CN115307625B - Multi-sensor fused air cooling island cleaning frame positioning device and positioning method - Google Patents
Multi-sensor fused air cooling island cleaning frame positioning device and positioning method Download PDFInfo
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- 238000001816 cooling Methods 0.000 title claims abstract description 155
- 238000004140 cleaning Methods 0.000 title claims abstract description 145
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000001208 nuclear magnetic resonance pulse sequence Methods 0.000 claims abstract description 61
- 230000004927 fusion Effects 0.000 claims abstract description 16
- 230000008569 process Effects 0.000 claims abstract description 14
- 230000001133 acceleration Effects 0.000 claims description 23
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 22
- 229910052744 lithium Inorganic materials 0.000 claims description 22
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 9
- 230000004044 response Effects 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 6
- 238000007689 inspection Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000010354 integration Effects 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 7
- 239000000428 dust Substances 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 230000002045 lasting effect Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000003199 nucleic acid amplification method Methods 0.000 description 1
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- 230000008016 vaporization Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F28—HEAT EXCHANGE IN GENERAL
- F28G—CLEANING OF INTERNAL OR EXTERNAL SURFACES OF HEAT-EXCHANGE OR HEAT-TRANSFER CONDUITS, e.g. WATER TUBES OR BOILERS
- F28G15/00—Details
- F28G15/003—Control arrangements
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F28—HEAT EXCHANGE IN GENERAL
- F28G—CLEANING OF INTERNAL OR EXTERNAL SURFACES OF HEAT-EXCHANGE OR HEAT-TRANSFER CONDUITS, e.g. WATER TUBES OR BOILERS
- F28G15/00—Details
- F28G15/02—Supports for cleaning appliances, e.g. frames
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The application provides a multi-sensor fusion air cooling island cleaning frame positioning device and a positioning method. When the air cooling island cleaning frame is in a working state, the positioning main device can move along with the air cooling island cleaning frame on the plane where the cleaning frame is located. When the positioning main device moves into the sensing range of the distributed sub-device in the process of moving along with the air cooling island cleaning frame, the pulse sequence sent by the corresponding distributed sub-device is received. The positioning main device can identify the pulse sequence to obtain the position coordinates of the distributed sub-devices, and calculates the azimuth coordinates of the positioning main device based on the position coordinates, so that the azimuth detection of the air cooling island cleaning frame is realized.
Description
Technical Field
The application relates to the field of orientation detection of air cooling island cleaning frames, in particular to a multi-sensor fusion air cooling island cleaning frame positioning device and a positioning method.
Background
The air cooling island cleaning frame tracing and positioning device is applied to environments with large temperature difference and much dust and rainwater, and the positioning is characterized in that on one hand, the track coordinates of the walking of the device are determined, and on the other hand, the high-temperature position points of the air cooling island finned tubes are determined, so that the tracing and positioning device has the functions of temperature acquisition and coordinate generation. The temperature acquisition function is divided into a multipoint fixed acquisition mode and a self-carrying mobile acquisition mode, the sampling speed of the temperature acquisition function is low and faces the service life of the button battery, the sampling speed of the temperature acquisition function is high, electric energy is provided by the main device, but the temperature field monitoring efficiency is low, and a reasonable walking mode is needed.
The coordinate generating function is divided into a local positioning mode and a global positioning mode, wherein the former generally uses a position switch or a laser ranging sensor and the like to detect the outline of a moving area, and because the area of an air cooling island is large, the accurate positioning of any point in the area can not be realized by the outline detection technology alone. The local positioning can also adopt an ultrasonic radar positioning mode, but the difficulty of processing and uploading the signal of the secondary station is increased, and the ultrasonic waves are extremely easy to be influenced by water mist generated in the cleaning process.
The global positioning generally utilizes GPS to realize coordinate positioning, however, the cleaning plane of the air cooling island forms a certain angle with the ground, and projection conversion can be carried out through a trigonometric function during positioning, but only the mode has larger error and reduces reliability.
