CN205103613U - Unmanned on duty's measuring robot field control system - Google Patents
Unmanned on duty's measuring robot field control system Download PDFInfo
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- CN205103613U CN205103613U CN201520803215.7U CN201520803215U CN205103613U CN 205103613 U CN205103613 U CN 205103613U CN 201520803215 U CN201520803215 U CN 201520803215U CN 205103613 U CN205103613 U CN 205103613U
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Abstract
The utility model discloses an unmanned on duty's measuring robot field control system for measuring robot is to deformed section's monitoring, and this system includes the power module that passes through cable junction with measuring robot, measuring robot still has the control module group through cable junction, the control module group is connected with the data transmission unit through the LAN, the data transmission unit has the server through wireless network connection, the power module is including air switch, UPS uninterrupted power source and the industry power of series connection, wherein, the control module group through the give -out order extremely measuring robot for measuring robot operates according to this command execution monitoring, and the information monitoring that should monitor the in -process saves in the control module group, and through reaching the server on the wireless network. Unmanned on duty's measuring robot field control system, have and not influenced by network communication, just can remote control measuring robot according to the automatic monitoring task of accomplishing of instruction.
Description
Technical field
The utility model belongs to technology for deformation monitoring field, is specifically related to a kind of unattended robot measurement field control system.
Background technology
Traditional deformation monitoring means adopt manual measurement, spirit-leveling instrument and the monitoring point of total powerstation to deformed region is used to monitor, and some special monitored area cannot adopt personal monitoring, tunnel such as in operation, within the service time, do not allow people to enter tunnel, unattended automatic monitoring technical must be adopted.Robot measurement, because it is flexible, measuring accuracy is high, heed contacted measure, is widely used in the deformation monitorings such as subway tunnel, bridge, dam.Robot measurement be one in conjunction with laser, communication, CCD technology, integrate automatic target detection, automatically sight, automatic angle measurement, automatic range, automatically track target, remote control, automatically record data intelligent total powerstation.
There is following problem in the current automatic monitoring system based on robot measurement:
(1) robot measurement is positioned at monitored area, and it is connected with industrial computer at a distance by the data transmission unit DTU of correspondence and wireless network.This framework too relies on network, once there is network interruption, industrial computer just cannot send control information to robot measurement, and Information Monitoring also cannot be sent back to industrial computer by robot measurement, finally cause robot measurement to work, reduce the reliability of unmanned control system;
(2) the model support of robot measurement is comparatively single: current most of automatic monitoring system, only for the robot measurement of specific model, and poor compatibility;
(3) system exception processing power is inadequate: monitored area situation is complicated, the various abnormal conditions of easy appearance, generally, can to extremely revise by the reset of restarting of software, but when robot measurement uncontrollable by software, then cannot complete the operation of restarting software reset.Even if by outside power-off, because robot measurement is generally built-in with battery, the reset operation of firmly restarting therefore also cannot be completed.
Utility model content
In order to solve the problem, the purpose of this utility model provides a kind of unattended robot measurement field control system, has and does not affect by network communication, just Long-distance Control robot measurement can automatically complete monitoring task according to instruction.
For achieving the above object, the utility model is achieved by following technical scheme:
Unattended robot measurement field control system described in the utility model, for the monitoring of robot measurement to deformed region, this system comprises the power supply module be connected by cable with robot measurement, and described robot measurement is also connected with control module by cable;
Described control module is connected with data transmission unit by LAN (Local Area Network);
Described data transmission unit is connected with server by wireless network;
Described power supply module includes the air switch, UPS uninterrupted power source and the industrial power that are connected in series;
Wherein, described control module is by sending instruction to described robot measurement, and make robot measurement perform monitoring operation according to this instruction, the Information Monitoring in this observation process is stored in and controls in module, and is uploaded onto the server by wireless network.
Further, described control module is provided with host-host protocol and resolves interface.
Further, the described control module relay that comprises industrial computer and connect for deenergization module and robot measurement; Described relay is connected with described industrial computer.
Further, described relay is USB relay.
Further, described cable is Y type cable.
