CN111271127B - Environment detection method, equipment and system - Google Patents
Environment detection method, equipment and system Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 185
- 238000004891 communication Methods 0.000 claims abstract description 38
- 230000007613 environmental effect Effects 0.000 claims abstract description 26
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims description 27
- 239000003550 marker Substances 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 9
- 230000009467 reduction Effects 0.000 claims description 5
- 230000006698 induction Effects 0.000 claims description 2
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 68
- 229910002092 carbon dioxide Inorganic materials 0.000 description 34
- 239000001569 carbon dioxide Substances 0.000 description 34
- 238000010586 diagram Methods 0.000 description 19
- 230000008569 process Effects 0.000 description 6
- 238000007689 inspection Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- QGZKDVFQNNGYKY-UHFFFAOYSA-N Ammonia Chemical compound N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 description 2
- RAHZWNYVWXNFOC-UHFFFAOYSA-N Sulphur dioxide Chemical compound O=S=O RAHZWNYVWXNFOC-UHFFFAOYSA-N 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 206010003497 Asphyxia Diseases 0.000 description 1
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 description 1
- 206010033557 Palpitations Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 229910021529 ammonia Inorganic materials 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229910002091 carbon monoxide Inorganic materials 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 231100000572 poisoning Toxicity 0.000 description 1
- 230000000607 poisoning effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
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- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0027—General constructional details of gas analysers, e.g. portable test equipment concerning the detector
- G01N33/0036—General constructional details of gas analysers, e.g. portable test equipment concerning the detector specially adapted to detect a particular component
- G01N33/004—CO or CO2
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Abstract
The application relates to an environment detection method, equipment and a system, wherein the environment detection equipment comprises: the system comprises a motion component, an environment detection component, a control component and a communication component; the moving assembly is used for driving the environment detection equipment to move on the rail; the environment detection component is used for detecting the environment parameters and sending the environment parameters to the communication component; the control component is used for acquiring first position information of the environment detection equipment when the detection component detects the environment parameters and sending the first position information to the communication component; and the communication component is used for transmitting the environment parameter and the first position information to the terminal. According to the technical scheme, the environment detection equipment is used for detecting the environment at each position of the environment in a moving manner, so that the detection blind area is eliminated, and the accuracy and the comprehensiveness of environment detection are improved. In addition, the area with problems can be positioned, and the reason for the environmental problems can be conveniently found. In addition, a large number of sensors do not need to be arranged, and the hardware cost of environment detection is saved.
Description
Technical Field
The present application relates to the field of robots, and in particular, to a method, device, and system for environment detection.
Background
The concentration of carbon dioxide in the air in the natural world is maintained at 0.03% (by volume), and when the concentration of carbon dioxide exceeds the standard, people feel bored, have palpitation and even have toxic and suffocation. In a tunnel operation environment, the possibility of exceeding the carbon dioxide concentration exists due to poor air circulation in the tunnel. According to the requirement of the standard of the operation environment of the cavern, the concentration of the carbon dioxide is not more than 0.5 percent (by volume). Therefore, in order to maintain a normal operation environment in the tunnel, the carbon dioxide concentration of each area in the tunnel needs to be monitored in real time, and when the carbon dioxide concentration is increased or exceeds the standard, the carbon dioxide concentration should be timely processed to eliminate production accidents.
The operating environment of construction usually needs to place carbon dioxide concentration monitoring facilities at fixed distance interval, when the carbon dioxide concentration appears and exceeds standard, produces and reports an emergency and asks for help or increased vigilance.
The main disadvantages of the carbon dioxide concentration monitoring device which is arranged at intervals with a fixed distance are as follows:
1. as the length of the tunnel increases, a large number of sensors need to be arranged;
2. the carbon dioxide concentration monitoring position is fixed, the area between two adjacent monitoring points cannot be monitored, and a detection blind area exists;
3. when the concentration of carbon dioxide in the detection blind area exceeds the standard, the position can not be positioned so as to find out the reason of the concentration exceeding the standard.
Disclosure of Invention
In order to solve the technical problem or at least partially solve the technical problem, embodiments of the present application provide an environment detection method, apparatus and system.
In a first aspect, an embodiment of the present application provides an environment detection apparatus, including: the device comprises a motion component, an environment detection component, a control component and a communication component;
the moving assembly is used for driving the environment detection equipment to move on the rail;
the environment detection component is used for detecting environment parameters and sending the environment parameters to the communication component;
the control component is used for acquiring first position information of the environment detection equipment when the detection component detects the environment parameter, and sending the first position information to the communication component;
the communication component is used for transmitting the environment parameter and the first position information to a terminal.