Disclosure of Invention
In order to solve the problems that the positioning mode of the air cooling island cleaning frame has larger error and lower reliability, in a first aspect, the application provides a multi-sensor fusion air cooling island cleaning frame positioning device, which comprises: locating a master device and a number of distributed sub-devices, wherein,
The positioning main device is arranged on the air cooling island cleaning frame, and the distributed sub-devices are uniformly distributed on the upper edge and the lower edge of the air cooling island cleaning plane; when the air cooling island cleaning frame is in a working state, the air cooling island cleaning frame moves on a plane where the air cooling island cleaning plane is located;
The distributed sub-device includes a pulse sequence generation unit configured to: when the positioning master device moves to the sensing range of the distributed sub-device, sending a pulse sequence to the positioning master device; the pulse sequence includes position coordinates of the distributed sub-device;
The positioning main device comprises a pulse sequence identification unit, a main controller and a coordinate calculation unit, wherein the pulse sequence identification unit is configured to identify the pulse sequence to obtain the position coordinate; the main controller is configured to monitor a movement track of the positioning main device and control the operation and stop of the positioning main device; the coordinate calculation unit is configured to calculate azimuth coordinates of the positioning master device from the position coordinates.
Further, the positioning main device also comprises an infrared contour recognition unit and an acceleration sensor, wherein,
The positioning master device further comprises an infrared contour recognition unit and an acceleration sensor, wherein,
The infrared contour recognition unit is configured to emit infrared rays to the boundary of the air cooling island cleaning plane, and judge whether the positioning main device reaches the boundary of the air cooling island cleaning plane according to response signals in the infrared sensing range; the boundary of the air cooling island cleaning plane is the boundary formed by distributed sub-devices which are arranged at the upper end and the lower end of the air cooling island cleaning plane; the response signal is a signal sent to the main controller when the boundary of the cleaning plane of the air cooling island enters an infrared sensing range;
the acceleration sensor is installed in the horizontal and vertical directions of the positioning main device, respectively, and is configured to calculate acceleration, velocity and displacement of the positioning main device.
Further, the acceleration sensor is further configured to calculate acceleration, velocity, and displacement of the positioning master device according to the following formula;
Wherein deltat is the time difference between any two points of movement of the positioning main device, and a (t), v (t) and s (t) are respectively the instantaneous acceleration, speed and displacement in the acceleration and deceleration process; n is the number of permutations of distributed sub-devices.
Further, the main controller is further configured to calculate the number of the distributed sub-devices according to the size of the cleaning plane of the air cooling island;
Calculating the coordinate resolution of the distributed sub-device in the horizontal direction according to the arrangement quantity;
and determining the transmission range of the pulse sequence identification unit when the coordinate resolution accords with a resolution threshold.
Further, the main controller calculates the coordinate resolution of the distributed sub-device in the horizontal direction using the following formula:
Wherein σ is the coordinate resolution of the distributed sub-device in the horizontal direction; l is the arrangement length of the distributed sub-devices; n is the number of distributed sub-devices arranged; h is the length of the cleaning plane of the air cooling island.
Further, the distributed sub-device further includes: solar modules, lithium battery modules and boost modules, wherein,
The solar module is used for converting absorbed solar energy into electric energy and transmitting the electric energy to the lithium battery module;
The lithium battery module is used for supplying power to the distributed sub-device and determining the sensing range area of the distributed sub-device according to the voltage value of the power supply; wherein the overlapping area of the sensing ranges of two adjacent distributed sub-devices is 0;
the boosting module is used for boosting the voltage of the lithium battery module and determining the maximum sensing range area of the distributed sub-device according to the boosted voltage value and the distance between the distributed sub-devices.
Further, the positioning main device further comprises a GPS module and a communication module;
the GPS module is configured to receive an electric quantity signal sent by the distributed sub-device and send a GPS positioning request according to the electric quantity signal; the electric quantity signal is used for representing that the electric quantity value of the lithium battery module is smaller than an electric quantity threshold value;
the main controller is further configured to calculate azimuth coordinates of the positioning main device according to feedback coordinates corresponding to the GPS positioning request;
The communication module is configured to upload the position coordinates of the positioning master device to a user terminal.
Further, in the step of performing calculation of the azimuth coordinates of the positioning master device, the master controller is further configured to:
acquiring an angle formed by the cleaning plane of the air cooling island and the ground;
and converting the feedback coordinates into azimuth coordinates of the positioning main device according to the trigonometric function corresponding to the angle.
Further, the positioning main device further comprises a temperature-humidity field inspection unit;
the temperature and humidity field inspection unit is configured to record a humidity value change curve in the moving process of the positioning main device;
and calculating a corresponding temperature upper limit value curve according to the humidity value change curve.