Further, described Y type cable is provided with RS232 serial ports.
Further, described LAN (Local Area Network) is Ethernet.
Compared with prior art, the beneficial effects of the utility model are:
Unattended robot measurement field control system described in the utility model, module will be controlled by adopting the form of cable to be connected with robot measurement, thus solve wireless network in prior art and connect at a distance and occur network interruption and the problem that cannot work.Meanwhile, adopt the form of LAN (Local Area Network) will control module and be connected with data transmission unit, and data transmission unit is connected with server by wireless network, thus the Information Monitoring realized in observation process uploads onto the server.Even if in process disconnected in the wireless network, the information collected can be sent in real time and controls module and store, and after wireless network recovers by the time, information continues automatically to upload.In addition, the setting of remote monitoring task is carried out by server, this monitoring task transfers to control module by data transmission unit, described control module and then this monitoring task is sent to robot measurement and performs monitoring operation according to instruction corresponding in this monitoring task.In above process, described power supply module is on the basis of existing employing industrial power, also set up UPS uninterrupted power source, even if make when industrial power accidental interruption, UPS uninterrupted power source then can supplement electric power, for robot measurement machine work, and the setting of air switch, exceed rated current if there is electric current in circuit will automatically disconnect, thus ensure the security of electricity consumption further.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, embodiment of the present utility model is described in further detail, wherein:
Fig. 1 is the structural schematic block diagram of the unattended robot measurement field control system that the utility model embodiment provides;
Fig. 2 is the workflow diagram of the unattended robot measurement field control system that the utility model embodiment provides;
Fig. 3 is the workflow diagram that unattended robot measurement field control system that the utility model embodiment provides carries out Single Point Surveying;
Fig. 4 is the workflow diagram that unattended robot measurement field control system that the utility model embodiment provides carries out the observation of many survey time;
Fig. 5 is the workflow diagram that unattended robot measurement field control system that the utility model embodiment provides carries out end face observation;
Fig. 6 is the schematic diagram of data management in the unattended robot measurement field control system that provides of the utility model embodiment.
In figure:
1: control module
11: industrial computer 12: relay
2: power supply module
21: air switch 22: industrial power 23:UPS uninterrupted power source
3: data transmission unit
4: server
Embodiment
Below in conjunction with accompanying drawing, preferred embodiment of the present utility model is described, should be appreciated that preferred embodiment described herein is only for instruction and explanation of the utility model, and be not used in restriction the utility model.
As shown in Figure 1, unattended robot measurement field control system described in the utility model, by changing robot measurement and the connected mode controlling module 1, ensure that robot measurement is to control to there will not be interruption in the communication of module with the form of cable, thus also store with regard to ensure that the every terms of information of robot measurement Real-time Collection is transferred in described control module 1, the every terms of information of described robot measurement collection simultaneously is also completely according to the command operating controlling to send in module 1.Meanwhile, described control module 1 is by LAN (Local Area Network) and data transmission unit 3, and described data transmission unit 3 is connected with server 4 by wireless network, and the every terms of information that therefore described control module 1 stores uploads onto the server 4 in real time.Even if in process disconnected in the wireless network, described every terms of information also can not be lost, be all stored in and control in module 1, after wireless network recovers by the time, then every terms of information supplements and uploads onto the server 4.This process just largely avoided the problem causing loss of data and cannot upload of existing dependence and wireless network transmissions data completely.
Wherein, the power supply module 2 of electric power energy when working for providing robot measurement, control module 1 and data transmission unit 3 comprises air switch 21, industrial power 22 and UPS uninterrupted power source 23; described air switch 21, UPS uninterrupted power source 23 and industrial power 22 are connected in series; wherein said air switch 21 is a kind of switches collecting control and multi-protective function and one; it exceedes rated current to electric current in circuit and can automatically disconnect, thus plays the effect of protection robot.Described industrial power 22 is for providing the power supply of described monitoring man-hour, described UPS uninterrupted power source 23 is after accident power-off appears in industrial power 22, robot measurement can be provided to work on, thus guarantee that interrupting does not appear in robot measurement in the whole course of work.Because this power supply module 2 is also that colleague is controlled by control module 1, therefore there are abnormal conditions in robot measurement in it, when not working according to preset instructions, then need logical software restarting to reset and carry out abnormal correction, but when still cannot revise after also there is software restarting, then need to reach the object of firmly restarting to the outside power down process of robot measurement.Therefore, described UPS uninterrupted power source 23 can disconnect power supply under the control controlling module 1, provides the mode of uninterrupted power source to there is essential distinction, and also achieve the object of firmly restarting with taking internal battery in prior art.