Optionally, the control assembly is connected with the motion assembly;
the motion assembly includes: the driving wheel and the motor drive the driving wheel to rotate;
the control assembly is further used for calculating the moving distance of the environment detection equipment according to the radius of a driving wheel, the rotation angle of the motor and the reduction ratio of the motor, and determining the first position information according to the moving distance.
Optionally, the environment detection apparatus further includes: the first positioning label sensor and the second positioning label sensor are connected; the first positioning label sensor and the second positioning label sensor are connected with the control component;
the first positioning label sensor is used for reading an identifier of a first positioning label arranged on the track and sending the identifier to the control component;
the second positioning tag sensor is used for generating a trigger signal and sending the trigger signal to the control assembly when a second positioning tag arranged on the track is sensed, wherein the effective sensing distance of the first positioning tag is greater than that of the second positioning tag;
the control component is used for acquiring second position information corresponding to the identifier, determining third position information where the environment detection equipment is located currently according to the trigger signal and the second position information, and correcting the first position information according to the third position information.
Optionally, the second positioning tag is a magnetic tag, and the second positioning tag sensor includes: a magnetic proximity switch; the magnetic proximity switch is used for sending level jump when the magnetic label is induced to generate the trigger signal;
or the like, or, alternatively,
the second positioning tag is a marker, and the second positioning tag sensor comprises: a distance sensor; the distance sensor is used for generating the trigger signal when the marker is detected at a preset distance.
In a second aspect, an embodiment of the present application provides an environment detection system, including the environment detection apparatus of the foregoing embodiment, further including a track;
the environment detection device is used for detecting an environment parameter and recording first position information when the environment parameter is detected when the environment detection device moves along the track.
Optionally, a first positioning tag and a second positioning tag are arranged on the track, and an effective sensing distance of the first positioning tag is greater than an effective sensing distance of the second positioning tag;
the environment detection device is used for obtaining second position information by reading the identifier of the first positioning tag, generating a trigger signal when the second positioning tag is sensed, determining third position information of the environment detection device according to the trigger signal and the second position information, and correcting the first position information according to the third position information.
Optionally, the system further includes: a terminal;
the environment detection equipment is also used for transmitting the environment parameters and the first position information to the terminal;
and the terminal is used for displaying the environmental parameters and the first position information.
In a third aspect, an embodiment of the present application provides an environment detection method, where based on the environment detection apparatus in the foregoing embodiment, the environment detection apparatus moves along a track, and the method includes:
acquiring detected environmental parameters;
recording first position information when the environmental parameters are detected;
and transmitting the environmental parameters and the first position information to a terminal.
Optionally, the method further includes:
acquiring second position information by reading the identifier of the first positioning tag arranged on the track;
when a second positioning label arranged on the track is sensed, generating a trigger signal;
determining third position information of the environment detection equipment according to the trigger signal and the second position information;
and correcting the first position information according to the third position information.
In a fourth aspect, an embodiment of the present application provides an electronic device, including: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus;
the memory is used for storing a computer program;
the processor is configured to implement the above method steps when executing the computer program.
In a fifth aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the above-mentioned method steps.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:
the environment parameters and the position information obtained by detection are sent to the terminal for display through the arrangement of the track and the environment detection equipment which moves on the track and simultaneously performs environment detection. Therefore, the environment detection equipment is used for detecting in each position of the environment in a moving manner, the detection blind area is eliminated, and the accuracy and the comprehensiveness of the environment detection are improved. In addition, the area with problems can be positioned, and the reason for the environmental problems can be conveniently found. In addition, a large number of sensors do not need to be arranged, and the hardware cost of environment detection is saved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a schematic diagram of an environment detection apparatus located in a track according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of an environment detection apparatus located in a track according to another embodiment of the present application;
FIG. 3 is a block diagram of an environment detection system provided by an embodiment of the present application;
fig. 4 is a schematic diagram illustrating a detection result displayed on a terminal according to an embodiment of the present application;
FIG. 5 is a block diagram of an environment detection apparatus provided in an embodiment of the present application;
FIG. 6 is a block diagram of an environment sensing device provided in another embodiment of the present application;
FIG. 7 is a block diagram of an environment sensing device according to another embodiment of the present application;
fig. 8 is a flowchart of an environment detection method according to an embodiment of the present application;
FIG. 9 is a flowchart illustrating an environment detecting method according to another embodiment of the present application;
fig. 10 is a block diagram of an environment detecting apparatus according to an embodiment of the present application;
fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a schematic diagram of an environment detection apparatus located in a track according to an embodiment of the present disclosure. As shown in fig. 1, the environment detection apparatus 10 moves along a rail 20.
