CN114364017B - Cascade node physical position automatic calibration method, device, medium and equipment - Google Patents
Cascade node physical position automatic calibration method, device, medium and equipment Download PDFInfo
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Abstract
The invention relates to an automatic calibration and calibration method for physical positions of cascade nodes, which comprises the steps of obtaining characteristic data sets of the cascade nodes, sequencing the characteristic data sets of all the cascade nodes to obtain sequencing results of the characteristic data sets, obtaining first position sequencing sets of all the cascade nodes based on the sequencing results, comparing all the first position sequencing sets, and if sequence results of all the cascade nodes are not obtained, carrying out physical position calibration on the cascade nodes after a to-be-calibrated cascade node sequence passes through a calibration flow, and obtaining the health state of the cascade nodes. The invention realizes that the correct relative positions of the nodes can be obtained through the automatic operation, and the calibration of the actual physical positions of the nodes on the linear array is automatically completed by combining the known relative spacing rule among the nodes, and the diagnosis result of the deployment state or the health state of the cascade linear array is obtained. The invention also relates to a device for automatically calibrating and calibrating the physical position of the cascade node, a storage medium and equipment.
Description
Technical Field
The invention relates to the technical field of the internet of things, in particular to a method, a device, a medium and equipment for automatically calibrating and calibrating physical positions of cascade nodes.
Background
Each cascade node of the existing security system needs to be calibrated with the actual physical position, so that the position of the occurrence of the alarm condition is accurately judged, specific alarm positioning is given, and security personnel are guided to remove the alarm condition. At present, manual calibration is generally needed, the requirement on manpower is high, and the working efficiency is low.
Disclosure of Invention
The invention aims to solve the technical problem of providing a cascade node physical position automatic calibration and calibration method and device aiming at the defects of the prior art.
The technical scheme for solving the technical problems is as follows:
a cascade node physical position automatic calibration and calibration method comprises the following steps:
s1, acquiring a characteristic parameter set of a cascade node, and associating the cascade node with characteristic parameters in the characteristic parameter set to obtain a characteristic data set of the cascade node;
s2, sorting all the characteristic data sets of the cascade nodes according to the rule values between the characteristic data sets and the node positions of the cascade nodes to obtain sorting results of the characteristic data sets, and obtaining first position sorting sets of all the cascade nodes based on the sorting results;
S3, repeating the steps S1 to S2 until the first position ordered groups with the preset number are obtained, comparing all the first position ordered groups, judging whether sequence results of all the cascade nodes are obtained according to comparison results, if not, obtaining a cascade node sequence to be calibrated according to the comparison results, and obtaining sequence results of all the cascade nodes after the cascade node sequence to be calibrated passes through a calibration flow;
s4, calibrating physical positions of the cascade nodes based on the relative interval rule values among the cascade nodes and the sequence result, and obtaining the health state of the cascade nodes according to the sequence result and the characteristic data set.
The method has the beneficial effects that: the invention provides a cascade node physical position automatic calibration and calibration method, which comprises the steps of obtaining a characteristic parameter set of a cascade node, and obtaining a characteristic data set of the cascade node after correlating the characteristic parameters in the characteristic parameter set with the cascade node; sorting all the feature data sets of the cascade nodes according to the rule values between the feature data sets and the node positions of the cascade nodes to obtain sorting results of the feature data sets, and obtaining first position sorting sets of all the cascade nodes based on the sorting results; repeating the steps until the first position ordered groups with the preset number are obtained, comparing all the first position ordered groups, judging whether sequence results of all the cascade nodes are obtained according to the comparison results, if not, obtaining a cascade node sequence to be calibrated according to the comparison results, and obtaining sequence results of all the cascade nodes after the cascade node sequence to be calibrated passes through a calibration flow; and calibrating the physical position of the cascade node based on the relative interval regular value among the cascade nodes and the sequence result, and obtaining the health state of the cascade node according to the sequence result and the characteristic data set. The invention realizes that the correct relative positions of the nodes can be obtained through the automatic operation, and the calibration of the actual physical positions of the nodes on the linear array is automatically completed by combining the known relative spacing rule among the nodes.
On the basis of the technical scheme, the invention can be improved as follows.
Further, after the cascade node sequence to be calibrated passes through a calibration process, sequence results of all the cascade nodes are obtained, which specifically includes:
s31, selecting a cascade node with a working state to be changed from the cascade node sequence to be calibrated, after changing the working state of the cascade node with the working state to be changed, acquiring a characteristic parameter set of the cascade node in the cascade node sequence to be calibrated, and obtaining a second position ordering group of the cascade node in the cascade node sequence to be calibrated based on the characteristic parameter set, wherein the cascade node sequence to be calibrated comprises a plurality of node groups to be checked, and the node groups to be calibrated comprise a plurality of nodes to be calibrated;
s32, according to the second position sorting group and the sequence result of the cascade node sequence to be calibrated, performing position calibration on the cascade nodes meeting preset calibration conditions in the cascade node sequence to be calibrated, and eliminating cascade nodes with position calibration completed in the cascade node sequence to be calibrated;
s33, if the position calibration of all the cascade nodes to be calibrated in the cascade node sequence to be calibrated is completed, obtaining sequence results of all the cascade nodes;
Otherwise, calibrating the cascade nodes to be verified based on a preset rule, and repeating the steps S31 to S32 until the position calibration of all the cascade nodes in the cascade node sequence to be calibrated is completed, so as to obtain the sequence result of all the cascade nodes.
The beneficial effects based on the further method scheme are as follows: based on the sequence of the cascade nodes to be calibrated passing through the calibration flow, the sequence results of all the cascade nodes are obtained, the working efficiency of automatic calibration of the positions is improved, and meanwhile, the accuracy of the position calibration of the nodes is also improved.
Further, the acquiring the feature parameter set of the cascade node specifically includes:
and acquiring the original values of the characteristic parameters in the characteristic parameter set of the cascade node for a plurality of times, filtering the acquired original values of the characteristic parameters to obtain the characteristic parameter value with the confidence degree higher than the preset confidence degree, and further obtaining the characteristic parameter set of the cascade node.