Wherein, what described robot measurement and control module 1 adopted is that the Y type cable with RS232 serial ports is connected.Described control module 1 includes industrial computer 11 and relay 12, and what described relay 12 adopted is USB relay, turns USB be connected with industrial computer 11 communication by serial ports.Described control module 1 pair of power supply module 2 pairs of robot measurement carry out that power operation completes indeed through relay 12, and then realize firmly restarting robot measurement.
Described control module 1 is also provided with host-host protocol and resolves interface (not shown), its object is to the robot measurement supporting different manufacturers different model, therefore there iing new equipment to add, only need set up command protocols, thus adding the compatibility controlling module 1.
Be more than that the structure of unattended robot measurement field control system described in the utility model is illustrated, below, its surveying work specifically described:
Automatic monitoring method at present based on robot measurement adopts resection side to arrange survey station, utilizes Polar Method to carry out monitoring point three-dimensional coordinate observation.Programming automation observatory control flow has been formulated according to measuring method.As shown in Figure 2, concrete steps are as follows for the control flow of the data acquisition of whole system:
Step 1: create engineering
The essential information such as cuit title, survey station ID, project leader.
Step 2: communication setting
The communications parameter of robot measurement, USB serial ports, thermobarometer and extension sensor is set, comprises serial ports number, baud rate etc.
Step 3: limit difference hierarchical selection
Belonging to concrete engineering project, the code requirement of industry, selects corresponding grade.If do not find respective level, user can self-defined observation grade arrange relevant limit difference index, as poor in angle measurement, range finding, each survey time etc.
Step 4: establish station
Directly establish station and resection to establish two kinds, station mode if the mode of station has, be specially:
1) directly establish station: the directly coordinate of input survey station, select a reference point as zero direction, set up local coordinate system.
2) station is established in resection: import known point coordinate, measure, then calculate the coordinate of survey station.
Step 5: measure of learning
Sight reference point and monitoring point is observed, and be saved in database, later robot measurement sights search, then automatic Observation automatically according to the some position of measure of learning record.
Step 6: divide into groups in monitoring point
The conveniently management of monitoring point, divides into groups each monitoring point.
Step 7: task is arranged
According to the frequency requirement of project monitoring, start time and the time interval of system automatic Observation is set.
Step 8: automatic Observation
After arranging observation mission, system automatic Observation thread can be measured automatically according to surveillance program and limit difference.The control flow of automatic Observation is made up of Single Point Surveying, the observation of many survey time, sectional observation.
1) Single Point Surveying (as shown in Figure 3): robot measurement sights single-point, measures, if measure unsuccessfully, adds and mends measuring point queue; If observe successfully, twice, determined level angle difference of reading, transfinites, and adds and mends measuring point queue, qualified, carries out the observation descending a bit; After completing this observation mission, unification is carried out benefit to Outliers point and is surveyed.
2) many survey time observation (as shown in Figure 4): when after the measurement completing each survey time, calculate zero poor, 2C mutual deviation, index error of vertical circle mutual deviation, survey time range difference, if transfinited, then enter lower benefit and survey the current survey time; Qualified, store data, observe according to task.
3) sectional observation (as shown in Figure 5): judge that whether the limit difference of current section is qualified, if qualified, stores current section observation data HVS.xml file; If transfinite, then mending survey current section transfinites the survey time, after benefit survey completes, rejects the survey time data that transfinite.