According to the embodiment of the application, the environment detection equipment detects the current environment in the process of moving along the track, and sends the detected environment information and position information to the remote terminal for displaying the detection result.
Fig. 2 is a schematic diagram of an environment detection apparatus located in a track according to another embodiment of the present application. As shown in fig. 2, for carbon dioxide detection in a tunnel, a track 20 may be provided in the tunnel, and the environment detection apparatus 10 moves along the track 20 in the tunnel.
The track 20 may be a suspended track disposed above the tunnel. The environment detection equipment 10 can perform reciprocating inspection in the tunnel according to the set inspection direction. The environment detection device 10 records the position of the environment detection device in real time during the movement process, detects the concentration of carbon dioxide in real time, and reports the recorded corresponding relation between the position and the concentration of carbon dioxide to the terminal.
First, an environment detection system provided by an embodiment of the present invention is described below.
Fig. 3 is a block diagram of an environment detection system according to an embodiment of the present application. As shown in fig. 3, the system includes: environment detection device 10 and track 20.
The environment detecting apparatus 10 detects an environment parameter while moving along the track 20 and records first position information when the environment parameter is detected.
As shown in fig. 3, the system further includes: and a terminal 30.
The environment detection device is further configured to transmit the environment parameter and the first location information to the terminal 30.
And the terminal 30 is used for displaying the first position information and the environment parameter.
Wherein the environment detecting device 10 and the terminal 30 can communicate in a wireless manner, such as 5G, 4G, Wi-Fi, etc. The environmental parameters detected by the environment detection device 10 may include at least one of: temperature, humidity, gas pressure, oxygen concentration, concentration of harmful gases (carbon dioxide, carbon monoxide, sulfur dioxide, ammonia, etc.).
In the alternative, as shown in FIG. 2, a first positioning tab 21 and a second positioning tab 22 are provided on the track 20. Wherein, the effective sensing distance of the first positioning tag 21 is greater than that of the second positioning tag 22.
Alternatively, the first positioning tag 21 may be a Radio Frequency Identification (RFID) tag. The second positioning tag 22 may be a magnetic tag or an identifiable marker. The environment detection device 10 is provided with sensors for identifying the first positioning tag 21 and the second positioning tag 22.
The effective induction distance of the RFID tag is relatively large and is different from 1 meter to 200 meters according to the power of the inductor. When the second positioning tag 22 is a magnetic tag, the effective sensing distance of the magnetic tag is 1 cm. When the second positioning tag 22 is a marker, the effective sensing distance of the distance sensor on the environment detection device 10 sensing the marker is 10 cm.
The environment detection device 10 is configured to obtain second position information by reading the identifier of the first positioning tag 21, generate a trigger signal when sensing that the second positioning tag 22 is located, determine third position information where the environment detection device is currently located according to the trigger signal and the second position information, and correct the first position information according to the third position information.
In this embodiment, the environment detection device may calculate the movement distance based on the rotation condition of the motor and the driving wheel parameter, so as to obtain the current first position information. However, the distance is calculated by itself, and long-time operation may cause accumulated errors, so that the positioning is inaccurate. In order to correct the accumulated error of the environment detection device itself, the first positioning tag 21 and the second positioning tag 22 may be disposed at regular intervals on the track, and the first positioning tag 21 and the second positioning tag 22 may be disposed at the same position.
Wherein the identifier of the first positioning tag 21 can be bound with the second position information of the position where the first positioning tag is located in advance. For example, the distance between the location and the tunnel starting point, or the map coordinate corresponding to the location, the identifier of the first positioning tag 21 is bound. The environment detection device reads the identifier of the first positioning tag 21, and obtains the second position information corresponding to the first positioning tag 21 through the pre-established binding relationship query.
In addition, since the distance range of the rfid is relatively large, and varies from 5 cm to 200 m according to the power of the read-write device, the environment detection device needs to determine the actual position corresponding to the position information more accurately after obtaining the position information corresponding to the first positioning tag 21. Therefore, the second positioning tag 22 is further disposed at the position of the first positioning tag 21, after the environment detection device 10 senses the second positioning tag 22, the distance from the environment detection device to the second positioning tag 22, that is, the distance from the first positioning tag 21, is determined according to the trigger signal, the current third position information of the environment detection device is determined according to the distance and the second position information, and the first position information calculated by the environment detection device itself is corrected according to the third position information.
