop, a simple and easy detection method which is low in cost, has no influence on the production environment and is high in efficiency is provided.
Description
Technical Field
The patent relates to the field of indoor environment cleaning, in particular to a method for detecting leakage points of fan filtering units by using multiple unmanned aerial vehicles.
Background
With the rapid development of economy and continuous progress of science and technology, the requirement of people on the quality of products is higher and higher, the cleanliness of the production environment is a key factor for determining the finished product rate of the products, and particularly, the cleanliness of the production environment is strictly required in the fields of electronics, pharmacy, food, bioengineering, medical treatment, laboratories and the like. Therefore, the requirement of the cleanliness for production is a precondition and a basis for ensuring efficient production and product quality.
At present, fan filter units (FFU for short in English, hereinafter described as FFU) are widely used in production spaces for purifying indoor ventilation, the production spaces usually occupy a large area and need to hoist a large number of FFUs to meet production cleanliness standards, the FFUs are in a risk of not meeting the cleanliness standards in the installation process, namely the FFUs after installation possibly have leakage points, the existing fan filter unit leakage detection method mainly adopts manual detection, and the method is long in time consumption and large in workload and needs to perform secondary disinfection and killing on detected places.
The method that uses many unmanned aerial vehicles to detect fan filter unit leak source that this patent introduced adopts unmanned aerial vehicle as detecting the main part, possesses consuming time weak point, and degree of automation is high and running cost is low advantage, can discover fan filter unit not up to standard fast, in time guides the staff to maintain or replace it, ensures that clean factory building reaches production standard.
In conclusion, the method for detecting the leakage point of the fan filtering unit by using multiple unmanned planes is an effective means for improving the detection efficiency of the leakage point of the fan filtering unit by using the unmanned planes. In the existing fan filtering unit leakage point detection method, a method for detecting the leakage point of the fan filtering unit by using multiple unmanned aerial vehicles does not exist.
Disclosure of Invention
In view of this, the present disclosure provides a simple and inexpensive detection method with no influence on the production environment and high efficiency, and the feasibility of the method is verified by performing an experiment in the experimental environment, so that the method is suitable for the field of indoor cleaning.
The purpose of the patent is realized by the following technical scheme: a method for detecting a fan filter unit leak source by using multiple unmanned aerial vehicles. The method is characterized by comprising the following steps:
1) the power supply of the unmanned aerial vehicle is started, and each unmanned aerial vehicle is connected with the ground station to be completed. The marked unmanned aerial vehicle is started, and after the unmanned aerial vehicle is preheated, the unmanned aerial vehicle starts to patrol after reaching the takeoff rotating speed.
2) And enabling the fan filtering unit to be detected to be in a working state. Marking that the unmanned aerial vehicle flies to the first fan filtering unit, taking the first fan filtering unit as a reference fan filtering unit and setting the first fan filtering unit as a coordinate origin FOAnd establishing a virtual two-dimensional plane coordinate system, and then sequentially taking off the rest unmanned aerial vehicles to reach the fan filtering units needing detection of the unmanned aerial vehicles, and inspecting according to the determined path.
3) The unmanned aerial vehicle detects the fan filter unit through two kinds of motion modes of quarter turn and straight line grazing.
4) Unmanned aerial vehicle acquires required particulate matter concentration information through the particulate matter sensor who carries on.
5) The unmanned aerial vehicle acquires FFU position information through the carried UWB indoor positioning system.
6) Unmanned aerial vehicle passes through data transmission module and transmits real-time particulate matter concentration and FFU positional information to control system, carries out analysis and processing to the information. And returning to the ground after the unmanned aerial vehicle finishes the inspection, and stopping working.
Further, unmanned aerial vehicle is connected with the ground station through data transmission module in step 1, and when data transmission module pilot lamp kept bright often and connect the success promptly, data transmission module can send the FFU coordinate that the leak source problem appears and the particulate matter concentration that corresponds to the ground station, communicates through Zigbee DL-20 wireless serial ports transceiver module between unmanned aerial vehicle and the unmanned aerial vehicle simultaneously.