In a second aspect, the application provides a multi-sensor fusion air cooling island cleaning frame positioning method, which comprises the following steps:
Acquiring a pulse sequence transmitted by the distributed sub-device when the positioning main device moves to a sensing range of the distributed sub-device; the pulse sequence includes position coordinates of the distributed sub-device; the positioning main device is arranged on the air cooling island cleaning frame, and the distributed sub-devices are uniformly distributed on the upper edge and the lower edge of the air cooling island cleaning plane; when the air cooling island cleaning frame is in a working state, the air cooling island cleaning frame moves on a plane where the air cooling island cleaning plane is located;
Identifying the pulse sequence to obtain the position coordinates;
acquiring an angle formed by the cleaning plane of the air cooling island and the ground;
and converting the position coordinates into azimuth coordinates of the positioning main device according to a trigonometric function corresponding to the angle.
According to the scheme, the air cooling island cleaning frame positioning device and the air cooling island cleaning frame positioning method with the multi-sensor fusion are provided, and the main positioning device is arranged on the air cooling island cleaning frame through uniformly arranging the distributed sub-devices on the upper edge and the lower edge of the cleaning plane of the air cooling island. When the air cooling island cleaning frame is in a working state, the positioning main device can move along with the air cooling island cleaning frame on the plane where the cleaning frame is located. When the positioning main device moves into the sensing range of the distributed sub-device in the process of moving along with the air cooling island cleaning frame, the pulse sequence sent by the corresponding distributed sub-device is received. The positioning main device can identify the pulse sequence to obtain the position coordinates of the distributed sub-devices, and calculates the azimuth coordinates of the positioning main device based on the position coordinates, so that the azimuth detection of the air cooling island cleaning frame is realized. The application generates the pulse sequence with the azimuth coordinates of the distributed sub-device through the pulse sequence generating unit inside the distributed sub-device. According to the current position of the positioning main device, the sensing range of which distributed sub-device the positioning main device is positioned in is determined according to the received pulse sequence, and then the azimuth coordinate of the positioning main device is calculated according to the position coordinate of the corresponding distributed sub-device, so that the azimuth detection precision and stability of the positioning main device are improved.
Drawings
In order to more clearly illustrate the technical solution of the present application, the drawings that are needed in the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a structural relation diagram of an air cooling island cleaning plane and an air cooling island cleaning frame;
FIG. 2 is a schematic diagram illustrating a positional relationship between a positioning master device and distributed sub-devices according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an electronic structure for positioning a host device according to an embodiment of the present application;
FIG. 4 is a schematic diagram of an electronic structure of a distributed sub-device according to an embodiment of the present application;
FIG. 5 is a block diagram of a pulse train generating unit of a distributed sub-device according to an embodiment of the present application;
FIG. 6 is a boosting flow chart of a boosting module of a distributed sub-device according to an embodiment of the present application;
FIG. 7 is a diagram illustrating a track of a positioning master device according to an embodiment of the present application;
fig. 8 is a flowchart of a method according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The air cooling island is an air cooling device of a power plant, and mainly comprises 56 fans, and has the functions of cooling high-temperature steam, removing vaporization heat in the steam through electric energy, and cooling the steam into water for recycling. The air cooling island is usually applied to environments with large temperature difference and much dust and rainwater, so that a lot of dust and other impurities are accumulated on the air cooling island.
Referring to fig. 1, in fig. 1, 100 is an air cooling island cleaning plane required to be cleaned by an air cooling island, and 200 is an air cooling island cleaning rack. The air cooling island cleaning frame is arranged on the air cooling island cleaning plane, and when in operation, the air cooling island cleaning frame moves on the plane where the air cooling island cleaning plane is arranged so as to scrub the air cooling island cleaning plane and remove impurities such as dust deposited on the air cooling island.
In order to solve the problems that the positioning mode of the air cooling island cleaning frame has larger error and lower reliability, in a first aspect, the application provides a multi-sensor fusion air cooling island cleaning frame positioning device, which comprises: the master device and the number of distributed sub-devices are located.
The positioning main device is arranged on the air cooling island cleaning frame, when the air cooling island cleaning frame is in a working state, the air cooling island cleaning frame performs cleaning operation on the air cooling island cleaning plane, and the positioning main device needs to move on the plane where the air cooling island cleaning plane is located so as to finish cleaning the air cooling island cleaning plane. The plurality of distributed sub-devices are uniformly distributed on the upper edge and the lower edge of the cleaning plane of the air cooling island. The sensing range which can be detected by the distributed sub-device positioned at the upper edge of the air cooling island cleaning plane covers the upper half part of the air cooling island cleaning plane, and the sensing range which can be detected by the distributed sub-device positioned at the lower edge of the air cooling island cleaning plane covers the lower half part of the air cooling island cleaning plane.