The beneficial effects based on the further method scheme are as follows: the characteristic parameters of the nodes can be accurately obtained through repeated collection and filtration of the characteristic parameter values of the nodes, so that the accuracy of the position calibration of the cascade nodes is improved.
Further, the obtaining the health status of the cascade node according to the sequence result and the characteristic data set specifically includes:
and solving a mean square error of the difference value of the characteristic data in the characteristic data set between every two adjacent cascade nodes in the sequence result, and determining the health state of the cascade nodes according to the mean square error.
The beneficial effects based on the further method scheme are as follows: based on the sequence result and the characteristic data set, the health state of the cascade node is obtained, the node with the problem can be found as early as possible, and the safety of the system is maintained.
Further, in S3, comparing all the first position sorting groups, and judging whether to obtain the sequence results of all the cascade nodes according to the comparison result, if not, obtaining the cascade node sequence to be calibrated according to the comparison result, which specifically includes:
and comparing all the first position sequencing groups, and if the relative positions of all the cascade nodes in all the first position sequencing groups are completely consistent, obtaining the sequence result of all the cascade nodes.
If cascade nodes with inconsistent relative positions exist in all the first position sorting groups, marking the cascade nodes to obtain a cascade node sequence to be calibrated.
The beneficial effects based on the further method scheme are as follows: based on comparison of all the first position sorting groups, judging whether sequence results of all the cascade nodes are obtained according to the comparison results, if not, obtaining the cascade node sequence to be calibrated according to the comparison results, and achieving automatic acquisition and calibration of the relative positions of the acceleration completion nodes.
Further, in S32, according to the second position sorting group and the sequence result of the cascade node sequence to be calibrated, performing position calibration on the cascade nodes in the cascade node sequence to be calibrated, where the cascade nodes meet the preset calibration conditions, specifically includes:
and comparing the second position sorting group with the sequence result of the cascade node sequence to be calibrated.
If the number of times of the cascade node in the same position in the sequence result of the cascade node sequence to be calibrated and the second position sequencing group meets the number of times in the preset calibration condition, and other cascade nodes in the same position, which do not meet the preset calibration condition, participate in competition, the same position is calibrated as the position of the cascade node.
Calibrating the cascade node to be verified based on a preset rule, specifically comprising:
and if the number of times of the cascade node in the same position in the sequence result of the cascade node sequence to be calibrated and the second position sorting group does not meet the number of times in the preset calibration condition or other cascade nodes appear in the position, setting the cascade node and the other cascade nodes appearing in the position as the cascade node to be calibrated.
The beneficial effects based on the further method scheme are as follows: according to the second position sorting group and the sequence result of the cascade node sequence to be calibrated, the cascade nodes which are in the cascade node sequence to be calibrated and accord with the preset calibration conditions are subjected to position calibration, and the automatic acquisition and calibration of the relative positions of the nodes can be accelerated.
The other technical scheme for solving the technical problems is as follows:
an automatic calibration and calibration device for physical positions of cascade nodes, comprising:
the acquisition unit is used for acquiring a characteristic parameter set of the cascade node, and acquiring a characteristic data set of the cascade node after correlating the characteristic parameters in the characteristic parameter set with the characteristic parameters of the cascade node;
the sequencing unit is used for sequencing all the characteristic data sets of the cascade nodes according to the rule values between the characteristic data sets and the node positions of the cascade nodes to obtain sequencing results of the characteristic data sets, and obtaining first position sequencing groups of all the cascade nodes based on the sequencing results;
the comparison unit is used for repeating the acquisition unit and the sequencing unit until the first position sequencing groups with the preset groups are obtained, comparing all the first position sequencing groups, judging whether sequence results of all the cascade nodes are obtained according to comparison results, and obtaining a cascade node sequence to be calibrated according to the comparison results if the sequence results of all the cascade nodes are not obtained;
And the calibration unit is used for obtaining sequence results of all the cascade nodes after the cascade node sequences to be calibrated pass through a calibration flow.
And the calibration unit is used for calibrating the physical position of the cascade node based on the relative interval rule value among the cascade nodes and the sequence result, and obtaining the health state of the cascade node according to the sequence result and the characteristic data set.
Further, the calibration unit comprises an adjustment module, a calibration module and a confirmation module;
the adjusting module is specifically configured to select a cascade node to be changed in working state from the cascade node sequence to be calibrated, obtain a feature parameter set of the cascade node in the cascade node sequence to be calibrated after changing the working state of the cascade node to be changed, and obtain a second position ordering group of the cascade node in the cascade node sequence to be calibrated based on the feature parameter set, where the cascade node sequence to be calibrated includes a plurality of node groups to be checked, and the node group to be calibrated includes a plurality of nodes to be calibrated;
the calibration module is specifically configured to perform position calibration on the cascade nodes in the cascade node sequence to be calibrated, which meet a preset calibration condition, according to the second position sorting group and the sequence result of the cascade node sequence to be calibrated, and reject cascade nodes in the cascade node sequence to be calibrated, where the position calibration is completed;
The confirmation module is specifically configured to obtain sequence results of all the cascade nodes if the position calibration of all the cascade nodes to be calibrated in the cascade node sequence to be calibrated is completed;
otherwise, calibrating the cascade nodes to be verified based on a preset rule, and repeating the adjusting module and the calibrating module until the position calibration of all cascade nodes in the cascade node sequence to be calibrated is completed, so as to obtain the sequence results of all the cascade nodes.
Furthermore, the present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of a cascade node physical location automatic calibration and calibration method according to any of the above-mentioned technical solutions.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the steps of the cascade node physical position automatic calibration and calibration method according to any one of the technical schemes are realized when the processor executes the program.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the embodiments of the present invention or the drawings used in the description of the prior art, and it is obvious that the drawings described below are only some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for automatically calibrating and calibrating physical positions of cascade nodes according to an embodiment of the invention;
FIG. 2 is a schematic flow chart of a method for automatically calibrating and calibrating physical positions of cascade nodes according to another embodiment of the invention;
fig. 3 is a schematic block diagram of an apparatus for automatic calibration and calibration of physical positions of cascade nodes according to another embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
As shown in fig. 1, the method for automatically calibrating and calibrating the physical position of the cascade node according to the embodiment of the invention comprises the following steps:
s1, acquiring a characteristic parameter set of the cascade node, and associating the cascade node with characteristic parameters in the characteristic parameter set to obtain a characteristic data set of the cascade node.