Optionally, the terminal 30 may display the environmental parameter and the first location information in a table manner, may display the detection result in a coordinate graph manner, and may display the environmental parameter corresponding to each location of the tunnel in a schematic diagram manner, such as the carbon dioxide concentration.
For example, the environment detecting device may detect the carbon dioxide concentration every 50 meters, and the tunnel length is 2000 meters, and the detection points are 0 meter, 50 meters, 100 meters, 150 meters, … … 1900 meters, 1950 meters and 2000 meters from the starting point. The locations within the tunnel and the carbon dioxide concentrations are shown in table 1 below,
TABLE 1
Fig. 4 is a schematic diagram illustrating a detection result displayed on a terminal according to an embodiment of the present application. As shown in fig. 4, a tunnel diagram is displayed, in which the position information of each detection point is marked, and the carbon dioxide concentration is represented by different gray values, and the higher the gray value is, the higher the carbon dioxide concentration is.
In this embodiment, the environment parameters and the position information obtained by detection are sent to the terminal for display by setting the track and the environment detection device which moves on the track and performs environment detection. Therefore, the environment detection equipment is used for detecting in each position of the environment in a moving manner, the detection blind area is eliminated, and the accuracy and the comprehensiveness of the environment detection are improved. In addition, the area with problems can be positioned, and the reason for the environmental problems can be conveniently found. In addition, a large number of sensors do not need to be arranged, and the hardware cost of environment detection is saved.
In another alternative, the terminal 30 is further configured to alarm when it is determined that the environmental parameter falls within a preset alarm range. For example, when the carbon dioxide concentration in the tunnel is more than 0.5% at 1000 m and 1050 m from the starting point, the two points in the tunnel may be poorly ventilated, the tunnel operation may have a risk of carbon dioxide poisoning, and the terminal 30 issues an alarm. For example, the alarm device may sound an alarm, pop up an alarm dialog box on the terminal 30, send alarm information to a mobile phone of a relevant person by a short message, an email, or the like. Therefore, related personnel can quickly and accurately know the position with higher concentration of carbon dioxide in the tunnel, and the follow-up production troubleshooting is facilitated.
The following describes an environment detection apparatus provided in an embodiment of the present invention.
Fig. 5 is a block diagram of an environment detection apparatus according to an embodiment of the present application. As shown in fig. 5, the environment detection apparatus 10 includes: a motion component 11, an environment detection component 12, a position detection component 13 and a communication component 14.
And the moving assembly 11 is used for driving the environment detection equipment to move on the track.
An environment detection component 12 for detecting the environment parameter and sending the environment parameter to the communication component 14.
The control component 13 is configured to obtain first location information of the environment detection device when the detection component 12 detects the environment parameter, and send the first location information to the communication component 14.
A communication component 14 for transmitting the environment parameter and the first location information to the terminal.
In this embodiment, when not receiving the instruction of patrolling and examining, environment detection equipment can berth at track starting point position, and starting point position is equipped with battery charging outfit, and environment detection equipment can charge at the starting point position. When the routing inspection instruction is received, the environment detection equipment moves along the track and simultaneously detects the environment parameters.
In this embodiment, the environment detection device performs environment detection while moving on the track, and sends the detected environment parameters and position information to the terminal for display. Therefore, the environment detection equipment is used for detecting in each position of the environment in a moving manner, the detection blind area is eliminated, and the accuracy and the comprehensiveness of the environment detection are improved. In addition, the area with problems can be positioned, and the reason for the environmental problems can be conveniently found. In addition, a large number of sensors do not need to be arranged, and the hardware cost of environment detection is saved.
In an alternative embodiment, the control assembly 13 is connected to the movement assembly 11. The motion assembly 11 includes: a driving wheel 111 and a motor 112 for driving the driving wheel 111 to rotate. And the control component 13 is further configured to calculate a moving distance of the environment detecting device 10 according to the radius of the driving wheel, the rotation angle of the motor and the reduction ratio of the motor, and determine first position information according to the moving distance.