Referring to fig. 2, in fig. 2, a plurality of distributed sub-devices are uniformly arranged in a straight line, and the interval between every two adjacent distributed sub-devices is the same. When the air cooling island cleaning frame works, the positioning main device moves along with the air cooling island cleaning frame, and when the air cooling island cleaning frame moves to the sensing range of any one of the distributed sub-devices, the pulse sequence generating unit in the distributed sub-device sends a pulse sequence to the positioning main device, wherein the pulse sequence comprises the position coordinates of the distributed sub-devices.
It should be noted that, in order to ensure the positioning accuracy of the air cooling island cleaning rack, the sensing ranges of the distributed sub-devices are not overlapped with each other, and the positioning main device can only acquire the pulse sequence sent by only one distributed sub-device at the same time, but cannot acquire two or more pulse sequences sent by different distributed sub-devices at the same time. Fig. 2 only shows that all the distributed sub-devices can send pulse sequences to the positioning main device, but in the moving process of the positioning main device, the pulse sequences sent by different distributed sub-devices are received according to different sensing ranges.
Referring to fig. 3, an electronic structure diagram of a positioning main device according to an embodiment of the application is shown. As shown in fig. 3, the positioning main device includes a pulse sequence recognition unit, a main controller, and a coordinate calculation unit, and when the positioning main device moves to a sensing range of a certain distributed sub-device, the pulse sequence recognition unit recognizes a pulse sequence sent by the distributed sub-device, so as to obtain a position coordinate of the distributed sub-device. Then, the coordinate calculation unit calculates the azimuth coordinates of the positioning master device from the position coordinates. The main controller monitors the movement track of the positioning main device and controls the operation and the stop of the positioning main device.
In fig. 3, the positioning master device further includes an infrared profile identification unit.
In the process that the main positioning device moves along with the air cooling island cleaning frame, when the electric quantity of the distributed sub-device is insufficient, the main positioning device cannot send pulse sequences in a sensing range corresponding to the distributed sub-device, and the main positioning device cannot position the main positioning device at the moment and is easy to move to the boundary of the air cooling island cleaning plane to generate impact damage.
In this embodiment, the infrared profile recognition unit may transmit infrared rays to the boundary of the air cooling island cleaning plane in real time, and the response signal in the infrared sensing range determines whether the positioning main device reaches the boundary of the air cooling island cleaning plane, and when the electric quantity of the distributed sub-device is insufficient, the main controller of the positioning main device may determine whether the positioning main device is about to reach the boundary of the air cooling island cleaning plane according to whether the response signal is received.
The response signal is a signal sent to the main controller when the boundary of the cleaning plane of the air cooling island enters an infrared sensing range; the master controller, in turn, takes emergency braking for the positioning master in response to the response signal.
The boundary of the air cooling island cleaning plane is the boundary formed by distributed sub-devices which are arranged at the upper end and the lower end of the air cooling island cleaning plane.
In some embodiments, a distance threshold may also be set to determine if the positioning master is about to collide with a boundary of the air cooling island cleaning plane. The distance threshold may be set to a distance that the positioning master device is unable to reach the boundary of the air cooling island cleaning plane before emergency braking to a stop. In the implementation process, the distance between the main positioning device and the boundary of the cleaning plane of the air cooling island can be calculated in real time through an infrared range finder, and when the distance is larger than a distance threshold value, the movement of the main positioning device is safer; when the distance is smaller than the distance threshold value, the situation that the positioning main device collides with the boundary of the cleaning plane of the air cooling island at the moment is indicated, and the infrared contour recognition unit sends a boundary alarm signal to the main controller. The main controller responds to the boundary alarm signal and adopts emergency braking to the main positioning device so as to prevent the main positioning device from impacting the boundary of the cleaning plane of the air cooling island to generate damage.
