CN108732972A - Intelligent data acqusition system for multirobot - Google Patents
Intelligent data acqusition system for multirobot Download PDFInfo
- Publication number
- CN108732972A CN108732972A CN201810590342.1A CN201810590342A CN108732972A CN 108732972 A CN108732972 A CN 108732972A CN 201810590342 A CN201810590342 A CN 201810590342A CN 108732972 A CN108732972 A CN 108732972A
- Authority
- CN
- China
- Prior art keywords
- work
- parameter
- data
- spot
- spot parameter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2612—Data acquisition interface
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Signal Processing (AREA)
- Mobile Radio Communication Systems (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The present invention provides the intelligent data acqusition systems for multirobot, including radio sensor network monitoring module and data processing analysis platform, radio sensor network monitoring module is used to acquire the work on the spot parameter of robot, and work on the spot parameter is sent to Data Management Analysis platform；Data Analysis Services platform is used to monitor in real time the work on the spot parameter of received robot, and carries out analyzing processing to work on the spot parameter, and corresponding alarm signal is exported when running parameter exceeds the threshold range of setting at the scene.
Description
Technical field
The present invention relates to Communication of Muti-robot System fields, and in particular to is used for the intelligent data acqusition system of multirobot.
Background technology
In current industrial production, to save human cost and improving the quality of production, automatic production line is commonly provided with multimachine
Device people by collaborative work to complete production process.It is carried out to ensure to produce to stablize, needs to acquire multirobot work on the spot ginseng
Number simultaneously monitors it in real time, so that observer makes reasonable arrangement in time for the operation operating mode of multirobot, avoids anticipating
Outer situation occurs.
Invention content
In view of the above-mentioned problems, the present invention is provided to the intelligent data acqusition systems of multirobot.
The purpose of the present invention is realized using following technical scheme：
The intelligent data acqusition system for multirobot is provided, which includes radio sensor network monitoring module
With data processing analysis platform, radio sensor network monitoring module is used to acquire the work on the spot parameter of robot, and will show
Field running parameter is sent to Data Management Analysis platform；Data Analysis Services platform is for monitoring received robot in real time
Work on the spot parameter, and analyzing processing is carried out to work on the spot parameter, when running parameter is beyond the threshold range set at the scene
Export corresponding alarm signal；Radio sensor network monitoring module includes base station and is deployed in multiple in setting monitoring region
Sensor node, base station and sensor node collectively form wireless sensor network, and plurality of sensor node is synergistically adopted
Collection, processing and transmission work on the spot parameter are to base station, and base station is for converging received work on the spot parameters for transmission to data
Processing center；Sensor node generates cluster head by sub-clustering, and cluster head is often set by one for receiving each sensor node in cluster
Determine the work on the spot parameter of monitoring cycle transmission.
Preferably, the Data Management Analysis platform includes sequentially connected data transmit-receive module, data exception detection
Module, data fusion module；The wherein described data transmit-receive module is for receiving and storing radio sensor network monitoring module hair
The work on the spot parameter sent；And work on the spot parameter is sent to data exception detection module；The data exception detection module
Work on the spot parameter for being sent to data transmit-receive module carries out abnormality detection, and is repaiied to the abnormal data detected
It is multiple；The data fusion module is used to carry out fusion treatment to work on the spot parameter.
Preferably, sensor node includes the sensor of the work on the spot parameter of the monitoring robot for acquiring.
Further, further include power supply module, for being powered to each sensor.
Beneficial effects of the present invention are：Multirobot work on the spot parameter is realized by wireless sensor network technology
Acquisition, and by carrying out analyzing processing to work on the spot parameter, exported when running parameter exceeds the threshold range of setting at the scene
Corresponding alarm signal, can at the scene running parameter beyond setting threshold range when alarm, so that observer is directed to
The operation operating mode of multirobot makes reasonable arrangement in time, avoids unexpected situation.
Description of the drawings
Using attached drawing, the invention will be further described, but the embodiment in attached drawing does not constitute any limit to the present invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is the structural representation of the intelligent data acqusition system for multirobot of an illustrative embodiment of the invention
Block diagram；
Fig. 2 is the structural schematic block diagram of the Data Management Analysis module of an illustrative embodiment of the invention.