Further, in the step 2, the unmanned aerial vehicle is used for auxiliary positioning through an Openmv visual positioning sensor, and the upper fan filtering unit is positioned by using a visual identification algorithm, so that the unmanned aerial vehicle is accurately moved to a position right below an air port of the fan filtering unit.
Further, in the step 2, the position of the mark is determined by the UWB indoor positioning systemThe man-machine is at indoor coordinate, and the first fan filter unit that marks unmanned aerial vehicle flight reaches is the angular point of dead ahead fan filter unit matrix, in the virtual two-dimensional plane coordinate system, the dead ahead of unmanned aerial vehicle is the y axle forward, and positive left side is the x axle forward. Obtaining a current virtual coordinate system origin F from UWBOCorresponding real indoor coordinate RO(xO，yO) According to the regularity of the installation of the fan filter units, i.e. the distance between adjacent fan filter units is constant (D)XRepresenting the transverse distance between the fan filter units, DYRepresenting the longitudinal distance between fan filter units), the coordinates of the second and third departing drones can be obtained, and the R of the drone is referencedOThe point coordinates can map out real space coordinates corresponding to three unmanned aerial vehicles, and coordinates of the fan filtering unit can be obtained at the same time.
Further, in step 2, full duplex communication between the unmanned aerial vehicle and the unmanned aerial vehicle is performed in a point-to-point manner by using a bluetooth module DL-20, and the transmitted data are as follows: the unmanned aerial vehicle reaches the coordinate data right below the fan filtering unit.
Further, the plane of the air outlet of the fan filtering unit in the step 3 is rectangular, and the worst detection point of the fan filtering unit in the right-angle turning and straight line sweeping mode of the unmanned aerial vehicle is located at the right-angle point of the plane of the air outlet.
Further, the concentration of the particles obtained by the unmanned aerial vehicle in the step 4 is compared with the concentration c of the particles reaching the standard in the production environment, and when the non-purification rate is greater than 0.01%, the fan filtering unit does not reach the standard.
Specifically, the unpurified rate of the air filter unit is obtained according to the following formula:
a represents the concentration of particles at the air outlet of the fan filtering unit in unit time
B represents the concentration of particles at the air inlet of the fan filtering unit in unit time
According to the method for detecting the leakage point of the fan filtering unit by using the multiple unmanned aerial vehicles, the unmanned aerial vehicles are used as carriers, various auxiliary sensors are carried in a mode of cooperative operation of the multiple unmanned aerial vehicles, and the concentration of particulate matters and the FFU position information are collected and analyzed to position and obtain the operation condition of the fan filtering unit.
Drawings
FIG. 1 is a diagram of the flight attitude of an unmanned aerial vehicle using a method for detecting a fan filter unit leak point using multiple unmanned aerial vehicles according to the present invention
FIG. 2 is a routing diagram of a method for detecting fan filter unit leakage points using multiple drones according to the present invention
FIG. 3 is a system flow diagram of a method for detecting fan filter unit leak points using multiple drones in accordance with the present invention
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention provides a method for detecting leakage points of a fan filtering unit by using multiple unmanned aerial vehicles, which comprises the following steps:
1) and starting the power supply of the unmanned aerial vehicle, and connecting each unmanned aerial vehicle with the control system to complete. The marked unmanned aerial vehicle is started, and after the unmanned aerial vehicle is preheated, the unmanned aerial vehicle starts to patrol after reaching the takeoff rotating speed.
Unmanned aerial vehicle passes through the bluetooth and is connected with control system, and the data transmission module pilot lamp keeps often bright promptly to connect successfully.
Guarantee during the inspection that unmanned aerial vehicle disturbance is less on every side, prevent the influence of being connected unmanned aerial vehicle and control system.