For example, as shown in fig. 7, the predetermined operation route of the air cooling island cleaning rack is ④①②③④, and in actual operation, if the power of the distributed sub-device is insufficient, the voltage is too low. The positioning master device installed on the air cooling island cleaning rack cannot acquire positioning information, so that deviation occurs in the working route, and the working route runs on the broken line route in fig. 7. When the air cooling island cleaning frame is operated to the position ⑤, the position of the air cooling island cleaning plane close to the right side edge is reached, if the air cooling island cleaning frame is not operated to the ② point according to the original operation angle, the air cooling island cleaning frame collides with the boundary of the air cooling island cleaning plane, and damage is generated. At this time, the positioning main device can judge that the air cooling island cleaning frame is close to the right boundary of the air cooling island cleaning plane before reaching the ② point according to the infrared rays emitted by the infrared contour recognition unit, at this time, the air cooling island cleaning frame stops moving to the right side and moves only upwards, and reaches the ② point, so that the correction of the working route is completed, and the running error of the air cooling island cleaning frame is eliminated.
In setting the distance threshold, since it is considered whether the positioning device can complete braking within the corresponding distance, the positioning master device may also be provided with acceleration sensors installed in the horizontal and vertical directions of the positioning master device, respectively, calculating acceleration, velocity and displacement of the positioning master device during movement of the positioning master device, and setting the distance threshold according to the acceleration, velocity and displacement of the positioning master device.
Further, the coordinate calculating unit may calculate the displacement moving in the sensing range according to the acceleration and the velocity of the positioning main device in the sensing range of the distributed sub-device and the time of the movement, and calculate the azimuth coordinate of the positioning main device based on the position coordinate of the distributed sub-device.
In some embodiments, the acceleration sensor is further configured to calculate acceleration, velocity, and displacement of the positioning master according to the following formula;
wherein deltat is the time difference between any two points of movement of the positioning main device, and a (t), v (t) and s (t) are respectively the instantaneous acceleration, speed and displacement in the acceleration and deceleration process; n is the number of permutations of distributed sub-devices. i and i-1 are two points in time during the movement of the positioning master, respectively.
In some embodiments, the main controller may further calculate the number of the distributed sub-devices according to the size of the air cooling island cleaning plane. The number of arrangements can determine the resolution of locating the master device. For example, when 10 distributed sub-devices are uniformly distributed, the interval of each distributed sub-device is one tenth of the length of the cleaning plane of the air cooling island, the positioning main device is further calculated based on the position coordinates of the distributed sub-devices, and the resolution is one tenth of the length of the cleaning plane of the air cooling island. When 100 distributed sub-devices are uniformly distributed, the resolution is one hundredth of the cleaning plane length of the air cooling island, and the positioning accuracy is far more than one tenth. After the number of arrangements is determined, the coordinate resolution of the distributed sub-device in the horizontal direction is calculated.
In this embodiment, in order to ensure the accuracy of the coordinate resolution, a resolution threshold may be further set, and when the coordinate resolution is greater than the resolution threshold, it is indicated that the accuracy of the coordinate resolution is in a referenceable range at this time, and at this time, the intervals between the distributed sub-devices may be calculated according to the number of arrangements, and the transmission ranges of the pulse sequence recognition units of the distributed sub-devices may be determined according to the intervals, so as to ensure that the sensing ranges of the distributed sub-devices do not overlap with each other.
In some embodiments, the master controller calculates the coordinate resolution of the distributed sub-device in the horizontal direction using the following formula:
Wherein σ is the coordinate resolution of the distributed sub-device in the horizontal direction; l is the arrangement length of the distributed sub-devices; n is the number of distributed sub-devices arranged; h is the length of the cleaning plane of the air cooling island.
In some embodiments, as shown in fig. 4, the distributed sub-device further comprises: solar modules, lithium battery modules and boost modules, wherein,
The solar module is used for converting absorbed solar energy into electric energy and transmitting the electric energy to the lithium battery module, and the solar module can be a solar panel absorption plate, a solar absorption sheet and the like.
The lithium battery module is used for supplying power to the distributed sub-device and determining the sensing range area of the distributed sub-device according to the voltage value of the power supply; wherein the overlapping area of the sensing ranges of two adjacent distributed sub-devices is 0. In some embodiments, the lithium battery module may also be directly connected to the pulse train generating unit and determine the sensing range of the distributed sub-device. Taking a single lithium battery as an example, the voltage value of the single lithium battery module is 3.7V, and the single lithium battery module is directly connected to the pulse sequence generating unit, and the emission distance of the pulse sequence generating unit is 0.15m.