S2, sorting the characteristic data sets of all the cascade nodes according to the rule values between the characteristic data sets and the node positions of the cascade nodes to obtain sorting results of the characteristic data sets, and obtaining a first position sorting set of all the cascade nodes based on the sorting results.
S3, repeating the steps S1 to S2 until a first position sorting group with a preset group number is obtained, comparing all the first position sorting groups, judging whether sequence results of all the cascade nodes are obtained according to the comparison result, if not, obtaining a cascade node sequence to be calibrated according to the comparison result, and obtaining sequence results of all the cascade nodes after the cascade node sequence to be calibrated passes through a calibration flow.
S4, based on the relative interval regular values and the sequence results among the cascade nodes, calibrating the physical positions of the cascade nodes, and obtaining the health states of the cascade nodes according to the sequence results and the characteristic data sets.
Based on the above embodiment, further, after passing the cascade node sequence to be calibrated through the calibration procedure in S3, the sequence results of all cascade nodes are obtained, which specifically includes:
s31, selecting a cascade node with a working state to be changed from a cascade node sequence to be calibrated, after the working state of the cascade node with the working state to be changed is changed, acquiring a characteristic parameter set of the cascade node in the cascade node sequence to be calibrated, and acquiring a second position ordering group of the cascade node in the cascade node sequence to be calibrated based on the characteristic parameter set, wherein the cascade node sequence to be calibrated comprises a plurality of node groups to be tested, and the node groups to be calibrated comprise a plurality of nodes to be calibrated.
S32, according to the second position sorting group and the sequence result of the cascade node sequence to be calibrated, performing position calibration on cascade nodes meeting preset calibration conditions in the cascade node sequence to be calibrated, and eliminating cascade nodes with position calibration completed in the cascade node sequence to be calibrated.
And S33, if the position calibration of all the cascade nodes to be calibrated in the cascade node sequence to be calibrated is completed, obtaining the sequence result of all the cascade nodes.
Otherwise, calibrating the cascade nodes to be calibrated to the cascade node sequence to be calibrated based on a preset rule, repeating S31 to S32 until the position calibration of all the cascade nodes in the cascade node sequence to be calibrated is completed, and obtaining the sequence result of all the cascade nodes.
It should be understood that the cascade nodes to be calibrated generally exist in two or more adjacent laws, and may exist at one or more places on the linear array. The adjacent cascade nodes to be calibrated are a cascade node group to be calibrated, and the single cascade node group to be calibrated can be calibrated independently, and a plurality of groups can be calibrated simultaneously. The cascade node to be changed in the working state may be any cascade node of the back end in the cascade node group to be calibrated. Changing the working state of any cascade node at the rear end of the cascade node group to be calibrated in the current cascade node sequence to be calibrated, wherein the change of the working state can cause the characteristic parameters of each node at the front end of the cascade node to be regularly changed; meanwhile, the working states of all cascade nodes in the cascade node group to be calibrated are changed in a differentiated mode, and differences of characteristic parameters among adjacent cascade nodes to be calibrated in the group are amplified.
And sending an action instruction to any node at the back end of the cascade node group to be calibrated in the current sequence, and opening a specific load or a specific function. Such operation will cause the working loss of the node receiving the action command to increase or decrease, and because of the cascade connection of the nodes, the current on the bus will change, and the input voltage of the node before the node will also change regularly. Meanwhile, the upper computer end sends a reverse change instruction to each adjacent node in the node group to be calibrated, if a certain node opens a load or a function, the corresponding load and function are closed by the adjacent node, so that the working states of the adjacent nodes are obviously different, and the difference of input voltage values of the adjacent nodes in the group is amplified. Repeating the previous operation to obtain a new characteristic data set and a new sequence result.
Further, the step S1 of obtaining a feature parameter set of the tandem node specifically includes:
and acquiring the original values of the characteristic parameters in the characteristic parameter set of the cascade node for a plurality of times, filtering the acquired original values of the characteristic parameters to obtain the characteristic parameter value with the confidence coefficient higher than the preset confidence coefficient, and further obtaining the characteristic parameter set of the cascade node.
Further, in S4, according to the sequence result and the feature data set, the health status of the tandem node is obtained, which specifically includes:
and solving the mean square error of the difference value of the characteristic data in the characteristic data group between every two adjacent cascade nodes in the sequence result, and determining the health state of the cascade nodes according to the mean square error.
Further, in S3, comparing all the first position sorting groups, and judging whether to obtain the sequence results of all the cascade nodes according to the comparison result, if not, obtaining the cascade node sequence to be calibrated according to the comparison result, which specifically includes:
and comparing all the first position sequencing groups, and if the relative positions of all the cascade nodes in all the first position sequencing groups are completely consistent, obtaining the sequence result of all the cascade nodes.
If cascade nodes with inconsistent relative positions exist in all the first position sorting groups, marking the cascade nodes to obtain a cascade node sequence to be calibrated.
Further, in S32, according to the second position sorting group and the sequence result of the cascade node sequence to be calibrated, performing position calibration on the cascade nodes in the cascade node sequence to be calibrated, where the cascade nodes meet the preset calibration conditions, specifically includes:
and comparing the second position sorting group with the sequence result of the cascade node sequence to be calibrated.
If the number of times of the cascade node in the same position in the sequence result of the cascade node sequence to be calibrated and the second position sequencing group meets the number of times in the preset calibration condition, and other cascade nodes in the same position do not participate in competition, the same position is calibrated as the position of the cascade node;
s33, calibrating the cascade node to be verified based on a preset rule, wherein the method specifically comprises the following steps:
if the number of times of the cascade node in the same position in the sequence result of the cascade node sequence to be calibrated and the second position sorting group does not meet the number of times in a preset calibration condition, or if other cascade nodes appear in the position, setting the cascade node and other cascade nodes appearing in the position as cascade nodes to be calibrated.