Optionally, the moving assembly 11 further includes a motor driving circuit, and the motor driving circuit drives the motor to rotate after receiving the inspection instruction, so that the environment detection device moves along the track. The control component 13 comprises a master controller and an encoder. The encoder is connected with the motor, obtains motor rotation information, and sends the motor rotation information to the master controller. The main controller calculates the moving distance of the environment detection equipment according to the following formula:
And obtaining the distance between the environment detection equipment and the starting point of the track according to the L, thereby determining the first position information.
Fig. 6 is a block diagram of an environment detection apparatus according to another embodiment of the present application. As shown in fig. 6, optionally, the environment detection apparatus further includes: a first positioning tag sensor 15 and a second positioning tag sensor 16 connected. The first positioning tag sensor 15 and the second positioning tag sensor 16 are connected to the control unit 13.
The first positioning tag sensor 15 is used for reading the identification of the first positioning tag arranged on the track 20 and sending the identification to the control component 13.
And a second positioning tag sensor 16 for generating a trigger signal and transmitting the trigger signal to the control component 13 when a second positioning tag provided on the track 20 is sensed. Wherein, the effective sensing distance of the first positioning tag 21 is greater than that of the second positioning tag 22.
And the control component 13 is configured to obtain second location information corresponding to the identifier, determine third location information where the environment detection device is currently located according to the trigger signal and the second location information, and correct the first location information according to the third location information.
For example, when the first positioning tag 21 is an RFID tag, the first positioning tag inductor 15 includes a radio frequency RFID antenna and an RFID reader. The second positioning tag 22 may be a magnetic tag or an identifiable marker. When second position tag 22 is a magnetic tag, second position tag sensor 16 is a magnetic proximity switch. When the second location tag 22 is a marker, the second location tag sensor 16 may be a distance sensor.
Because the distance is calculated by only depending on the environment detection equipment, accumulated errors can be caused by long-time operation, and the positioning is inaccurate. In order to correct the accumulated error of the environment detection device, a first positioning tag sensor 15 and a second positioning tag sensor 16 are provided in the environment detection device. The first positioning tag sensor 15 reads the identifier of the first positioning tag 21 located on the track, and the control component 13 obtains the second position information corresponding to the identifier of the first positioning tag 21 through the pre-established binding relationship.
In addition, since the effective sensing distance of the first positioning tag 21 is relatively large, after the environment detection device obtains the position information corresponding to the first positioning tag 21, it is also necessary to determine the actual position corresponding to the position information more accurately. The position of the first positioning tag 21 is further provided with a second positioning tag 22, a second positioning tag sensor 16 is arranged in the environment detection device, after the second positioning tag sensor 16 senses the second positioning tag, a trigger signal is generated and sent to the control component 13, the control component 13 determines the distance between the environment detection device and the second positioning tag 22, namely the distance between the environment detection device and the first positioning tag 21, determines the third position information of the environment detection device according to the distance and the second position information, and corrects the first position information calculated by the environment detection device through the third position information.
Therefore, the positioning accuracy of the environment detection equipment is improved, and the production faults can be checked more accurately in the follow-up process.
Optionally, when the second positioning tag sensor 16 includes a magnetic proximity switch, the magnetic proximity switch sends a level jump when sensing a magnetic tag disposed on the track, so as to generate a trigger signal. The effective distance of the magnetic labels is approximately 1 cm or so. The antenna power reading range of the radio frequency RFID antenna is 1 meter. The magnetic tag and the radio frequency identification tag may be disposed at the same location.
Thus, when the environment detection device 10 moves 1 meter into proximity of the RFID tag, the radio frequency RFID antenna will first read the identification of the RFID tag and send the identification to the control component 13. When the environment sensing device 10 moves 1 cm near a magnetic tag, the magnetic proximity switch senses the magnetic tag, a level jump occurs, and a trigger signal is sent to the control component 13.
In addition, when the trigger sensor 16 is a distance sensor, a trigger signal is generated when a marker is detected at a preset distance. The markers on the track 20 may be identification plates coated with a reflective material.
The control component 13 determines that the distance from the environment detection device 10 to the marker is 10 cm according to the trigger signal, and if the second position information obtained according to the identification of the RFID tag is 100 meters away from the starting point, determines that the third position information where the environment detection device 10 is currently located is 99.9 meters away from the starting point. The control unit 13 corrects the first position information by the third position information.
Through the embodiment, the position recorded by the environment detection equipment is corrected, so that the environment detection equipment is more accurately positioned, and production faults can be rapidly and accurately checked subsequently.