Step 9: data are uploaded automatically
After observation completes, data are saved in described industrial computer 11, and automatic uploading data is to server 4 simultaneously; When network interruption, data cannot upload server 4, and now this issue is according to being recorded in the tables of data do not uploaded, waits after recovering network, continues to upload.
As shown in Figure 6, described unattended robot measurement field control system major function has project management, optimum configurations, data acquisition, data management.
Project management mainly, function comprise newly-built, open, close, delete items.Its major function carries out unified management to project.
Optimum configurations: comprising function has survey station setting, communications parameter, limit difference to arrange.Survey station is arranged, and arranges survey station type (stable, to be determined, variation), and the coordinate limit arranging the coordinate of survey station and survey station variation is poor.Communications parameter, arranges robot measurement, temperature sensor, barometer, the device type of USB relay, serial ports number, baud rate, check code, data bit, position of rest.Limit difference is arranged, and arranges observation grade, the reading mutual deviation of horizontal angle, zero poor, 2C mutual deviation, survey time mutual deviation, and the reading mutual deviation of zenith distance, index are poor, survey time mutual deviation, and a survey time of distance observation is poor, survey time mutual deviation.
Data acquisition, comprises survey station setting, measure of learning, section management, task setting, automatically measures.Survey station is provided with single-point orientation and two kinds, station form is established in resection, mainly determines the coordinate system of survey station.Measure of learning, the position of study monitoring point and reference point.Section manages, and grouping management is carried out in monitoring point and reference point, facilitates task to arrange and automatic Observation process organization.Task is arranged, and arranges the section of observation, start time, the maximum pendulous frequency that transfinites, observation interval, measurement pattern.Automatic measurement, carries out automatic Observation according to the task that task is arranged.
Data management, major function has profile data, observation data, coordinate data, deformation curve, report output, observation handbook, statistical conversion.Profile data, temporally can inquire about the coordinate of section each point with section.Observation data temporally inquires about the original observed data of observation.Coordinate data, can inquire about the coordinate results of each monitoring point.Deformation curve, can show the conditional curve of monitoring point.Report output, according to system suggestion step, automatic output skew Monitoring Result.Observation handbook, for deriving original observed data.Statistical conversion, can derive the reference point of survey station, section, measure of learning file and the original observation file of each phase, when automatically upload break down time, can manually upload onto the server by derived data.
Described unattended robot measurement field control system has powerful abnormality processing function, robot measurement works for a long time in severe monitoring of environmental, there will be some abnormal conditions unavoidably, when robot measurement be in deadlock state cannot respond instruction time, now by the break-make of the power supply of USB Control robot measurement, robot measurement can only be restarted firmly.Simultaneity factor has log recording function, the measuring state of record robot measurement under unmanned working condition.
By above to the unattended structure of robot measurement field control system described in the utility model and the explanation of principle of work, what it was concrete has following advantage:
(1) system is not by the impact of network communication.Control module 1 is placed in scene, provides remote control function simultaneously.Only need to measure task by long-range setting (industrial computer 11 or server 4), the autonomous control survey robot of field device is measured according to plan automatically, and store data in the machine (industrial computer 11), when communication is good, by the wireless network of DTU data transmission unit 3 from trend server uploading data; When communicating interrupt, do not affect surveying work, after communication recovers, data continue automatically to upload.
(2) system exception processing power is strong.Described control module 1 has complete error log record and software operation transaction journal, can the operational process of register system.When robot measurement breaks down, time reactionless to instruction, control power supply module 2 by relay 12, and then realize firmly restarting to robot measurement.
(3) system compatibility is strong, supports the robot measurement of different manufacturers different model.
(4) to have easily extensible capable for system.Leave the access interface of other sensors, as baroceptor, temperature sensor, fracture width sensor, the convenient upgrading to systemic-function.
The above, it is only preferred embodiment of the present utility model, not any pro forma restriction is done to the utility model, therefore everyly do not depart from technical solutions of the utility model content, the any amendment done above embodiment according to technical spirit of the present utility model, equivalent variations and modification, all still belong in the scope of technical solutions of the utility model.
