CN116872220A - Control system of watering robot for building site - Google Patents
Control system of watering robot for building site Download PDFInfo
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- CN116872220A CN116872220A CN202311149180.5A CN202311149180A CN116872220A CN 116872220 A CN116872220 A CN 116872220A CN 202311149180 A CN202311149180 A CN 202311149180A CN 116872220 A CN116872220 A CN 116872220A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 139
- 238000010276 construction Methods 0.000 claims abstract description 39
- 238000000034 method Methods 0.000 claims abstract description 24
- 238000012544 monitoring process Methods 0.000 claims abstract description 21
- 239000007921 spray Substances 0.000 claims abstract description 3
- 230000002159 abnormal effect Effects 0.000 claims description 107
- 238000005507 spraying Methods 0.000 claims description 74
- 238000013499 data model Methods 0.000 claims description 24
- 238000007405 data analysis Methods 0.000 claims description 9
- 230000001276 controlling effect Effects 0.000 claims description 7
- 230000001419 dependent effect Effects 0.000 claims description 7
- 238000013139 quantization Methods 0.000 claims description 7
- 230000005856 abnormality Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a control system of a watering robot for a construction site, and relates to the technical field of watering robots. In order to solve the problems that in the prior art, the sprinkling amount cannot be controlled according to the air haze degree of a construction site and the ground humidity, so that the humidity of the construction site and the air haze degree cannot be kept in a proper range, and the utilization rate of water resources is wasted; a control system of a watering robot for a construction site comprises a traveling brake unit; an environment monitoring unit; a water spray control unit; the obstacle on the path and the advancing direction of the sprinkling robot is judged and identified, the sprinkling robot is controlled to avoid the obstacle, the air haze degree and the ground humidity of the construction site are detected in the advancing process according to the sprinkling robot, the sprinkling amount is flexibly adjusted according to the detection result, the utilization rate of water resources is effectively improved, the air quality is further improved, the target areas are respectively and mutually staggered and covered, and the sprinkling range of the sprinkling robot is free from dead angle coverage.
Description
Technical Field
The invention relates to the technical field of sprinkling robots, in particular to a control system of a sprinkling robot for a construction site.
Background
The sprinkling robot is used as an intelligent robot, can help people to clean and sweep, and greatly improves the comfort and convenience of people's life. The sprinkling robot can automatically advance and sprinkle water and can also be used as a road sprinkling car. The main difficulties of sprinkling are: the cleaning area is large, the road condition is complex, and the sprinkler operation of the working area is difficult to realize by autonomous navigation.
Regarding the sprinkler robot, there have been related patents; for example, chinese patent publication No. CN107258486B discloses an intelligent watering robot comprising: the machine body comprises a sprinkling device and a path guiding device; the walking mechanism is connected with the machine body and can drive the machine body to move; and the first control module controls the travelling mechanism to travel according to the path determined by the path guiding device. The intelligent watering robot that this patent provided, the walking of first control module control running gear is according to the route walking of route guiding device determination, and sprinkler watering has avoided the laying of pipeline to reach intelligent watering's purpose, reduced manpower and materials and avoided the waste of resource.
Although the above patent solves the problems of not only consuming manpower and material resources and causing waste of water resources, the following problems still exist in the actual use process:
1. in the prior art, the sprinkling amount cannot be controlled according to the air haze degree of the construction site and the ground humidity, so that the humidity of the construction site and the air haze degree cannot be kept in a proper range, and the water resource utilization rate is low;
2. in the prior art, the obstacle on the route cannot be identified and avoided according to the route of the robot, so that the robot or the obstacle is easily damaged, the practicability and the flexibility of the sprinkling robot are greatly reduced, and the application range is reduced;
3. in the prior art, remote control cannot be carried out on a sprinkling robot, and when a sprinkling plan is made, adjustment cannot be carried out according to a historical running plan, so that adaptation flexibility is poor.
Disclosure of Invention
The invention aims to provide a control system of a site watering robot, which is used for controlling the watering robot to avoid obstacles, detecting the haze degree and the ground humidity of the site air in the running process of the watering robot, flexibly adjusting the watering amount according to the detection result, effectively improving the utilization rate of water resources, further improving the air quality and solving the problems in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a control system for a worksite sprinkler robot, comprising:
the travelling braking unit is used for acquiring basic data of the water spraying robot and adjusting travelling direction and speed of the water spraying robot based on the basic data; wherein the base data includes robot global environment data, travel route data, and travel speed data;
the travel brake unit includes:
the scheme making module is used for obtaining a sprinkling plan, extracting the running speed and the running path in the historical sprinkling plan, determining a suggested running speed range and a suggested running path, and generating a running scheme based on the suggested running speed range and the suggested running path;
the scheme making module comprises the following specific steps:
acquiring a to-be-sprayed item based on a spraying requirement, reading the to-be-sprayed item, determining a spraying plan of the to-be-sprayed item, analyzing the spraying plan, determining a data type of the spraying plan, and classifying data based on the data type;
extracting historical data consistent with the data type of the water spraying plan from a historical water spraying plan database, and acquiring a historical running speed list and a historical running path list of the water spraying robot based on the historical data;
and generating a suggested running speed range and a suggested running path based on the historical running speed list and the historical running path list of the water spraying robot, generating a running scheme, and analyzing whether the behavior of the water spraying robot accords with the running scheme in the running process of the water spraying robot.
