CN114879273A - Clean room environment detection device mobile carrying platform control system and method - Google Patents
Clean room environment detection device mobile carrying platform control system and method Download PDFInfo
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- CN114879273A CN114879273A CN202210321289.1A CN202210321289A CN114879273A CN 114879273 A CN114879273 A CN 114879273A CN 202210321289 A CN202210321289 A CN 202210321289A CN 114879273 A CN114879273 A CN 114879273A
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- 238000001514 detection method Methods 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000006698 induction Effects 0.000 claims abstract description 92
- 238000012544 monitoring process Methods 0.000 claims description 18
- 241000894006 Bacteria Species 0.000 claims description 12
- 239000000428 dust Substances 0.000 claims description 12
- 239000002245 particle Substances 0.000 claims description 12
- 230000009191 jumping Effects 0.000 claims description 9
- 238000007689 inspection Methods 0.000 claims description 7
- 230000003213 activating effect Effects 0.000 claims description 3
- 230000011664 signaling Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000002035 prolonged effect Effects 0.000 abstract description 2
- 230000001960 triggered effect Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
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- C12Q1/00—Measuring or testing processes involving enzymes, nucleic acids or microorganisms; Compositions therefor; Processes of preparing such compositions
- C12Q1/02—Measuring or testing processes involving enzymes, nucleic acids or microorganisms; Compositions therefor; Processes of preparing such compositions involving viable microorganisms
- C12Q1/04—Determining presence or kind of microorganism; Use of selective media for testing antibiotics or bacteriocides; Compositions containing a chemical indicator therefor
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Abstract
The invention discloses a clean room environment detection device mobile carrying platform control system and a method. Which comprises the following steps: step 1: distributing a plurality of induction modules in a clean room, wherein induction areas of the induction modules are not overlapped with each other; step 2: randomly generating a moving path of the mobile carrying platform; and step 3: the mobile carrying platform moves along the current path; and 4, step 4: when one induction module collects the movement induction signal, judging whether the induction module collects the thermal infrared human body induction signal or not, and if so, going to step 5; otherwise, go to step 7; and 5: the induction module sends an instruction signal to the mobile carrying platform; step 6: when the mobile carrying platform receives the instruction signal, clearing the current unfinished moving path, and going to step 2; and 7: the mobile carrying platform self-checks whether the mobile path is finished or not, if so, the step 2 is carried out; if not, go to step 3. The mobile carrying platform of the environment detection device can be prevented from colliding with workers, production safety is improved, and the service life of the mobile carrying platform is prolonged.
Description
Technical Field
The invention relates to the technical field of clean room detection management, in particular to a mobile carrying platform control system of a clean room environment detection device and a control method realized based on the system.
Background
Clean rooms are also called clean rooms, clean rooms or clean rooms. The main function of the device is indoor pollution control, and the production and processing of some pollution sensitive parts can be realized only when the pollution in a clean room is ensured to be lower than a preset value. Among the prior art, carry on the platform through the removal of installing environment measuring device and pollute large-scale toilet and patrol and examine many times, the problem that this kind of technical scheme exists is: the moving track of the moving carrying platform is planned in advance, so that the moving carrying platform is easy to collide with workers, and potential safety hazards in production or equipment damage is caused. Therefore, how to develop a novel control method for a mobile platform of a clean room environment inspection apparatus to overcome the above-mentioned defects of the prior art is a direction that needs to be studied by those skilled in the art.
Disclosure of Invention
The invention aims to provide a control method of a mobile carrying platform of a clean room environment detection device, which can divide a clean room into a plurality of areas, avoid the collision of the mobile carrying platform of the environment detection device with workers, improve the production safety and prolong the service life of the mobile carrying platform.