Reference numeral：
Radio sensor network monitoring module 1, Data Management Analysis module 2, power supply module 3, data transceiving unit 10, number
According to abnormality detecting unit 20, data fusion unit 30.
Specific implementation mode
The invention will be further described with the following Examples.
Referring to Fig. 1, an embodiment of the present invention provides the intelligent data acqusition system for multirobot, which includes nothing
Line sensor network monitoring module 1 and data processing analysis module 2, radio sensor network monitoring module 1 is for acquiring machine
The work on the spot parameter of people, and work on the spot parameter is sent to Data Management Analysis module 2；Data Analysis Services platform is used for
It monitors the work on the spot parameter of received robot in real time, and analyzing processing is carried out to work on the spot parameter, work at the scene
Corresponding alarm signal is exported when parameter is beyond the threshold range set；Radio sensor network monitoring module 1 include base station and
The multiple sensor nodes being deployed in setting monitoring region, base station and sensor node collectively form wireless sensor network,
Plurality of sensor node synergistically acquires, handles and transmits work on the spot parameter to base station, and base station is received for converging
Work on the spot parameters for transmission to data processing centre；Sensor node generates cluster head by sub-clustering, and cluster head is for receiving cluster
Interior each sensor node often passes through the work on the spot parameter that a setting monitoring cycle is sent.
Wherein, sensor node includes the sensor of the work on the spot parameter of the monitoring robot for acquiring.
Wherein, intelligent data acqusition system further includes power supply module 3, for being powered to each sensor.
In a kind of mode of possible implementation, as shown in Fig. 2, Data Management Analysis module 2 includes sequentially connected data
Transmit-Receive Unit 10, data exception detection unit 20, data fusion unit 30；The wherein described data transceiving unit 10 for receive and
Store the work on the spot parameter that radio sensor network monitoring module 1 is sent；And work on the spot parameter is sent to data exception
Detection unit 20；The data exception detection unit 20 is used to carry out the work on the spot parameter that data transceiving unit 10 is sent different
Often detection, and the abnormal data detected is repaired；The data fusion unit 30 is used to carry out work on the spot parameter
Fusion treatment.
The above embodiment of the present invention realizes adopting for multirobot work on the spot parameter by wireless sensor network technology
Collection, and by carrying out analyzing processing to work on the spot parameter, the output phase when running parameter is beyond the threshold range set at the scene
The alarm signal answered, can at the scene threshold range of the running parameter beyond setting when alarm, so that observer is for more
The operation operating mode of robot makes reasonable arrangement in time, avoids unexpected situation.
In a kind of mode of possible implementation, only when freshly harvested work on the spot parameter meets the change condition of setting
When, the freshly harvested work on the spot parameter is just sent to corresponding cluster head by sensor node, is not otherwise sent；If freshly harvested
Work on the spot parameter is xm+1, the change condition set as：
In formula, xiIndicate the work on the spot parameter acquired described in i-th of monitoring cycle,For preceding m+1 monitoring cycle
The average value of the work on the spot parameter acquired,In the work on the spot parameter acquired by preceding m+1 monitoring cycle
Value,By the average value for the work on the spot parameter that preceding m monitoring cycle acquires,Preceding m monitoring cycle is acquired
The intermediate value of work on the spot parameter, wherein the work on the spot parameter that preceding m+1 monitoring cycle is acquired is { x1,x2,…,xm+1, preceding m
The work on the spot parameter that a monitoring cycle is acquired is { x1,x2,…,xm}；For the work on the spot parameter threshold of setting.
The present embodiment innovatively sets change condition, meet change condition show freshly harvested work on the spot parameter compared with
Work on the spot parameter before generates the degree that variation has reached setting；Sensor node only works as its new acquisition in the present embodiment
Work on the spot parameter meet setting change condition when, freshly harvested work on the spot parameter is just sent to corresponding cluster head, energy
It enough avoids unnecessary work on the spot parameter being also sent to cluster head, to reduce the energy consumption of work on the spot parameter transmission, energy
The energy for enough saving sensor node, reduces Internet traffic, and then save the communications cost of system on the whole.