As shown in fig. 2, in practical application, the method includes a cascade node relative position sequence acquisition process, where the process includes the following steps:
1. The relative position sequence of the node obtains the flow:
step 10: and (5) electrifying the system.
Step 11: the node is powered on to work to generate one or more parameters matched with the node position, the node can acquire and report the characteristic parameters, the characteristic parameters are associated with the ID of the current node to generate a characteristic data set of the node, such as NodeID (Parameter 1, parameter2 …) for multiple times, and the characteristic Parameter values of each node are filtered to obtain a relatively accurate characteristic data set.
Step 12: the upper computer end sorts the obtained characteristic data sets according to the relative rule of the characteristic parameters and the node positions to obtain a position sorting set containing node IDs, such as { NodeID1 (Parameter 1, parameter2 …), nodeID2 (Parameter 1, parameter2 …), nodeID3 (Parameter 1, parameter2 …), …, nodeIDn (Parameter 1, parameter2 …) }, wherein the position sorting set represents the relative positions of all nodes.
Step 13: it is determined whether a plurality of sets of position-ordered sets sufficient for comparison have been obtained at present, and if these results have been obtained, step 14 is entered, and if not already entered, step 11 is returned to continue the acquisition of the position-ordered sets.
Step 14: and comparing the obtained multiple groups of position sorting groups, and if the relative positions of the nodes in the sequences are completely consistent in each group of position sorting groups, taking the current result as an accurate result, and entering step 15. If there is an inconsistency in the relative positions of the nodes in the sequence in the ordered set of positions of the sets, then there is an inconsistent node in the marked positions, and step 16 is entered.
Step 15: the obtained accurate position sequencing group is combined with the known relative spacing rule between the nodes to output the actual physical position of the nodes, so as to achieve the aim of calibrating the physical position of the nodes; in addition, as the difference value of the characteristic parameters between every two adjacent nodes is basically consistent under the same interval of the same node, the health state of the actual deployment of each node can be obtained by solving the mean square error of the difference value of the characteristic parameters between every two adjacent nodes in the sequence result.
Step 16: and (4) taking the sequence to be determined output in the step (14) as a node sequence to be calibrated, and starting a calibration flow.
The node relative position sequence calibration flow comprises the following steps:
the nodes to be calibrated generally exist in two or more adjacent rules, and may exist at one or more positions on the linear array. The adjacent nodes to be calibrated are a node group to be calibrated, and the single node group to be calibrated can be calibrated independently, and a plurality of groups can be calibrated simultaneously.
2. The relative position sequence calibration flow of the node:
step 20: changing the working state of any node at the rear end of a node group to be calibrated in the current cascade node sequence to be calibrated, wherein the change of the working state can cause the characteristic parameters of each node at the front end of the node to be regularly changed; meanwhile, the working states of all nodes in the node group to be calibrated are changed in a differentiated mode, so that differences of characteristic parameters among adjacent nodes to be calibrated in the group are amplified.
Step 21: steps 11 and 12 in the flow 1 are repeated to obtain a new feature data set and obtain a new sequence result.
Step 22: and (3) comparing the sequence result to be calibrated by using the sequence result obtained in the step 21. The primary comparison here is to represent the position of the feature data sets of the respective nodes in the sequences, rather than to compare the feature parameter values of the same node in the two sequences. If the characteristic data set corresponding to a certain node continuously appears at the same position of the sequence for a plurality of times, and no other nodes which are also in line with the conditions intervene in the competition of the position, the position is marked as the position of the node in the sequence. If a node continuously appears at different positions in the sequence, the node can not determine the position in the sequence temporarily, and calibration needs to be continued; if no less than one competing node is present at a certain position in the sequence, the corresponding competing node needs to continue calibration.
Step 23: if the result of the current alignment shows that all nodes have completed the relative position calibration in the sequence, step 24 is entered. If the positions of the nodes in the sequence still cannot be calibrated, the current sequence is used as a new sequence to be calibrated, and the step 20 is returned to continue the calibration. With the continuous comparison and updating of the sequences, the sequence order difference between the new sequence and the sequence to be calibrated is gradually reduced, the result is gradually converged until all the positions in the sequence are calibrated by unique nodes, and the finally obtained sequence result represents the correct relative positions of the nodes.
Step 24: outputting the actual physical position of the node by combining the accurate sequence result output in the step 23 with the known relative spacing rule between the nodes, and realizing the calibration of the physical position of the node; in addition, as the difference value of the characteristic parameters between every two adjacent nodes is basically consistent under the same interval of the same node, the health state of the actual deployment of each node can be obtained by solving the mean square error of the difference value of the characteristic parameters between every two adjacent nodes in the sequence result.
For example, after the cascade system is powered on, voltage drops are generated by the working loss of each node and the cables connecting the nodes, and due to the cascade relationship, the input voltage of the bus acquired from each node is regularly decreased from the source end to the tail end of the linear array, and the power voltage value of the bus at the input position of each node is acquired through the voltage acquisition circuit on the node and is uploaded to the upper computer end through the bus network. The upper computer end sorts the received data into a characteristic data set of the node, such as NodeID 1 (Voltage 1). After sampling and acquiring the power supply Voltage of each node for multiple times, multiple characteristic data sets, such as NodeID 1 (Voltage 2), nodeID 1 (Voltage 3), nodeID 1 (Voltage n), are obtained. Fitting is carried out on a plurality of characteristic data sets in a median filtering mode, and each node obtains a unique set of relatively accurate characteristic data sets NodeID n (Voltage m).
The upper computer end sorts the obtained characteristic data sets of each node according to the rule that the input Voltage of each node gradually decreases from the source end to the tail end, and a set of sequence results containing node IDs, such as { NodeID 1 (Voltage '), nodeID 2 (Voltage'), nodeID 3 (Voltage '), …, nodeID n (Voltage') } are obtained.