In order to enlarge the emission distance of the pulse sequence generating unit, a boosting module can be used for boosting the lithium battery module, and the maximum sensing range area of the distributed sub-device can be determined according to the boosted voltage value and the distance between the distributed sub-devices. For example, if a communication distance of 1m is to be obtained, the amplification factor of the boost module is required to be 6.7 times, and the output voltage value is about 24.7V. In addition, the problem of communication delay of a pulse sequence identification module in a positioning master device is also considered.
As shown in fig. 5, the pulse sequence includes four parts of a header symbol, a data packet, a tail symbol, and a dead zone, wherein the header symbol and the tail symbol are used for prompting the beginning and the end of position coordinate data. Taking the transmitted pulse sequence as an example of an ELF pulse sequence. The data packet is composed of a high state and a low state, the high state corresponds to logic '1', and the data packet is composed of an ELF pulse sequence which lasts for 100ms. The low state corresponds to a logic "0" consisting of an ELF pulse sequence lasting 20 ms. Dead zones are used to isolate the symbols, the dead zones being devoid of an ELF pulse sequence and lasting 100ms. If the coordinate resolution is set to 32, including binary 00000-11111, the coordinates 0-31 are represented, and the second order system corresponds to the data packet. The ELF pulse sequence can be formed by adding the head code element, the tail code element and the dead zone on the basis.
In addition, in order to distinguish the uplink coordinates and the downlink coordinates, two different points with the same frequency range of the transmission frequency of the uplink and the downlink distributed sub-devices can be respectively arranged, for example, 23Hz represents the uplink coordinates, and 27Hz represents the downlink coordinates. The uplink coordinates are coordinates of distributed sub-devices arranged at the upper edge of the cleaning plane of the air cooling island, and the downlink coordinates are coordinates of distributed sub-devices arranged at the lower edge of the cleaning plane of the air cooling island.
As shown in fig. 6, the solar module transfers electric energy to the lithium battery module according to the USB interface after absorbing solar energy. And then the voltage boosting module performs voltage boosting on the voltage of the lithium battery module, the input voltage range is 2-24V, and the output range after the voltage boosting is 5-25V. The multiple of the boost can be adjusted according to the actual situation, and the application is not particularly limited to this.
In some embodiments, the positioning master device further comprises a GPS module and a communication module.
When the electric quantity value of the lithium battery module is smaller than the electric quantity threshold value, the distributed sub-device can not send out a pulse sequence, or the error generated by the sent pulse sequence is overlarge, so that the azimuth coordinate of the positioning main device is difficult to accurately calculate. At this time, the GPS module may receive the power signal sent by the distributed sub-device, and send a GPS positioning request according to the power signal. Wherein. The power signal is used for representing that the power value of the lithium battery module is smaller than a power threshold. After a positioning request is sent out, the GPS module receives feedback coordinates fed back by GPS satellites, the feedback coordinates represent the position coordinates of a positioning main device obtained by GPS positioning, and the function of the feedback coordinates is the same as the position coordinates of a distributed sub-device. At this time, the main controller may also calculate the azimuth coordinates of the positioning main device according to the feedback coordinates corresponding to the GPS positioning request.
The communication module can upload the azimuth coordinates of the positioning main device to the user terminal, and the user can check the azimuth coordinates of the positioning main device at the personal user terminal so as to know the positioning condition of the air cooling island cleaning frame.
When the distributed sub-device does not have enough electric quantity to generate an electric quantity signal, the main controller can also send a GPS request to the GPS module according to the time interval of the received pulse sequence and receive the coordinate information fed back by the GPS module, so that the positioning of the positioning main device is finished. The communication module is the same as the implementation of the GPS module, and will not be described here.
Because the air cooling island washs the plane and when placing, is certain angle with ground, can lead to calculating the position coordinate of locating master device and can have certain azimuth error. In some embodiments, in the step of calculating the azimuth coordinates of the positioning main device, the main controller may obtain an angle formed by the cleaning plane of the air cooling island and the ground, calculate a corresponding trigonometric function according to the angle, and convert the feedback coordinates or the position coordinates of the distributed sub-devices into the azimuth coordinates of the positioning main device according to the trigonometric function, so as to complete the calculation of the azimuth coordinates of the positioning main device, and eliminate an azimuth error generated by the angle.
In some embodiments, the positioning master device further comprises a wet field patrol unit.
The temperature-humidity field inspection unit is configured to record a humidity value change curve during movement of the positioning main device.
And calculating a corresponding temperature upper limit value curve according to the humidity value change curve.