In one embodiment, cluster head periodically carries out fault detect to each sensor node in cluster, and is examined according to failure
It surveys result and sends dormancy instruction to corresponding malfunctioning node, sensor node enters dormant state after receiving dormancy instruction；Its
In, cluster head periodically carries out fault detect to each sensor node in cluster, specifically includes：
(1) setting detection unit k obtains sensor node a and its natural neighbor node acquisition of preceding k monitoring cycle
Work on the spot parameter, calculate separately average value, obtain work on the spot mean parameter sequence
Wherein discrete data node set S is built using the other sensors node in sensor node a communication rangesa, according to biography
The geographical location of sensor node, utilizes SaThe single order Voronoi diagram for building sensor node a, to obtain sensor node a's
Multiple nature neighbor node b, b=1 ..., na, naIndicate the natural neighbor node number of sensor node a；
(2) rightIt is ranked up from small to large ord, work on the spot after being sorted
Mean parameter sequenceCalculate the intermediate value of work on the spot mean parameter sequence after sortingAverage valueAnd standard variance
(3) average value for the work on the spot parameter that the sensor node a of k monitoring cycle is acquired before setting asIfIt is full
Foot row fault verification formula, then judge sensor node a for malfunctioning node：
In formula, ρ is the probability threshold value of setting.
If the work on the spot parameter of sensor node acquisition deviates considerably from the other sensors in its communication range
The work on the spot parameter of node, it may be considered that the sensor node failure.Based on the principle, the present embodiment sets node event
Hinder decision mechanism.The natural neighbor node of sensor node is obtained in the mechanism using the division methods of Voronoi diagram.
Voronoi diagram is one of the extremely important research contents in computational geometry field, and Voronoi diagram is according to sky of interest
Between object neighbouring attribute by the region division where them at many subregions.Per sub-regionsWhat is indicated is given
In discrete data point set p, relatively other discrete data points, distanceThe set that closer all spatial points are constituted.This reality
The natural neighbor node for applying example acquisition is actually the neighbour of sensor node truly.The present embodiment is by comparing sensing
Deviation between device node and the work on the spot parameter of its natural neighbor node acquisition judges sensor node failure, relative to
The mode being compared with the work on the spot parameter of neighbor node, reduces False Rate, improves the accurate of malfunctioning node detection
Rate；The present embodiment further sets fault verification formula, and carrying out failure to sensor node by the fault verification formula sentences
It is fixed, improve the efficiency of malfunctioning node detection.
In one embodiment, it improves formula according to following standard variance and calculates standard variance
In formula,For work on the spot mean parameter sequence after sequenceIn v
A average value.
The calculation of existing standard variance is the difference of each number and the average of this group of data in one group of data
Square and again divided by the number of data.When sensor node breaks down, can with other sensors node deviate one compared with
Big value is based on this, and the present embodiment is improved the calculation of existing standard variance, using in intermediate value and average value
Between value substitute average value, since intermediate value and the median of average value can more represent its practical center relative to average value, according to
Above-mentioned calculation formula calculates standard variance, can reduce the erroneous judgement of malfunctioning node, improves the accuracy rate of malfunctioning node detection.
Cluster head sends dormancy instruction, sensor section according to failure detection result to corresponding malfunctioning node in above-described embodiment
Point enters dormant state after receiving dormancy instruction, enables to the sensor node to break down cut-off collection site work ginseng
Number so as to opposite reduction work on the spot parameter acquisition and transmission energy consumption, and is avoided that malfunctioning node to work on the spot parameter
Precision impact.
Through the above description of the embodiments, those skilled in the art can be understood that it should be appreciated that can
To realize the embodiments described herein with hardware, software, firmware, middleware, code or its any appropriate combination.For hardware
It realizes, each module can be realized in one or more the following units：Application-specific integrated circuit (ASIC), digital signal processor
(DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), processing
Device, controller, microcontroller, microprocessor, other electronic units or combinations thereof designed for realizing functions described herein.
For software implementations, some or all of embodiment flow can instruct relevant hardware to complete by computer program.