Repeating the steps until 3 groups of sequencing results are obtained.
Comparing the 3 sets of sorting results, and if the relative positions of the nodes in the sequence are completely consistent in the 3 sets of sorting results, taking the current result as an accurate result. By combining the known relative spacing rule between the nodes, if the fixed node spacing is designed to be 6 meters, the actual physical position of the node can be output, and the aim of calibrating the physical position of the node is fulfilled; in addition, as the difference values of the characteristic parameters between the adjacent nodes are basically consistent under the same interval of the same node, the health state of the actual deployment of each node can be obtained by solving the mean square error of the difference values of the characteristic parameters between the adjacent nodes in the result sequence.
If the relative positions of the nodes in the sequences in the 3 groups of sequencing results are inconsistent, the nodes with inconsistent positions are marked, the output sequence to be determined is used as an initial sequence to be calibrated, and a calibration flow is started.
In the node relative position sequence calibration flow, an upper computer end sends an action instruction to any node at the rear end of a node group to be calibrated in the current sequence, and a specific load is opened or a specific function is opened. Such operation will cause the working loss of the node receiving the action command to increase or decrease, and because of the cascade connection of the nodes, the current on the bus will change, and the input voltage of the node before the node will also change regularly. Meanwhile, the upper computer end sends a reverse change instruction to each adjacent node in the node group to be calibrated, if a certain node opens a load or a function, the corresponding load and function are closed by the adjacent node, so that the working states of the adjacent nodes are obviously different, and the difference of input voltage values of the adjacent nodes in the group is amplified. Repeating the previous operation to obtain a new characteristic data set and a new sequence result.
And comparing the sequences to be calibrated by using the new sequence result. The primary comparison here is to represent the position of the characteristic data sets of the individual nodes in the sequence, rather than to compare the differences in the characteristic parameters, i.e. the voltage values, of the same node in the two sequences. If the characteristic data set corresponding to a certain node continuously appears at the same position of the sequence for a plurality of times, and no other nodes which are also in line with the conditions intervene in the competition of the position, the position is marked as the position of the node in the sequence. If a node continuously appears at different positions in the sequence, the node can not determine the position in the sequence temporarily, and calibration needs to be continued; if no less than one competing node is present at a certain position in the sequence, the corresponding competing node needs to continue calibration.
If the result of the current alignment shows that all nodes have completed the relative position calibration in the sequence, the current sequence is taken as the final accurate sequence. The actual physical positions of the nodes can be output by combining the known relative spacing rule between the nodes, such as the design of fixed node spacing of 6 meters, so that the aim of calibrating the physical positions of the nodes is fulfilled; in addition, as the difference values of the characteristic parameters between the adjacent nodes are basically consistent under the same interval of the same node, the health state of the actual deployment of each node can be obtained by solving the mean square error of the difference values of the characteristic parameters between the adjacent nodes in the result sequence.
If the positions of the nodes in the sequence still cannot be calibrated, the current sequence is used as a new sequence to be calibrated, the working state of the nodes is changed, and the calibration is continued. With the sequence being continuously compared and updated, the sequence sorting difference between the new sequence and the sequence to be calibrated is gradually reduced, and the result is gradually converged until all positions in the sequence are calibrated by unique nodes.
In addition, after the cascade system is powered on, voltage drops are generated by the working loss of each node and the cables connected with the nodes, and due to the cascade relation, the bus current acquired from each node is regularly decreased from the source end to the tail end of the linear array, the current value of the power supply flowing through each node of the bus is acquired through the current acquisition circuit on the node, and is uploaded to the upper computer end through the bus network. The upper computer end sorts the received data into a characteristic data set of the node, such as NodeID 1 (Current 1). After sampling the power supply Current flowing through each node for multiple times, multiple characteristic data sets, such as NodeID 1 (Current 2), nodeID 1 (Current 3), … and NodeID 1 (Current n), are obtained. Fitting is carried out on a plurality of characteristic data sets in a median filtering mode, and each node obtains a unique set of relatively accurate characteristic data sets NodeID n (Current m).
The upper computer end sorts the obtained characteristic data sets of each node according to the rule that the Current flowing through each node gradually decreases from the source end to the tail end, so as to obtain a set of sequence results containing node IDs, such as { NodeID 1 (Current '), nodeID 2 (Current'), nodeID 3 (Current '), … and NodeID n (Current'), and the sequence results represent the relative positions of each node.
Repeating the steps until 3 groups of sequencing results are obtained.
Comparing the 3 sets of sorting results, and if the relative positions of the nodes in the sequence are completely consistent in the 3 sets of sorting results, taking the current result as an accurate result. Combining the known relative spacing law among the nodes, if the fixed node spacing is designed to be 6 meters, outputting the actual physical position of the node, and realizing the calibration of the physical position of the node; in addition, as the difference values of the characteristic parameters between the adjacent nodes are basically consistent under the same interval of the same node, the health state of the actual deployment of each node can be obtained by solving the mean square error of the difference values of the characteristic parameters between the adjacent nodes in the result sequence.
If the relative positions of the nodes in the sequences in the 3 groups of sequencing results are inconsistent, the nodes with inconsistent positions are marked, the output sequence to be determined is used as an initial sequence to be calibrated, and a calibration flow is started.
In the node relative position sequence calibration flow, an upper computer end sends an action instruction to any node at the rear end of a node group to be calibrated in the current sequence, and a specific load is opened or a specific function is opened. Such operation will cause the operational loss of the node receiving the action command to increase or decrease, and whether increasing or decreasing, will cause the current flowing through each node on the bus to change regularly due to the cascade connection of each node. Meanwhile, the upper computer end sends a reverse change instruction to each adjacent node in the node group to be calibrated, if a certain node opens a load or a function, the adjacent node closes the corresponding load and function, so that the working states of the adjacent nodes are obviously different, and the difference of current values flowing through the adjacent nodes in the group is amplified. Repeating the previous operation to obtain a new characteristic data set and a new sequence result.