2) And enabling the fan filtering unit to be detected to be in a working state. Marking that the unmanned aerial vehicle flies to the first fan filtering unit, taking the first fan filtering unit as a reference fan filtering unit and setting the first fan filtering unit as a coordinate origin FOAnd establishing a virtual two-dimensional plane coordinate system, and then sequentially taking off the rest unmanned aerial vehicles to reach the fan filtering units needing detection of the unmanned aerial vehicles, and inspecting according to the determined path.
Unmanned aerial vehicle is used for assistance-localization real-time through Openmv visual positioning sensor, utilizes the fan filter unit in visual identification algorithm location top, moves unmanned aerial vehicle to under the fan filter unit wind gap accurately.
Through the indoor positioning system of UWB location an unmanned aerial vehicle in indoor coordinate, mark that the first fan filter unit that unmanned aerial vehicle flies to reach is the angular point of dead ahead fan filter unit matrix, in the virtual two-dimensional plane coordinate system, the dead ahead of unmanned aerial vehicle is the y axle forward, and the dead left side is the x axle forward. Obtaining a current virtual coordinate system origin F from UWBOCorresponding real indoor coordinate RO(xO，yO) According to the regularity of the installation of the fan filter units, i.e. the distance between adjacent fan filter units is constant (D)XRepresenting the transverse distance between the fan filter units, DYRepresenting the longitudinal distance between fan filter units), the virtual coordinates of the second and third departing drones can be obtained, and the R of the drone is referencedOAnd (4) point coordinates can map real space coordinates corresponding to the three unmanned aerial vehicles, and coordinates of the fan filtering unit are obtained. A path planning diagram of a method for detecting the leakage point of the fan filtering unit by multiple unmanned planes is shown in FIG. 2.
Utilize bluetooth module DL-20 to carry out full duplex communication between unmanned aerial vehicle and the unmanned aerial vehicle with point-to-point mode between unmanned aerial vehicle and the unmanned aerial vehicle, the data of transmission have: the unmanned aerial vehicle reaches the coordinate data right below the fan filtering unit.
3) The unmanned aerial vehicle detects the fan filter unit through two kinds of motion modes of quarter turn and straight line grazing.
The plane of the air outlet of the fan filtering unit is rectangular, and the worst detection point existing in the unmanned aerial vehicle through the fan filtering unit in a right-angle turning and straight line sweeping mode is located at the angular point of the plane of the air outlet.
The schematic diagram of the filter unit of the unmanned plane turning at right angle and sweeping the fan straight line is shown in figure 1.
4) Unmanned aerial vehicle acquires required particulate matter concentration information through the particulate matter sensor who carries on.
Particulate matter concentration that unmanned aerial vehicle obtained compares with the particulate matter concentration up to standard in the production environment, and when not purifying rate is greater than 0.01% it is not up to standard to show fan filter unit.
Specifically, the unpurified rate of the air filter unit is obtained according to the following formula:
a represents the concentration of particles at the air outlet of the fan filtering unit in unit time
B represents the concentration of particles at the air inlet of the fan filtering unit in unit time
5) The unmanned aerial vehicle transmits the time-by-time particulate matter concentration and the FFU position information to the control system through the data transmission module, and the information is analyzed and processed. And returning to the ground after the unmanned aerial vehicle finishes the inspection, and stopping working.
The above-mentioned embodiments are only given for the purpose of more clearly illustrating the technical solutions of the present invention, and are not intended to limit the present invention, and the modifications of the technical solutions of the present invention by those of ordinary skill in the art based on the common general knowledge in the art are also within the scope of the present invention.