When realization, above procedure can be stored in computer-readable medium or as the one or more on computer-readable medium
Instruction or code are transmitted.Computer-readable medium includes computer storage media and communication media, wherein communication media packet
It includes convenient for transmitting any medium of computer program from a place to another place.Storage medium can be that computer can
Any usable medium of access.Computer-readable medium can include but is not limited to RAM, ROM, EEPROM, CD-ROM or other
Optical disc storage, magnetic disk storage medium or other magnetic storage apparatus or can be used in carry or store with instruction or data
The desired program code of structure type simultaneously can be by any other medium of computer access.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although being explained in detail to the present invention with reference to preferred embodiment, those skilled in the art answer
Work as understanding, technical scheme of the present invention can be modified or replaced equivalently, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (6)
1. the intelligent data acqusition system for multirobot, characterized in that including radio sensor network monitoring module sum number
According to processing analysis platform, radio sensor network monitoring module is used to acquire the work on the spot parameter of robot, and by live work
It is sent to Data Management Analysis platform as parameter；Data Analysis Services platform is used to monitor in real time the scene of received robot
Running parameter, and analyzing processing is carried out to work on the spot parameter, it is exported when running parameter exceeds the threshold range of setting at the scene
Corresponding alarm signal；Radio sensor network monitoring module include base station and be deployed in setting monitoring region in multiple sensings
Device node, base station and sensor node collectively form wireless sensor network, and plurality of sensor node synergistically acquires, locates
Reason and transmission work on the spot parameter are to base station, and base station is for converging received work on the spot parameters for transmission to Data processing
The heart；Sensor node generates cluster head by sub-clustering, and cluster head often passes through a setting monitoring for receiving each sensor node in cluster
The work on the spot parameter that period sends.
2. the intelligent data acqusition system according to claim 1 for multirobot, characterized in that at the data
It includes sequentially connected data transmit-receive module, data exception detection module, data fusion module to manage analysis platform；The wherein described number
It is used to receive and store the work on the spot parameter of radio sensor network monitoring module transmission according to transceiver module；And by work on the spot
Parameter is sent to data exception detection module；The live work that the data exception detection module is used to send data transmit-receive module
It is carried out abnormality detection as parameter, and the abnormal data detected is repaired；The data fusion module is used for live work
Make parameter and carries out fusion treatment.
3. the intelligent data acqusition system according to claim 1 for multirobot, characterized in that sensor node packet
Include the sensor of the work on the spot parameter of the monitoring robot for acquiring.
4. the intelligent data acqusition system according to claim 3 for multirobot, characterized in that further include power supply mould
Block, for being powered to each sensor.
5. being used for the intelligent data acqusition system of multirobot according to claim 1-4 any one of them, characterized in that only
When freshly harvested work on the spot parameter meets the change condition of setting, sensor node is just by the freshly harvested work on the spot
Parameter is sent to corresponding cluster head, does not otherwise send；If freshly harvested work on the spot parameter is xm+1, the change condition of the setting
For：
In formula, xiIndicate the work on the spot parameter acquired described in i-th of monitoring cycle,It is adopted by preceding m+1 monitoring cycle
The average value of the work on the spot parameter of collection,By the intermediate value for the work on the spot parameter that preceding m+1 monitoring cycle acquires,
By the average value for the work on the spot parameter that preceding m monitoring cycle acquires,The live work acquired by preceding m monitoring cycle
Make the intermediate value of parameter, wherein the work on the spot parameter that preceding m+1 monitoring cycle is acquired is { x1,x2,…,xm+1, preceding m monitoring
The work on the spot parameter that period is acquired is { x1,x2,…,xm}；For the work on the spot parameter threshold of setting.