The technical scheme is as follows:
a method for controlling a mobile carrying platform of a clean room environment detection device comprises the following steps:
step 1: distributing a plurality of induction modules in a clean room; and the induction areas of different induction modules are not overlapped;
step 2: randomly generating a moving path of a mobile carrying platform, wherein an environment detection device is arranged on the mobile carrying platform and comprises a plurality of sensors;
and step 3: the mobile carrying platform moves along the current moving path;
and 4, step 4: when a mobile induction device on one induction module collects a mobile induction signal, activating a thermal infrared human body induction device on the induction module, and if the thermal infrared human body induction device collects the thermal infrared human body induction signal, jumping to the step 5; otherwise, jumping to step 7;
and 5: step 4, the induction module sends an instruction signal to the mobile carrying platform;
step 6: when the mobile carrying platform receives the instruction signal, clearing the current unfinished mobile path, and jumping to the step 2;
and 7: the mobile carrying platform self-checks whether the mobile path is finished or not, if so, the step 2 is skipped to; if not, jumping to the step 3.
By adopting the technical scheme: different position areas in the clean room are respectively sensed by the plurality of sensing modules, and when only a mobile sensing signal is triggered in the sensing area of one sensing module, the mobile sensing signal is triggered for the mobile carrying platform of the environment detection device, and the mobile carrying platform of the environment detection device continues to operate according to the current path at the moment. If a mobile induction signal and a thermal infrared human body induction device are triggered simultaneously, the situation that people exist in the area is indicated at the moment, and the induction module sends an instruction signal to an induction area covered by the induction module; if the environment detection device moving carrying platform is not in the area, the signal is invalid. And if the environment detection device moves the carrying platform to enter the area, automatically emptying the current unexecuted routing inspection route and randomly generating a new routing inspection route in order to avoid collision with the human body moving in the area. From this, realized the intelligent automatic adjustment to patrolling and examining the route, avoided the environmental detection device to remove to carry on the collision of platform and human body.
In order to realize the control method, the invention also discloses a control system of the mobile carrying platform of the clean room environment detection device, which adopts the following technical scheme:
a clean room environment detection device mobile carrying platform control system comprises: the system comprises a mobile carrying platform, a processor and a plurality of induction modules; the mobile carrying platform is provided with an environment detection device, and the environment detection device is used for acquiring an environment detection index and comprises a planktonic bacteria real-time monitoring module and a dust particle real-time monitoring module; an industrial personal computer, a driving device and a power supply system are arranged in the mobile carrying platform; the mobile carrying platform is also provided with a signal antenna; the signal antenna is respectively and electrically connected with the environment detection device and the industrial personal computer, is used for receiving the instruction signal and transmitting the instruction signal to the industrial personal computer, and is also used for sending the environment detection index acquired by the environment detection device to the processor in a wireless signal form; the industrial personal computer is electrically connected with the driving device and used for generating a moving path by a prestored planning path algorithm when receiving the instruction signal and controlling the driving device to work based on the moving path; the driving device is used for driving the movable carrying platform to move; the power supply system is used for supplying power to the industrial personal computer, the signal antenna, the environment detection device and the driving device; the plurality of induction modules are distributed in the clean room; each of the plurality of induction modules is respectively integrated with a mobile induction device, a thermal infrared human body induction device and an instruction sending module; the induction areas of the mobile induction device and the thermal infrared human body induction device on the same induction module are the same; the induction areas of the mobile induction devices on different induction modules are not overlapped with each other; the instruction sending module is used for sending instruction signals to an induction area of an induction device on the induction module.
Preferably, in the clean room environment detection apparatus mobile mounting platform control system: the environment detection apparatus further includes: the wind speed monitoring module, the temperature monitoring module and the humidity monitoring module.
Preferably, in the clean room environment detection apparatus mobile mounting platform control system: the processor comprises an alarm module, wherein the alarm module is used for reading the concentration of the planktonic bacteria and the concentration of the dust particles and giving an alarm when the concentration of the planktonic bacteria and/or the concentration of the dust particles are higher than a pre-stored threshold value.
Preferably, in the clean room environment detection apparatus mobile mounting platform control system: the implementation form of the alarm module is any one of window jitter and light flicker.
By adopting the technical scheme: the planktonic bacteria concentration and the dust particle concentration are acquired by the planktonic bacteria real-time monitoring module and the dust particle real-time monitoring module respectively. The air flow speed, the temperature value and the humidity value in the clean room are obtained by the air speed monitoring module, the temperature monitoring module and the humidity monitoring module respectively. And aiming at two most important data indexes of concentration of planktonic bacteria and concentration of dust particles, automatic alarm is realized.