Claims (7)
1. A method for detecting the leakage point of a fan filtering unit by using multiple unmanned planes is characterized by comprising the following steps:
(1) starting the power supply of the unmanned aerial vehicle, completing the connection of each unmanned aerial vehicle and the ground station, starting the marked unmanned aerial vehicle, and starting to inspect after the unmanned aerial vehicle reaches the takeoff rotating speed after the unmanned aerial vehicle is preheated;
(2) the fan filter unit to be detected is enabled to be in a working state, the unmanned aerial vehicle is marked to fly to the first fan filter unit, and the first fan filter unit is used as a reference fan filter unit and is set as a coordinate origin FOEstablishing a virtual two-dimensional plane coordinate system, then sequentially taking off the rest unmanned aerial vehicles to reach the fan filter units needing to be detected, and inspecting according to the determined path;
(3) the unmanned aerial vehicle detects the fan filtering unit through two motion modes of right-angle turning and straight line sweeping;
(4) the unmanned aerial vehicle acquires the concentration of the required particulate matters and the FFU position information through the carried particulate matter sensor;
(5) unmanned aerial vehicle will be time-by-time particulate matter concentration and FFU positional information transmission to control system through data transmission module, carries out analysis and processing to information, and unmanned aerial vehicle patrols and examines and returns ground, stop work after finishing.
2. The method for detecting the leakage point of the fan filter unit by using the unmanned aerial vehicle as claimed in claim 1, wherein in the step 1, the unmanned aerial vehicle is connected with the ground station through the data transmission module, and when the indication lamp of the data transmission module is kept constantly on, that is, the connection is successful, the data transmission module sends the FFU coordinate with the leakage point problem and the corresponding particulate matter concentration to the ground station.
3. The method for detecting the leakage point of the fan filter unit by using the unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle is used for auxiliary positioning by an Openmv visual positioning sensor in the step 2, and the unmanned aerial vehicle is accurately moved to a position right below the air port of the fan filter unit by positioning the upper fan filter unit by using a visual recognition algorithm.
4. The method according to claim 1, wherein the coordinates of the unmanned aerial vehicle in the room are located by a UWB indoor positioning system in step 2, the first fan filter unit that the unmanned aerial vehicle flies to is a corner point of a fan filter unit matrix right in front, and in the virtual two-dimensional plane coordinate system, the direction right in front of the unmanned aerial vehicle is a y-axis forward direction, and the direction right to the left is an x-axis forward direction. Obtaining a current virtual coordinate system origin F from UWBOCorresponding real indoor coordinate RO(xO，yO) According to the regularity of the installation of the fan filter units, i.e. the distance between adjacent fan filter units is constant (D)XRepresenting the transverse distance between the fan filter units, DYRepresenting the longitudinal distance between fan filter units), the coordinates of the second and third departing drones can be obtained, and the R of the drone is referencedOPoint coordinates, which can map out three unmanned aerial vehicles correspond toThe real space coordinate can also obtain the coordinate of the fan filtering unit.
5. The method for detecting the fan filter unit missing point by using the unmanned aerial vehicle as claimed in claim 1, wherein in step 2, full duplex communication between the unmanned aerial vehicle and the unmanned aerial vehicle is performed in a point-to-point manner by using a bluetooth module DL-20, and the transmitted data is as follows: the unmanned aerial vehicle reaches the coordinate data right below the fan filtering unit.
6. The method for detecting the leakage point of the fan filter unit by using the unmanned aerial vehicle as claimed in claim 1, wherein the plane of the air outlet of the fan filter unit in the step 3 is rectangular, and the worst detection point existing in the fan filter unit by the unmanned aerial vehicle in the manner of right-angle turning and straight line sweeping is located at the right-angle point of the plane of the air outlet.
7. The method according to claim 1, wherein the concentration of the particles obtained by the drone in step 4 is compared with the concentration of the particles reaching the standard in the production environment, and when the unpurified rate is greater than 0.01%, the blower filter unit does not reach the standard, and the unpurified rate of the air filter unit is obtained according to the following formula:
a represents the concentration of particles at the air outlet of the fan filtering unit in unit time,
and B represents the concentration of particles at the air inlet of the fan filtering unit in unit time.
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Application publication date: 20211221 |