And comparing the sequences to be calibrated by using the new sequence result. The primary comparison here is to represent the position of the characteristic data sets of the respective nodes in the sequences, rather than to compare the differences in the characteristic parameters, i.e., current values, of the same node in the two sequences. If the characteristic data set corresponding to a certain node continuously appears at the same position of the sequence for a plurality of times, and no other nodes which are also in line with the conditions intervene in the competition of the position, the position is marked as the position of the node in the sequence. If a node continuously appears at different positions in the sequence, the node can not determine the position in the sequence temporarily, and calibration needs to be continued; if no less than one competing node is present at a certain position in the sequence, the corresponding competing node needs to continue calibration.
If the result of the current alignment shows that all nodes have completed the relative position calibration in the sequence, the current sequence is taken as the final accurate sequence. In combination with the known relative spacing rule (for example, the fixed node spacing is 6 meters in design, the actual physical position of the node can be output, and the aim of calibrating the physical position of the node is achieved.
If the positions of the nodes in the sequence still cannot be calibrated, the current sequence is used as a new sequence to be calibrated, the working state of the nodes is changed, and the calibration is continued. With the sequence being continuously compared and updated, the sequence sorting difference between the new sequence and the sequence to be calibrated is gradually reduced, and the result is gradually converged until all positions in the sequence are calibrated by unique nodes.
In addition, after the cascade system is powered on, voltage drops are generated by the working loss of each node and cables connected with the nodes, and due to cascade relation, bus input voltage and flowing bus current on each node are gradually decreased from a linear array source end to a tail end, the bus input voltage on each node and the power current value flowing through each node are obtained through a voltage and current acquisition circuit on the node, and are uploaded to an upper computer end through a bus network. The upper computer end sorts the received data into a characteristic data set of the node, such as NodeID 1 (Voltage 1, current 1). After the voltages and the currents are sampled for multiple times, multiple characteristic data sets are obtained, such as NodeID 1 (Voltage 2, current 2), nodeID 1 (Voltage 3, current 3), nodeID 1 (Voltage n, current n). And fitting the voltages and currents in the characteristic data sets respectively by means of median filtering, wherein each node obtains a unique two related relatively accurate characteristic data sets NodeID n (Voltage ') and NodeID n (Current').
The upper computer end orders the obtained characteristic data sets of all the nodes according to the rule that the Voltage and the Current gradually decrease from the source end node to the end node, so as to obtain two related sequence results containing the node ID, wherein the two sequence results serve as a group of data, such as a Voltage sequence { NodeID 1 (Voltage '), nodeID 2 (Voltage'), nodeID 3 (Voltage '), (··, nodeID n (Voltage') } and a Current sequence { NodeID 1 (Current '), nodeID 2 (Current'), nodeID 3 (Current '), (·, nodeID n (Current')}. The set of sequence results represents the relative positions of the nodes.
Repeating the steps until 3 groups of sequencing results are obtained.
And respectively carrying out longitudinal comparison on the positions of the nodes in the sequences of the 3 groups of sequencing results, and simultaneously carrying out transverse comparison on the positions of the nodes in the sequences of the voltage sequences and the current sequences in each group of sequencing results, wherein if the relative positions of the nodes in the sequences of the 3 groups of sequencing results are completely consistent in longitudinal comparison and the sequencing results of the transverse comparison voltage sequences and the current sequences are also consistent in the 3 groups of sequencing results, the current result is taken as an accurate result. By combining the known relative spacing rule (for example, the fixed node spacing is 6 meters) between the nodes, the actual physical positions of the nodes can be output, and the aim of calibrating the physical positions of the nodes is fulfilled; in addition, since the differences of the characteristic parameters between the adjacent nodes are basically consistent under the same interval of the same node, the mean square error (mean square error is the average of the distances of the data deviating from the average) is obtained for the differences of the characteristic parameters between the adjacent nodes in the result sequence, and the discrete degree of one data set can be reflected, so that the health state of the actual deployment of each node can be obtained.
If the relative positions of the nodes in the sequences are longitudinally compared in the 3 groups of sequencing results to obtain inconsistent sequencing conditions, or the nodes in the voltage sequences and the current sequences in each group of data are transversely compared to obtain inconsistent sequencing conditions, marking the nodes with inconsistent positions, outputting a sequence to be determined as an initial sequence to be calibrated, and starting a calibration flow.
In the node relative position sequence calibration flow, an upper computer end sends an action instruction to any node at the rear end of a node group to be calibrated in the current sequence, and a specific load is opened or a specific function is opened. Such operation may cause the operating loss of the node receiving the operation command to increase or decrease, and whether increasing or decreasing, the input voltage of each node and the current flowing through each node on the bus may be regularly changed due to the cascade relationship of each node. Meanwhile, the upper computer end sends a reverse change instruction to each adjacent node in the node group to be calibrated (if a certain node is opened for load or function, the corresponding load and function are closed by the adjacent node), so that the working states of the adjacent nodes are obviously different, and the difference between the input voltage of each adjacent node in the group and the current value flowing through the adjacent node is amplified. Repeating the previous operation to obtain a new characteristic data set and a new sequence result.
The new sequence results are aligned in a group in the lateral direction, and nodes which are not consistent in position in the voltage sequence and the current sequence are marked, and the partial nodes are not used for the subsequent longitudinal alignment. And using the marked sequence result, and longitudinally comparing the sequences to be calibrated. The main comparison here is to represent the positions of the characteristic data sets of each node in the sequences, rather than to compare the characteristic parameters, i.e., voltage and current values, of the same node in the two sequences. If the characteristic data set corresponding to a certain node continuously appears at the same position of the sequence for a plurality of times, and no other nodes which are also in line with the conditions intervene in the competition of the position, the position is marked as the position of the node in the sequence. If a node continuously appears at different positions in the sequence, the node can not determine the position in the sequence temporarily, and calibration needs to be continued; if no less than one competing node is present at a certain position in the sequence, the corresponding competing node needs to continue calibration.