The configuration of the environment detection device will be described in detail below, taking the carbon dioxide concentration in the detection environment as an example. The second positioning label inductor is a magnetic proximity switch, and the first positioning label inductor comprises a radio frequency RFID antenna and an RFID reader-writer.
Fig. 7 is a block diagram of an environment detection apparatus according to another embodiment of the present application. As shown in fig. 7, in the environment detection apparatus 10, the main controller 101 is connected to the motor driving circuit 106, the motor driving circuit 106 drives the motor 107 to rotate after receiving the inspection instruction sent by the main controller 101, and the motor 107 drives the driving wheel 108 to rotate, so that the environment detection apparatus moves along the track.
The encoder 109 connected to the motor 107 records the rotation of the motor 107 and transmits the motor rotation information to the master controller 101. The motor rotation information includes a motor rotation angle. The main controller 101 calculates a moving distance of the environment detecting apparatus 10 according to the radius of the driving wheel, the rotation angle of the motor, and the reduction ratio of the motor, and determines first position information according to the moving distance.
The environment detection device 10 detects the concentration of carbon dioxide in the environment by means of an infrared carbon dioxide sensor 112. The infrared carbon dioxide sensor 112 measures the concentration of carbon dioxide in the environment by detecting the absorption intensity of carbon dioxide to infrared light with a wavelength of 4.26um, and reports the detected carbon dioxide concentration information to the microcontroller 104 through the UART interface. The microcontroller 104 reports the carbon dioxide concentration information to the CAN bus 102 via the CAN transceiver 103, and the master 101 acquires the carbon dioxide concentration information from the CAN bus 102.
The radio frequency RFID antenna 111 senses the RFID tag, reads the identifier of the RFID tag, and transmits the identifier to the RFID reader 110 through a radio frequency signal. The RFID reader 110 transmits the identification to the master 101.
The magnetic proximity switch 114 senses the magnetic tag and outputs a level jump signal to the comparator 113, and the comparator 113 compares the level jump signal with the reference voltage 115 and outputs a recognizable level signal to the microcontroller 104. The microcontroller 104 receives the level signal output by the comparator 113, determines the distance between the environment detection device and the magnetic tag, generates a trigger signal and reports the trigger signal to the CAN bus 102 through the CAN transceiver 103, the master controller 101 acquires the trigger signal from the CAN bus 102, determines the distance between the environment detection device and the magnetic tag to be 1 cm according to the trigger signal, and determines that the third position information of the environment detection device currently located is 99.99 m from the starting point if the second position information obtained by reading the radio frequency identification tag is 100 m from the starting point. The master controller 101 corrects the first position information by the third position information.
The main controller 101 sends the detection result including the carbon dioxide concentration information and the corresponding position information to the wireless communication module 105. The wireless communication module 105 transmits the detection result to the terminal 30 through the antenna.
The terminal 30 receives the detection result through the wireless communication module, and after the detection result is processed by the processor, display information corresponding to the detection result is obtained and displayed on a display of the terminal.
In this embodiment, the environment detection device performs environment detection while moving on the track, and sends the detected environment parameters and position information to the terminal for display. Therefore, the environment detection equipment is used for detecting in each position of the environment in a moving manner, the detection blind area is eliminated, and the accuracy and the comprehensiveness of the environment detection are improved. In addition, the area with problems can be positioned, and the reason for the environmental problems can be conveniently found. In addition, a large number of sensors do not need to be arranged, and the hardware cost of environment detection is saved.
The following describes an environment detection method provided by an embodiment of the present invention.
Fig. 8 is a flowchart of an environment detection method according to an embodiment of the present application. As shown in fig. 8, the method is based on the environment detection device of the above embodiment, the environment detection device moves along the track, and the method includes the following steps:
step S11, acquiring detected environmental parameters;
step S12, recording first position information when detecting the environmental parameter;
step S13, the environment parameter and the first location information are transmitted to the terminal.
Optionally, the corresponding relationship between the environmental parameter and the first location information may be established according to the time of detecting the environmental parameter and the time of acquiring the first location information; alternatively, the environmental information may be detected at fixed locations and the first location information recorded, e.g. every 50 meters, or marked fixed locations on the track, etc.
In this embodiment, the environment detection device performs environment detection while moving on the track, and sends the detected environment parameters and position information to the terminal for display. Therefore, the environment detection equipment is used for detecting in each position of the environment in a moving manner, the detection blind area is eliminated, and the accuracy and the comprehensiveness of the environment detection are improved. In addition, the area with problems can be positioned, and the reason for the environmental problems can be conveniently found. In addition, a large number of sensors do not need to be arranged, and the hardware cost of environment detection is saved.