6. the intelligent data acqusition system according to claim 5 for multirobot, characterized in that cluster head is periodically to cluster
Interior each sensor node carries out fault detect, and sends dormancy instruction to corresponding malfunctioning node according to failure detection result,
Sensor node enters dormant state after receiving dormancy instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810590342.1A CN108732972B (en) | 2018-06-08 | 2018-06-08 | Intelligent data acquisition system for multiple robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810590342.1A CN108732972B (en) | 2018-06-08 | 2018-06-08 | Intelligent data acquisition system for multiple robots |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108732972A true CN108732972A (en) | 2018-11-02 |
| CN108732972B CN108732972B (en) | 2020-12-11 |
Family
ID=63933092
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810590342.1A Expired - Fee Related CN108732972B (en) | 2018-06-08 | 2018-06-08 | Intelligent data acquisition system for multiple robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108732972B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111736516A (en) * | 2020-08-05 | 2020-10-02 | 中国人民解放军国防科技大学 | Autonomous clustering control method and device for multi-agent system |
| CN111752240A (en) * | 2020-06-03 | 2020-10-09 | 深圳前海禾盈科技有限公司 | Construction method of automatic production control framework |
| CN112051824A (en) * | 2020-09-22 | 2020-12-08 | 吴信强 | Operation and maintenance system based on industrial Internet of things |
| CN112311877A (en) * | 2020-10-29 | 2021-02-02 | 工业互联网创新中心（上海）有限公司 | Engineering machinery management system based on cloud platform |
| CN113051311A (en) * | 2021-03-16 | 2021-06-29 | 鱼快创领智能科技(南京)有限公司 | Method, system and device for monitoring abnormal change of liquid level of vehicle oil tank |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060126501A1 (en) * | 2004-12-09 | 2006-06-15 | Honeywell International Inc. | Fault tolerance in a wireless network |
| CN101232417A (en) * | 2007-01-25 | 2008-07-30 | 上海研祥智能科技有限公司 | Embedded type wireless sensing network intelligent platform |
| US20090198374A1 (en) * | 2008-01-31 | 2009-08-06 | National Chiao Tung University Of Taiwan | Nursing system |
| CN101959218A (en) * | 2009-10-25 | 2011-01-26 | 苏州大学 | Method for detecting event region based on splay tree |
| CN102395183A (en) * | 2011-12-18 | 2012-03-28 | 上海集成通信设备有限公司 | ZigBee wireless sensor electricity saving method |
| CN102608570A (en) * | 2012-01-17 | 2012-07-25 | 华中科技大学 | Wireless sensor node ranging and positioning methods for tunnels |
| CN104159236A (en) * | 2014-06-23 | 2014-11-19 | 江南大学 | Wireless sensor network node coverage optimization method based on Voronoi diagram for blind area |
| CN105897469A (en) * | 2016-04-01 | 2016-08-24 | 北京邮电大学 | Fault detection method and fault detection device for wireless sensor network |
| CN107153110A (en) * | 2017-05-29 | 2017-09-12 | 深圳市创艺工业技术有限公司 | Coal-mine gas monitoring system comprising wireless sensor network |
| CN107566512A (en) * | 2017-09-20 | 2018-01-09 | 深圳市晟达机械设计有限公司 | Grid power transmission shaft tower wireless monitor system |
| CN107623744A (en) * | 2017-10-10 | 2018-01-23 | 常州大学 | A kind of indoor mobile robot system constituting method based on sensor network |
-
2018
- 2018-06-08 CN CN201810590342.1A patent/CN108732972B/en not_active Expired - Fee Related
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060126501A1 (en) * | 2004-12-09 | 2006-06-15 | Honeywell International Inc. | Fault tolerance in a wireless network |
| CN101232417A (en) * | 2007-01-25 | 2008-07-30 | 上海研祥智能科技有限公司 | Embedded type wireless sensing network intelligent platform |
| US20090198374A1 (en) * | 2008-01-31 | 2009-08-06 | National Chiao Tung University Of Taiwan | Nursing system |
| CN101959218A (en) * | 2009-10-25 | 2011-01-26 | 苏州大学 | Method for detecting event region based on splay tree |
| CN102395183A (en) * | 2011-12-18 | 2012-03-28 | 上海集成通信设备有限公司 | ZigBee wireless sensor electricity saving method |
| CN102608570A (en) * | 2012-01-17 | 2012-07-25 | 华中科技大学 | Wireless sensor node ranging and positioning methods for tunnels |
| CN104159236A (en) * | 2014-06-23 | 2014-11-19 | 江南大学 | Wireless sensor network node coverage optimization method based on Voronoi diagram for blind area |
| CN105897469A (en) * | 2016-04-01 | 2016-08-24 | 北京邮电大学 | Fault detection method and fault detection device for wireless sensor network |
| CN107153110A (en) * | 2017-05-29 | 2017-09-12 | 深圳市创艺工业技术有限公司 | Coal-mine gas monitoring system comprising wireless sensor network |
| CN107566512A (en) * | 2017-09-20 | 2018-01-09 | 深圳市晟达机械设计有限公司 | Grid power transmission shaft tower wireless monitor system |