If the result of the current alignment shows that all nodes have completed the relative position calibration in the sequence, the current sequence is taken as the final accurate sequence. The actual physical positions of the nodes can be output by combining the known relative spacing rule between the nodes, such as the design of fixed node spacing of 6 meters, so that the aim of calibrating the physical positions of the nodes is fulfilled; in addition, as the difference values of the characteristic parameters between the adjacent nodes are basically consistent under the same interval of the same node, the health state of the actual deployment of each node can be obtained by solving the mean square error of the difference values of the characteristic parameters between the adjacent nodes in the result sequence.
If the positions of the nodes in the sequence still cannot be calibrated, the current sequence is used as a new sequence to be calibrated, the working state of the nodes is changed, and the calibration is continued. With the sequence being continuously compared and updated, the sequence sorting difference between the new sequence and the sequence to be calibrated is gradually reduced, and the result is gradually converged until all positions in the sequence are calibrated by unique nodes.
Through the embodiment, the correct relative positions of the nodes can be obtained through automatic operation, the calibration of the actual physical positions of the nodes on the linear array is automatically completed by combining the known relative spacing rule among the nodes, in addition, the mean square error of the characteristic parameters of each node obtained in the process is obtained, and then the diagnosis result of the deployment state or the health state of the cascade linear array is obtained by combining the existing rule of the characteristic parameters among the nodes of each level in theory.
As shown in fig. 3, an automatic calibration and calibration device for physical positions of cascade nodes includes:
the acquisition unit is used for acquiring the characteristic parameter set of the cascade node, and acquiring the characteristic data set of the cascade node after correlating the characteristic parameters in the characteristic parameter set with the characteristic nodes of the cascade node.
The sorting unit is used for sorting all the characteristic data sets of the cascade nodes according to the rule values between the characteristic data sets and the node positions of the cascade nodes to obtain sorting results of the characteristic data sets, and obtaining first position sorting sets of all the cascade nodes based on the sorting results.
And the comparison unit is used for repeating the acquisition unit and the sequencing unit until the first position sequencing groups with the preset groups are obtained, comparing all the first position sequencing groups, judging whether sequence results of all the cascade nodes are obtained according to the comparison results, and if not, obtaining the cascade node sequence to be calibrated according to the comparison results.
And the calibration unit is used for obtaining sequence results of all the cascade nodes after the cascade node sequences to be calibrated pass through a calibration flow.
And the calibration unit is used for calibrating the physical position of the cascade node based on the relative interval rule value among the cascade nodes and the sequence result, and obtaining the health state of the cascade node according to the sequence result and the characteristic data set.
Further, the calibration unit comprises an adjustment module, a calibration module and a confirmation module.
The adjustment module is specifically configured to select a cascade node to be changed in working state from the cascade node sequence to be calibrated, obtain a feature parameter set of the cascade node in the cascade node sequence to be calibrated after changing the working state of the cascade node to be changed, and obtain a second position ordering group of the cascade node in the cascade node sequence to be calibrated based on the feature parameter set, where the cascade node sequence to be calibrated includes a plurality of node groups to be checked, and the node group to be calibrated includes a plurality of nodes to be calibrated.
The calibration module is specifically configured to perform position calibration on the cascade nodes in the cascade node sequence to be calibrated, which meet a preset calibration condition, according to the second position sorting group and the sequence result of the cascade node sequence to be calibrated, and reject cascade nodes in the cascade node sequence to be calibrated, where the position calibration is completed.
The confirmation module is specifically configured to obtain sequence results of all the cascade nodes if the position calibration of all the cascade nodes to be calibrated in the cascade node sequence to be calibrated is completed.
Otherwise, calibrating the cascade nodes to be verified based on a preset rule, and repeating the adjusting module and the calibrating module until the position calibration of all cascade nodes in the cascade node sequence to be calibrated is completed, so as to obtain the sequence results of all the cascade nodes.
Furthermore, the present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of a cascade node physical location automatic calibration and calibration method according to any of the above-mentioned technical solutions.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the steps of the cascade node physical position automatic calibration and calibration method according to any one of the technical schemes are realized when the processor executes the program.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
The present invention is not limited to the above embodiments, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the present invention, and these modifications and substitutions are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (7)
1. The automatic calibration and calibration method for the physical position of the cascade node is characterized by comprising the following steps:
s1, acquiring a characteristic parameter set of a cascade node, and associating the cascade node with characteristic parameters in the characteristic parameter set to obtain a characteristic data set of the cascade node;
s2, sorting all the characteristic data sets of the cascade nodes according to the rule values between the characteristic data sets and the node positions of the cascade nodes to obtain sorting results of the characteristic data sets, and obtaining first position sorting sets of all the cascade nodes based on the sorting results;
s3, repeating the steps S1 to S2 until the first position ordered groups with the preset number are obtained, comparing all the first position ordered groups, judging whether sequence results of all the cascade nodes are obtained according to comparison results, if not, obtaining a cascade node sequence to be calibrated according to the comparison results, and obtaining sequence results of all the cascade nodes after the cascade node sequence to be calibrated passes through a calibration flow;
s4, calibrating physical positions of the cascade nodes based on the relative interval rule values among the cascade nodes and the sequence result, and obtaining the health state of the cascade nodes according to the sequence result and the characteristic data set;
After the cascade node sequence to be calibrated passes through a calibration flow, sequence results of all the cascade nodes are obtained, and the method specifically comprises the following steps:
s31, selecting a cascade node with a working state to be changed from the cascade node sequence to be calibrated, after changing the working state of the cascade node with the working state to be changed, acquiring a characteristic parameter set of the cascade node in the cascade node sequence to be calibrated, and obtaining a second position ordering group of the cascade node in the cascade node sequence to be calibrated based on the characteristic parameter set, wherein the cascade node sequence to be calibrated comprises a plurality of node groups to be tested, and the node groups to be tested comprise a plurality of nodes to be calibrated;
s32, according to the second position sorting group and the sequence result of the cascade node sequence to be calibrated, performing position calibration on the cascade nodes meeting preset calibration conditions in the cascade node sequence to be calibrated, and eliminating cascade nodes with position calibration completed in the cascade node sequence to be calibrated;
s33, if the position calibration of all the cascade nodes to be calibrated in the cascade node sequence to be calibrated is completed, obtaining sequence results of all the cascade nodes;
Otherwise, calibrating the cascade nodes to be verified based on a preset rule, and repeating the steps S31 to S32 until the position calibration of all cascade nodes in the cascade node sequence to be calibrated is completed, so as to obtain the sequence results of all the cascade nodes;
and comparing all the first position sorting groups, judging whether sequence results of all the cascade nodes are obtained according to the comparison results, and if not, obtaining a cascade node sequence to be calibrated according to the comparison results, wherein the method specifically comprises the following steps:
comparing all the first position sorting groups, and if the relative positions of all the cascade nodes in all the first position sorting groups are completely consistent, obtaining sequence results of all the cascade nodes;
and if all the cascade nodes with inconsistent relative positions exist in the first position sorting groups, marking the cascade nodes to obtain the cascade node sequence to be calibrated.