Fig. 9 is a flowchart of an environment detection method according to another embodiment of the present application. As shown in fig. 9, the method further includes:
step S21, obtaining second position information by reading the mark of the first positioning label arranged on the track;
step S22, when a second positioning label arranged on the track is sensed, a trigger signal is generated;
step S23, determining the current third position information of the environment detection equipment according to the trigger signal and the second position information;
in step S24, the first position information is corrected according to the third position information.
Through the embodiment, the position recorded by the environment detection equipment is corrected, so that the environment detection equipment is more accurately positioned, and production faults can be rapidly and accurately checked subsequently.
The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application.
Fig. 10 is a block diagram of an environment detection apparatus provided in an embodiment of the present application, which may be implemented as part of or all of an electronic device through software, hardware, or a combination of the software and the hardware. As shown in fig. 10, the environment detection apparatus is applied to the environment detection device of the above-described embodiment, the environment detection device moving along a track, and the apparatus includes:
an obtaining module 101, configured to obtain a detected environmental parameter;
the recording module 102 is configured to record first position information when detecting an environmental parameter;
a transmission module 103, configured to transmit the environmental parameter and the first location information to the terminal.
An embodiment of the present application further provides an electronic device, as shown in fig. 11, the electronic device may include: the system comprises a processor 1501, a communication interface 1502, a memory 1503 and a communication bus 1504, wherein the processor 1501, the communication interface 1502 and the memory 1503 complete communication with each other through the communication bus 1504.
A memory 1503 for storing a computer program;
the processor 1501, when executing the computer program stored in the memory 1503, implements the steps of the method embodiments described below.
The communication bus mentioned in the electronic device may be a Peripheral component interconnect (pci) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method embodiments described below.
It should be noted that, for the above-mentioned apparatus, electronic device and computer-readable storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiments.
It is further noted that, herein, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. An environment detection apparatus, comprising: the device comprises a motion component, an environment detection component, a control component and a communication component;
the moving assembly is used for driving the environment detection equipment to move on the rail;
the environment detection component is used for detecting environment parameters and sending the environment parameters to the communication component;
the control component is used for acquiring first position information of the environment detection equipment when the environment detection component detects the environment parameters, and sending the first position information to the communication component;
the communication component is used for transmitting the environment parameters and the first position information to a terminal;
the control assembly is connected with the motion assembly; the motion assembly includes: the driving wheel and the motor drive the driving wheel to rotate; the control assembly is further used for calculating the moving distance of the environment detection equipment according to the radius of a driving wheel, the rotation angle of a motor and the reduction ratio of the motor, and determining the first position information according to the moving distance;
the environment detection apparatus further includes: the first positioning label sensor is connected with the second positioning label sensor; the first positioning label sensor and the second positioning label sensor are connected with the control component; the first positioning label sensor is used for reading an identifier of a first positioning label arranged on the track and sending the identifier to the control component; the second positioning tag sensor is used for generating a trigger signal and sending the trigger signal to the control assembly when a second positioning tag arranged on the track is sensed, wherein the effective sensing distance of the first positioning tag is greater than that of the second positioning tag; the control component is configured to acquire second location information corresponding to the identifier, determine third location information where the environment detection device is currently located according to the trigger signal and the second location information, and correct the first location information according to the third location information, where a distance value between locations corresponding to the second location information and the third location information is an effective sensing distance of the second positioning tag.
2. The apparatus of claim 1, wherein the second positioning tag is a magnetic tag, the second positioning tag sensor comprising: a magnetic proximity switch; the magnetic proximity switch is used for sending level jump when the magnetic label is induced to generate the trigger signal;
or the like, or, alternatively,
the second positioning tag is a marker, and the second positioning tag sensor comprises: a distance sensor; the distance sensor is used for generating the trigger signal when the marker is detected at a preset distance.
3. An environment detection system comprising the environment detection apparatus of any one of claims 1-2, further comprising a track;
the environment detection device is used for detecting an environment parameter and recording first position information when the environment parameter is detected when the environment detection device moves along the track.