In this embodiment, the temperature may be identified, where the temperature identification uses a mode of temperature and humidity combined analysis, and in the process of positioning the main device to run along the working route, the actual temperature value of each point is sampled, and the humidity value of each point is recorded, so as to pre-judge the upper temperature limit of the point in the subsequent cleaning process, and further optimize the cleaning path.
In a second aspect, referring to fig. 8, the present application provides a method for positioning a multi-sensor fusion air cooling island cleaning rack, the method comprising:
S100: acquiring a pulse sequence transmitted by the distributed sub-device when the positioning main device moves to a sensing range of the distributed sub-device; the pulse sequence includes position coordinates of the distributed sub-device; the positioning main device is arranged on the air cooling island cleaning frame, and the distributed sub-devices are uniformly distributed on the upper edge and the lower edge of the air cooling island cleaning plane; when the air cooling island cleaning frame is in a working state, the air cooling island cleaning frame moves on a plane where the air cooling island cleaning plane is located.
S200: and identifying the pulse sequence to obtain the position coordinates.
S300: and acquiring an angle formed by the cleaning plane of the air cooling island and the ground.
S400: and converting the position coordinates into azimuth coordinates of the positioning main device according to a trigonometric function corresponding to the angle.
The function of the method according to the present application is described in the above embodiment of the apparatus, and will not be described in detail here.
According to the scheme, the air cooling island cleaning frame positioning device and the air cooling island cleaning frame positioning method with the multi-sensor fusion are provided, and the main positioning device is arranged on the air cooling island cleaning frame through uniformly arranging the distributed sub-devices on the upper edge and the lower edge of the cleaning plane of the air cooling island. When the air cooling island cleaning frame is in a working state, the positioning main device can move along with the air cooling island cleaning frame on the plane where the cleaning frame is located. When the positioning main device moves into the sensing range of the distributed sub-device in the process of moving along with the air cooling island cleaning frame, the pulse sequence sent by the corresponding distributed sub-device is received. The positioning main device can identify the pulse sequence to obtain the position coordinates of the distributed sub-devices, and calculates the azimuth coordinates of the positioning main device based on the position coordinates, so that the azimuth detection of the air cooling island cleaning frame is realized. The application generates the pulse sequence with the azimuth coordinates of the distributed sub-device through the pulse sequence generating unit inside the distributed sub-device. According to the current position of the positioning main device, the sensing range of which distributed sub-device the positioning main device is positioned in is determined according to the received pulse sequence, and then the azimuth coordinate of the positioning main device is calculated according to the position coordinate of the corresponding distributed sub-device, so that the azimuth detection precision and stability of the positioning main device are improved.
The above-provided detailed description is merely a few examples under the general inventive concept and does not limit the scope of the present application. Any other embodiments which are extended according to the solution of the application without inventive effort fall within the scope of protection of the application for a person skilled in the art.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. An air cooling island wash rack positioner of multisensor integration, characterized in that, the device includes: locating a master device and a number of distributed sub-devices, wherein,
The positioning main device is arranged on the cleaning plane of the air cooling island, and the distributed sub-devices are uniformly distributed on the upper edge and the lower edge of the cleaning plane of the air cooling island; when the air cooling island cleaning plane is in a working state, the air cooling island cleaning plane moves on the air cooling island cleaning plane;
The distributed sub-device includes a pulse sequence generation unit configured to: when the positioning master device moves to the sensing range of the distributed sub-device, sending a pulse sequence to the positioning master device; the pulse sequence includes position coordinates of the distributed sub-device;
The positioning main device comprises a pulse sequence identification unit, a main controller and a coordinate calculation unit, wherein the pulse sequence identification unit is configured to identify the pulse sequence to obtain the position coordinate; the main controller is configured to monitor a movement track of the positioning main device and control the operation and stop of the positioning main device; the coordinate calculation unit is configured to calculate azimuth coordinates of the positioning master device from the position coordinates.
2. The multi-sensor fusion air cooling island cleaning rack positioning device according to claim 1, wherein the positioning main device further comprises an infrared contour recognition unit and an acceleration sensor, wherein,
The infrared contour recognition unit is configured to emit infrared rays to the boundary of the air cooling island cleaning plane, and judge whether the positioning main device reaches the boundary of the air cooling island cleaning plane according to response signals in the infrared sensing range; the boundary of the air cooling island cleaning plane is the boundary formed by distributed sub-devices which are arranged at the upper end and the lower end of the air cooling island cleaning plane; the response signal is a signal sent to the main controller when the boundary of the cleaning plane of the air cooling island enters an infrared sensing range;
the acceleration sensor is installed in the horizontal and vertical directions of the positioning main device, respectively, and is configured to calculate acceleration, velocity and displacement of the positioning main device.