2. The method for automatically calibrating and calibrating the physical location of the tandem node according to claim 1, wherein the step of obtaining the characteristic parameter set of the tandem node specifically comprises the steps of:
and acquiring the original values of the characteristic parameters in the characteristic parameter set of the cascade node for a plurality of times, filtering the acquired original values of the characteristic parameters to obtain the characteristic parameter value with the confidence degree higher than the preset confidence degree, and further obtaining the characteristic parameter set of the cascade node.
3. The method for automatically calibrating and calibrating the physical location of the tandem node according to claim 1, wherein the obtaining the health status of the tandem node according to the sequence result and the characteristic data set specifically comprises:
and solving a mean square error of the difference value of the characteristic data in the characteristic data set between every two adjacent cascade nodes in the sequence result, and determining the health state of the cascade nodes according to the mean square error.
4. The automatic calibration and calibration method for physical positions of cascade nodes according to claim 1, wherein the performing the position calibration on the cascade nodes in the cascade node sequence to be calibrated according to the second position sorting group and the sequence result of the cascade node sequence to be calibrated specifically includes:
comparing the sequence results of the second position sorting group and the cascade node sequence to be calibrated;
if the number of times of the cascade node in the same position in the sequence result of the cascade node sequence to be calibrated and the second position sorting group meets the number of times in the preset calibration condition, and the same position is calibrated as the position of the cascade node when other cascade nodes which do not meet the preset calibration condition participate in competition;
Calibrating the cascade node to be verified based on a preset rule, specifically comprising:
and if the number of times of the cascade node in the same position in the sequence result of the cascade node sequence to be calibrated and the second position sorting group does not meet the number of times in the preset calibration condition or other cascade nodes appear in the position, setting the cascade node and the other cascade nodes appearing in the position as the cascade node to be calibrated.
5. The utility model provides a cascade node physical position automatic calibration and calibrating device which characterized in that includes:
the acquisition unit is used for acquiring a characteristic parameter set of the cascade node, and acquiring a characteristic data set of the cascade node after correlating the characteristic parameters in the characteristic parameter set with the characteristic parameters of the cascade node;
the sequencing unit is used for sequencing all the characteristic data sets of the cascade nodes according to the rule values between the characteristic data sets and the node positions of the cascade nodes to obtain sequencing results of the characteristic data sets, and obtaining first position sequencing groups of all the cascade nodes based on the sequencing results;
the comparison unit is used for repeating the acquisition unit and the sequencing unit until the first position sequencing groups with the preset groups are obtained, comparing all the first position sequencing groups, judging whether sequence results of all the cascade nodes are obtained according to comparison results, and obtaining a cascade node sequence to be calibrated according to the comparison results if the sequence results of all the cascade nodes are not obtained; the method specifically comprises the following steps:
Comparing all the first position sorting groups, and if the relative positions of all the cascade nodes in all the first position sorting groups are completely consistent, obtaining sequence results of all the cascade nodes;
if all the cascade nodes with inconsistent relative positions exist in the first position sorting groups, marking the cascade nodes to obtain the cascade node sequence to be calibrated;
the calibration unit is used for obtaining sequence results of all the cascade nodes after the cascade node sequences to be calibrated pass through a calibration flow;
the calibration unit is used for calibrating the physical position of the cascade node based on the relative interval rule value among the cascade nodes and the sequence result, and obtaining the health state of the cascade node according to the sequence result and the characteristic data set;
the calibration unit comprises an adjustment module, a calibration module and a confirmation module;
the adjusting module is specifically configured to select a cascade node to be changed in working state from the cascade node sequence to be calibrated, obtain a feature parameter set of the cascade node in the cascade node sequence to be calibrated after changing the working state of the cascade node to be changed, and obtain a second position ordering group of the cascade node in the cascade node sequence to be calibrated based on the feature parameter set, where the cascade node sequence to be calibrated includes a plurality of node groups to be checked, and the node groups to be checked include a plurality of nodes to be calibrated;
The calibration module is specifically configured to perform position calibration on the cascade nodes in the cascade node sequence to be calibrated, which meet a preset calibration condition, according to the second position sorting group and the sequence result of the cascade node sequence to be calibrated, and reject cascade nodes in the cascade node sequence to be calibrated, where the position calibration is completed;
the confirmation module is specifically configured to obtain sequence results of all the cascade nodes if the position calibration of all the cascade nodes to be calibrated in the cascade node sequence to be calibrated is completed;
otherwise, calibrating the cascade nodes to be verified based on a preset rule, and repeating the adjusting module and the calibrating module until the position calibration of all cascade nodes in the cascade node sequence to be calibrated is completed, so as to obtain the sequence results of all the cascade nodes.
6. A computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor carries out the steps of the cascade node physical position automatic calibration and calibration method according to any of claims 1-4.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor performs the steps of the cascade node physical location automatic calibration and calibration method as claimed in any one of claims 1 to 4 when the program is executed by the processor.
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