| CN107623744A (en) * | 2017-10-10 | 2018-01-23 | 常州大学 | A kind of indoor mobile robot system constituting method based on sensor network |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111752240A (en) * | 2020-06-03 | 2020-10-09 | 深圳前海禾盈科技有限公司 | Construction method of automatic production control framework |
| WO2021244263A1 (en) * | 2020-06-03 | 2021-12-09 | 深圳前海禾盈科技有限公司 | Method for constructing automated production control architecture |
| CN111736516A (en) * | 2020-08-05 | 2020-10-02 | 中国人民解放军国防科技大学 | Autonomous clustering control method and device for multi-agent system |
| CN111736516B (en) * | 2020-08-05 | 2020-11-17 | 中国人民解放军国防科技大学 | Autonomous clustering control method and device for multi-agent system |
| CN112051824A (en) * | 2020-09-22 | 2020-12-08 | 吴信强 | Operation and maintenance system based on industrial Internet of things |
| CN112051824B (en) * | 2020-09-22 | 2021-04-09 | 吴信强 | Operation and maintenance system based on industrial Internet of things |
| CN112311877A (en) * | 2020-10-29 | 2021-02-02 | 工业互联网创新中心（上海）有限公司 | Engineering machinery management system based on cloud platform |
| CN113051311A (en) * | 2021-03-16 | 2021-06-29 | 鱼快创领智能科技(南京)有限公司 | Method, system and device for monitoring abnormal change of liquid level of vehicle oil tank |
| CN113051311B (en) * | 2021-03-16 | 2023-07-28 | 鱼快创领智能科技(南京)有限公司 | Method, system and device for monitoring abnormal change of liquid level of vehicle oil tank |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108732972B (en) | 2020-12-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108732972A (en) | Intelligent data acqusition system for multirobot | |
| CN107957357A (en) | A kind of automatic method of sampling of drainage pipeline water quality and device | |
| CN108064065A (en) | A kind of long-distance water quality monitoring system based on wireless sensor network | |
| CN105338489A (en) | Intelligent terminal for indoor positioning and bluetooth indoor positioning system | |
| CN109922450B (en) | Intelligent community property management system | |
| CN108171954A (en) | Air pollution intelligent real time monitoring system | |
| CN107316450A (en) | A kind of transmission line of electricity monitoring system based on wireless sensor network | |
| CN109120456B (en) | Controller switching equipment state intelligent monitoring system | |
| CN107294213A (en) | A kind of grid equipment intelligent monitor system | |
| CN109219010A (en) | Controller switching equipment state intelligent monitoring system | |
| CN103175575A (en) | Bridge structure health monitoring system based on ZIGBEE network | |
| CN105451182B (en) | A kind of target identification tracking system and method | |
| CN108401235A (en) | A kind of agriculture site environment parameter intelligent acquisition processing system based on big data | |
| CN114241353A (en) | Water leakage monitoring system based on wireless sensing and image recognition | |
| CN108899995A (en) | A kind of grid equipment intelligent monitor system based on Internet of Things | |
| CN112003938B (en) | Municipal works job site remote management system | |
| CN105678987A (en) | Unsteady-stage equipment vibration wireless monitoring device | |
| CN108810843A (en) | Urban air-quality intelligent monitor system | |
| CN108171956A (en) | A kind of power transformer environmental monitoring system based on big data and WSN technology | |
| CN109195132B (en) | Intelligent air quality information acquisition and real-time broadcasting system | |
| CN109067872A (en) | Soil quality monitoring system for precision agriculture | |
| CN110139234A (en) | A kind of wireless sensor network dormancy dispatching method based on node grouping | |
| CN113494940A (en) | Dangerous house monitoring system based on wireless sensor network | |
| CN108966169A (en) | For the Analysis on heavy metal pollution early warning system of agricultural land soil | |
| CN107017835B (en) | The fault monitoring system and method for photovoltaic module |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Qiu Linxin Inventor after: Zhou Yu Inventor before: Qiu Linxin |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20201109 Address after: Room 4003, building 5, Lushang Guoao City, 9777 Jingshi Road, Lixia District, Jinan City, Shandong Province Applicant after: Shandong Lushang Innovation Development Co.,Ltd. Address before: 518000 Guangdong city of Shenzhen province Nanshan District Guangdong streets high tech Park high-tech South Road No. 9 South Gate Branch building room 1206 Applicant before: SHENZHEN DATU KECHUANG TECHNOLOGY DEVELOPMENT Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201211 |