Compared with the prior art, the mobile carrying platform of the environment detection device can be prevented from colliding with workers, production safety is improved, and the service life of the mobile carrying platform is prolonged.
Drawings
FIG. 1 is a schematic flow chart of example 1;
FIG. 2 is a schematic view showing the arrangement of the respective facilities in the clean room in example 1;
the correspondence between each reference numeral and the component name is as follows:
1. moving the carrying platform; 2. a processor; 3. a sensing module; 4. a clean room.
Detailed Description
The embodiments of the present invention will be further explained with reference to the drawings. It should be understood by those skilled in the art that the described embodiments of the present invention are merely exemplary embodiments.
In the description of the present invention, the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the invention. When an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
As shown in fig. 1-2:
a clean room environment detection device removes and carries on platform 1 control system, it includes: a mobile carrying platform 1, a processor 2 and 11 induction modules 3. The 11 induction modules 3 are uniformly distributed in the clean room 4; and the induction areas of the induction modules 3 are not overlapped;
in this example: the mobile carrying platform 1 is realized based on an inspection robot. Install environment detection device on the robot, environment detection device is used for the environmental detection index who acquires, and it includes planktonic bacteria real-time supervision module, dust particle real-time supervision module, wind speed monitoring module, temperature monitoring module and humidity monitoring module.
An industrial personal computer, a driving device and a power system are installed in the robot; the robot is also provided with a signal antenna; the signal antenna is respectively and electrically connected with the environment detection device and the industrial personal computer, is used for receiving the instruction signal and transmitting the instruction signal to the industrial personal computer, and is also used for sending the environment detection index acquired by the environment detection device to the processor 2 in a wireless signal form; the industrial personal computer is electrically connected with the driving device and used for generating a moving path by a prestored planning path algorithm when receiving the instruction signal and controlling the driving device to work based on the moving path; the driving device is used for driving the robot to move; the power supply system is used for supplying power to the industrial personal computer, the signal antenna, the environment detection device and the driving device; the plurality of induction modules 3 are distributed in the clean room; each of the plurality of induction modules 3 is respectively integrated with a mobile induction device, a thermal infrared human body induction device and an instruction sending module; the induction areas of the mobile induction device and the thermal infrared human body induction device on the same induction module 3 are the same; the induction areas of the mobile induction devices on different induction modules 3 are not overlapped with each other; the instruction sending module is used for sending instruction signals to the induction area of the mobile induction device on the induction module 3.
The processor 2 comprises an alarm module, and the alarm module is used for reading the concentration of the planktonic bacteria and the concentration of the dust particles and giving an alarm when the concentration of the planktonic bacteria and/or the concentration of the dust particles are higher than a pre-stored threshold value. The implementation form of the alarm module is any one of window jitter and light flicker.
In practice, the working process is as follows:
step 1: the robot enters the clean room from a door at the lower right corner of the clean room;
step 2: initializing a system, and randomly generating a moving path of the mobile carrying platform 1;
and step 3: the environment detection device moves the carrying platform 1 along the current moving path;
and 4, step 4: when a movement induction signal is collected by a movement induction device on one induction module 3, activating a thermal infrared human body induction device on the induction module 3, if the thermal infrared human body induction signal is collected by the thermal infrared human body induction device, it is indicated that a worker exists in the area at the moment, the robot or the human is possible to trigger the movement induction signal, and then, the step 5 is skipped to; otherwise, the robot is required to trigger the motion sensing signal, and the step 7 is skipped;
and 5: step 4, the induction module 3 sends an instruction signal to the environment detection device mobile carrying platform 1;
step 6: when the mobile carrying platform 1 receives the instruction signal, clearing the current unfinished moving path, and skipping to the step 2;
and 7: the mobile carrying platform 1 automatically checks whether the moving path is finished or not, and if so, jumps to the step 2; if not, jumping to the step 3.