Claims (7)
1. a unattended robot measurement field control system, for the monitoring of robot measurement to deformed region, this system comprises the power supply module be connected by cable with robot measurement, it is characterized in that:
Described robot measurement is also connected with control module by cable;
Described control module is connected with data transmission unit by LAN (Local Area Network);
Described data transmission unit is connected with server by wireless network;
Described power supply module includes the air switch, UPS uninterrupted power source and the industrial power that are connected in series;
Wherein, described control module is by sending instruction to described robot measurement, and make robot measurement perform monitoring operation according to this instruction, the Information Monitoring in this observation process is stored in and controls in module, and is uploaded onto the server by wireless network.
2. unattended robot measurement field control system according to claim 1, is characterized in that:
Described control module is provided with host-host protocol and resolves interface.
3. unattended robot measurement field control system according to claim 1, is characterized in that:
Described control module comprises industrial computer and the relay be connected with robot measurement for deenergization module;
Described relay is connected with described industrial computer.
4. unattended robot measurement field control system according to claim 3, is characterized in that:
Described relay is USB relay.
5. unattended robot measurement field control system according to claim 1, is characterized in that:
Described cable is Y type cable.
6. unattended robot measurement field control system according to claim 5, is characterized in that:
Described Y type cable is provided with RS232 serial ports.
7. unattended robot measurement field control system according to claim 1, is characterized in that:
Described LAN (Local Area Network) is Ethernet.
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| CN201520803215.7U CN205103613U (en) | 2015-10-14 | 2015-10-14 | Unmanned on duty's measuring robot field control system |
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| CN201520803215.7U CN205103613U (en) | 2015-10-14 | 2015-10-14 | Unmanned on duty's measuring robot field control system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106597962A (en) * | 2015-10-14 | 2017-04-26 | 广州地铁设计研究院有限公司 | Unattended measurement robot field control system |
| CN106789171A (en) * | 2016-11-25 | 2017-05-31 | 广州地铁设计研究院有限公司 | The automatic monitoring system of urban track traffic malformation |
| CN106767666A (en) * | 2016-12-31 | 2017-05-31 | 铁道第三勘察设计院集团有限公司 | The automation deformation monitoring device and monitoring method of total powerstation |
| CN107655406A (en) * | 2017-09-13 | 2018-02-02 | 刘志方 | The monitoring device and its real-time detection method of a kind of bridge vibration deformation |
| CN108008698A (en) * | 2016-10-28 | 2018-05-08 | 深圳市朗驰欣创科技股份有限公司 | A kind of robot system and its opening/closing control device |
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2015
- 2015-10-14 CN CN201520803215.7U patent/CN205103613U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106597962A (en) * | 2015-10-14 | 2017-04-26 | 广州地铁设计研究院有限公司 | Unattended measurement robot field control system |
| CN108008698A (en) * | 2016-10-28 | 2018-05-08 | 深圳市朗驰欣创科技股份有限公司 | A kind of robot system and its opening/closing control device |
| CN108008698B (en) * | 2016-10-28 | 2024-03-08 | 深圳市朗驰欣创科技股份有限公司 | Robot system and on-off control device thereof |
| CN106789171A (en) * | 2016-11-25 | 2017-05-31 | 广州地铁设计研究院有限公司 | The automatic monitoring system of urban track traffic malformation |
| CN106767666A (en) * | 2016-12-31 | 2017-05-31 | 铁道第三勘察设计院集团有限公司 | The automation deformation monitoring device and monitoring method of total powerstation |
| CN107655406A (en) * | 2017-09-13 | 2018-02-02 | 刘志方 | The monitoring device and its real-time detection method of a kind of bridge vibration deformation |
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Address after: 510010 No. 204 Huanshi West Road, Guangzhou City, Guangdong Province Co-patentee after: Wuhan University Patentee after: Guangzhou Metro Design and Research Institute Co., Ltd. Address before: 510010 No. 204 Huanshi West Road, Guangzhou City, Guangdong Province Co-patentee before: Wuhan University Patentee before: Guangzhou Metro Design & Research Institute Co., Ltd. |
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