3. The multi-sensor fusion air cooling island wash rack positioning device of claim 2, wherein the acceleration sensor is further configured to calculate acceleration, velocity, and displacement of the positioning master device according to the following formula;
Wherein deltat is the time difference between any two points of movement of the positioning main device, and a (t), v (t) and s (t) are respectively the instantaneous acceleration, speed and displacement in the acceleration and deceleration process; n is the number of permutations of distributed sub-devices.
4. The multi-sensor fusion air cooling island wash rack positioning device of claim 1, wherein the master controller is further configured to calculate the number of arrangements of the distributed sub-devices according to the size of the air cooling island wash plane;
Calculating the coordinate resolution of the distributed sub-device in the horizontal direction according to the arrangement quantity;
and determining the transmission range of the pulse sequence identification unit when the coordinate resolution accords with a resolution threshold.
5. The multi-sensor fusion air cooling island wash rack positioning device of claim 4, wherein the master controller calculates the coordinate resolution of the distributed sub-device in the horizontal direction using the following formula:
Wherein σ is the coordinate resolution of the distributed sub-device in the horizontal direction; l is the arrangement length of the distributed sub-devices; n is the number of distributed sub-devices arranged; h is the length of the cleaning plane of the air cooling island.
6. The multi-sensor fusion air cooling island wash rack positioning device of claim 1, wherein the distributed sub-device further comprises: solar modules, lithium battery modules and boost modules, wherein,
The solar module is used for converting absorbed solar energy into electric energy and transmitting the electric energy to the lithium battery module;
The lithium battery module is used for supplying power to the distributed sub-device and determining the sensing range area of the distributed sub-device according to the voltage value of the power supply; wherein the overlapping area of the sensing ranges of two adjacent distributed sub-devices is 0;
the boosting module is used for boosting the voltage of the lithium battery module and determining the maximum sensing range area of the distributed sub-device according to the boosted voltage value and the distance between the distributed sub-devices.
7. The multi-sensor fusion air cooling island cleaning rack positioning device of claim 6, wherein the positioning master device further comprises a GPS module and a communication module;
the GPS module is configured to receive an electric quantity signal sent by the distributed sub-device and send a GPS positioning request according to the electric quantity signal; the electric quantity signal is used for representing that the electric quantity value of the lithium battery module is smaller than an electric quantity threshold value;
the main controller is further configured to calculate azimuth coordinates of the positioning main device according to feedback coordinates corresponding to the GPS positioning request;
The communication module is configured to upload the position coordinates of the positioning master device to a user terminal.
8. The multi-sensor fusion air cooling island wash rack positioning device of claim 7, wherein in performing the step of calculating the azimuth coordinates of the positioning master device, the master controller is further configured to:
acquiring an angle formed by the cleaning plane of the air cooling island and the ground;
and converting the feedback coordinates into azimuth coordinates of the positioning main device according to the trigonometric function corresponding to the angle.
9. The multi-sensor fusion air cooling island cleaning rack positioning device according to claim 1, wherein the positioning main device further comprises a warm-wet field inspection unit;
the temperature and humidity field inspection unit is configured to record a humidity value change curve in the moving process of the positioning main device;
and calculating a corresponding temperature upper limit value curve according to the humidity value change curve.
10. The method for positioning the multi-sensor fused air cooling island cleaning frame is characterized by comprising the following steps of:
Acquiring a pulse sequence transmitted by the distributed sub-device when the positioning main device moves to a sensing range of the distributed sub-device; the pulse sequence includes position coordinates of the distributed sub-device; the positioning main device is arranged on the air cooling island cleaning frame, and the distributed sub-devices are uniformly distributed on the upper edge and the lower edge of the air cooling island cleaning plane; when the air cooling island cleaning frame is in a working state, the air cooling island cleaning frame moves on a plane where the air cooling island cleaning plane is located;
Identifying the pulse sequence to obtain the position coordinates;
acquiring an angle formed by the cleaning plane of the air cooling island and the ground;
and converting the position coordinates into azimuth coordinates of the positioning main device according to a trigonometric function corresponding to the angle.
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