In the above steps, a suspension instruction can be sent to the environment detection device mobile carrying platform 1 at any time through the processor 2, the industrial personal computer stops running when receiving the suspension instruction, and the current unfinished moving path is cleared.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. A method for controlling a mobile carrying platform of a clean room environment detection device is characterized by comprising the following steps:
step 1: distributing a plurality of induction modules in a clean room; and the induction areas of different induction modules are not overlapped;
step 2: randomly generating a moving path of a mobile carrying platform, wherein an environment detection device is arranged on the mobile carrying platform and comprises a plurality of sensors;
and 3, step 3: the mobile carrying platform moves along the current moving path;
and 4, step 4: when a mobile induction device on one induction module collects a mobile induction signal, activating a thermal infrared human body induction device on the induction module, and if the thermal infrared human body induction device collects the thermal infrared human body induction signal, jumping to the step 5; otherwise, jumping to step 7;
and 5: step 4, the induction module sends an instruction signal to the mobile carrying platform;
step 6: when the mobile carrying platform receives the instruction signal, clearing the current unfinished mobile path, and jumping to the step 2;
and 7: the mobile carrying platform self-checks whether the mobile path is finished or not, if so, the step 2 is skipped to; if not, jumping to the step 3.
2. The utility model provides a clean room environment detection device removes and carries on platform control system which characterized in that includes:
the system comprises a mobile carrying platform, a processor and a plurality of induction modules;
the mobile carrying platform is provided with an environment detection device, and the environment detection device is used for acquiring an environment detection index and comprises a planktonic bacteria real-time monitoring module and a dust particle real-time monitoring module; an industrial personal computer, a driving device and a power supply system are arranged in the mobile carrying platform; the mobile carrying platform is also provided with a signal antenna; the signal antenna is respectively and electrically connected with the environment detection device and the industrial personal computer, is used for receiving the instruction signal and transmitting the instruction signal to the industrial personal computer, and is also used for sending the environment detection index acquired by the environment detection device to the processor in a wireless signal form; the industrial personal computer is electrically connected with the driving device and used for generating a moving path by a prestored planning path algorithm when receiving the instruction signal and controlling the driving device to work based on the moving path; the driving device is used for driving the movable carrying platform to move; the power supply system is used for supplying power to the industrial personal computer, the signal antenna, the environment detection device and the driving device;
the plurality of induction modules are distributed in the clean room; each of the plurality of induction modules is respectively integrated with a mobile induction device, a thermal infrared human body induction device and an instruction sending module; the induction areas of the mobile induction device and the thermal infrared human body induction device on the same induction module are the same; the induction areas of the mobile induction devices on different induction modules are not overlapped with each other; the instruction sending module is used for sending instruction signals to an induction area of an induction device on the induction module.
3. The clean room environment inspection device mobile piggyback platform control system of claim 2, wherein: the environment detection apparatus further includes: the wind speed monitoring module, the temperature monitoring module and the humidity monitoring module.
4. The clean room environment inspection device mobile piggyback platform control system of claim 2, wherein: the processor comprises an alarm module, wherein the alarm module is used for reading the concentration of the planktonic bacteria and the concentration of the dust particles and giving an alarm when the concentration of the planktonic bacteria and/or the concentration of the dust particles are higher than a pre-stored threshold value.
5. The clean room environment inspection device mobile piggyback platform control system of claim 4, wherein: the implementation form of the alarm module is any one of window jitter and light flicker.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210321289.1A CN114879273A (en) | 2022-03-24 | 2022-03-24 | Clean room environment detection device mobile carrying platform control system and method |
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| CN202210321289.1A CN114879273A (en) | 2022-03-24 | 2022-03-24 | Clean room environment detection device mobile carrying platform control system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115355954A (en) * | 2022-10-24 | 2022-11-18 | 派欧尼尔环境净化工程(北京)有限公司 | Detection method and system for clean room mobile robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115355954A (en) * | 2022-10-24 | 2022-11-18 | 派欧尼尔环境净化工程(北京)有限公司 | Detection method and system for clean room mobile robot |
| CN115355954B (en) * | 2022-10-24 | 2023-01-10 | 派欧尼尔环境净化工程(北京)有限公司 | Detection method and system for clean room mobile robot |
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