4. The system of claim 3, wherein a first positioning tag and a second positioning tag are disposed on the track, and an effective sensing distance of the first positioning tag is greater than an effective sensing distance of the second positioning tag;
the environment detection device is configured to obtain second position information by reading an identifier of the first positioning tag, generate a trigger signal when the second positioning tag is sensed, determine third position information where the environment detection device is currently located according to the trigger signal and the second position information, and correct the first position information according to the third position information, where a distance value between positions corresponding to the second position information and the third position information is an effective sensing distance of the second positioning tag.
5. The system of claim 3, further comprising: a terminal;
the environment detection equipment is also used for transmitting the environment parameters and the first position information to the terminal;
and the terminal is used for displaying the environmental parameters and the first position information.
6. An environment detection method based on the environment detection device of any one of claims 1-2, wherein the environment detection device moves along an orbit, the method comprising:
acquiring detected environmental parameters;
recording first position information when the environmental parameters are detected;
and transmitting the environmental parameters and the first position information to a terminal.
7. The method of claim 6, further comprising:
acquiring second position information by reading the identifier of the first positioning tag arranged on the track;
when a second positioning label arranged on the track is sensed, generating a trigger signal;
determining third position information of the environment detection equipment at present according to the trigger signal and the second position information, wherein a distance value between positions corresponding to the second position information and the third position information is an effective induction distance of the second positioning tag;
and correcting the first position information according to the third position information.
8. An electronic device, comprising: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus;
the memory is used for storing a computer program;
the processor, when executing the computer program, implementing the method of claim 6 or 7.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of claim 6 or 7.
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| CN202010060430.8A CN111271127B (en) | 2020-01-19 | 2020-01-19 | Environment detection method, equipment and system |
| PCT/CN2021/070433 WO2021143591A1 (en) | 2020-01-19 | 2021-01-06 | Environmental testing method, device and system |
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| CN202010060430.8A CN111271127B (en) | 2020-01-19 | 2020-01-19 | Environment detection method, equipment and system |
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| CN111122779A (en) * | 2019-12-23 | 2020-05-08 | 北京海益同展信息科技有限公司 | Method and device for detecting gas by inspection equipment and detection system |
| CN111271127B (en) * | 2020-01-19 | 2021-11-30 | 北京海益同展信息科技有限公司 | Environment detection method, equipment and system |
| CN111791214A (en) * | 2020-07-03 | 2020-10-20 | 北京海益同展信息科技有限公司 | Inspection robot and inspection system for inspecting construction tunnel |
| CN114872011B (en) * | 2022-06-21 | 2024-01-26 | 长沙万为机器人有限公司 | Hanger rail type primary-secondary robot and control method thereof |
| CN117027953B (en) * | 2023-09-18 | 2024-03-12 | 四川蜀能矿山开发技术咨询有限公司 | Colliery gas concentration detects and safety precaution device |
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| US4288789A (en) * | 1979-09-14 | 1981-09-08 | George C. Molinick | Alarm system with verbal message |
| CN103778683B (en) * | 2012-10-26 | 2018-06-19 | 上海市政工程设计研究总院（集团）有限公司 | A kind of tunnel structure electronic polling system and its application method |
| CN103294975A (en) * | 2013-06-07 | 2013-09-11 | 艾伯资讯（深圳）有限公司 | Method and system for managing intelligent patrolling and personnel positioning |
| CN106808482B (en) * | 2015-12-02 | 2019-07-19 | 中国科学院沈阳自动化研究所 | A kind of crusing robot multisensor syste and method for inspecting |
| CN206161055U (en) * | 2016-11-04 | 2017-05-10 | 京东方科技集团股份有限公司 | Environmental parameter detection device |
| CN108468568A (en) * | 2018-03-27 | 2018-08-31 | 深圳供电局有限公司 | A kind of Tunnel testing robot and its method for inspecting |
| CN108776487A (en) * | 2018-08-22 | 2018-11-09 | 中国矿业大学 | A kind of mining rail formula crusing robot and its localization method |
| CN109079798A (en) * | 2018-10-19 | 2018-12-25 | 北京市政建设集团有限责任公司 | A kind of intelligent O&M extension rail crusing robot and its method for inspecting for underground pipe gallery |
| CN110346429A (en) * | 2019-07-15 | 2019-10-18 | 北京海益同展信息科技有限公司 | Inspection device and method for inspecting |
| CN110579209A (en) * | 2019-10-08 | 2019-12-17 | 上海市东方海事工程技术有限公司 | Positioning error compensation method and system based on RFID positioning technology |
| CN111271127B (en) * | 2020-01-19 | 2021-11-30 | 北京海益同展信息科技有限公司 | Environment detection method, equipment and system |
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