Further, the control system further includes:
the environment monitoring unit is used for acquiring the air quality of the site area and the temperature and humidity data of the site area, comparing the air quality with the temperature and humidity data of the site area with a preset air quality and temperature and humidity data threshold value of the site area, and calculating a comparison result;
and the sprinkling control unit is used for determining a sprinkling target area, performing sprinkling adjustment based on the sprinkling amount required by the target area, and controlling the sprinkling robot to perform sprinkling operation.
Further, the travel brake unit further includes:
the obstacle recognition module is used for acquiring the obstacle data uploaded by the ranging sensing module, determining obstacle characteristics based on the obstacle data, and judging whether the sprinkling robot is avoided or not based on the obstacle characteristics;
the steering control module is used for acquiring the avoidance instruction uploaded by the obstacle recognition module, controlling the travelling angle of the sprinkler robot based on the travelling safety coefficient, and correcting the travelling angle of the sprinkler robot based on the travelling scheme after the obstacle avoidance is completed;
and the remote control module is used for carrying out data connection with a remote control terminal based on a wireless network, and the remote control terminal acquires the water spraying plan of the water spraying robot and the travelling direction and speed data of the water spraying robot in real time.
Further, the travel brake unit further includes:
and the distance measurement sensing module is used for acquiring the running scheme, acquiring the distance value between the obstacle in the running direction of the sprinkler robot and the distance value in real time, and judging the running safety coefficient based on the distance value and the current running speed of the sprinkler robot.
Further, the remote control module includes:
the display sub-module is used for displaying the sprinkling plan of the sprinkling robot and the execution progress of the sprinkling robot in real time;
the equipment positioning sub-module is used for acquiring positioning data of the water spraying robot in real time and displaying the positioning data in a map in real time; meanwhile, when abnormal data of the sprinkling robot are acquired, highlighting, positioning and displaying are carried out in the map;
and the remote alarm sub-module is used for acquiring the abnormal data of the water spraying robot, matching the abnormal data with preset abnormal data characteristics, judging the data type of the abnormal data, and carrying out corresponding abnormal alarm based on the data type.
Further, the remote alarm submodule performs corresponding abnormal alarms based on the data types, and the method comprises the following steps:
step 1: acquiring an abnormal data model of abnormal data of the water spraying robot and a comparison data model of preset abnormal data characteristics:
；
；
wherein Y represents an abnormal data model; d represents a control data model;a data weight of the i-th data representing the abnormal data; />Characteristic parameters of the i-th data representing the abnormal data; />Representing variable regression coefficients; />Variable parameters representing dependent variables that cause generation of the ith data of the abnormal data; />A time quantization parameter of the i-th data representing the abnormal data; />A data loss parameter indicating the i-th data of the abnormal data; />I is a positive integer; n represents the total number of abnormal data; />Data weight of the j-th data feature representing the preset abnormal data feature; />Characteristic parameters of a j-th data characteristic representing preset abnormal data characteristics; />Variable parameters representing dependent variables that lead to the generation of a j-th data feature of a preset abnormal data feature; />A time quantization parameter representing a j-th data feature of the preset abnormal data feature; />J is a positive integer; m represents the total number of preset abnormal data features;
step 2: matching the abnormal data model with the contrast data model, and determining matching parameters:
；
wherein P represents a matching parameter; m represents a matching degree function; a represents a matching recognition model of abnormal data; b represents an identification parameter of the abnormal data;
step 3: presetting a matching threshold, when the matching parameter is within the matching threshold, representing preset abnormal data corresponding to the j-th data feature with the preset abnormal data feature in the abnormal data, determining the data type of the abnormal alarm according to the preset abnormal data corresponding to the j-th data feature with the preset abnormal data feature, and carrying out the abnormal alarm.
Further, the environment monitoring unit includes:
the air quality monitoring module is used for acquiring air quality data of a site area in real time, extracting a target air haze index in the air quality data, and calculating the air haze degree of the area according to the target air haze index;
the ground surface temperature and humidity monitoring module is used for acquiring ground surface temperature and humidity data of a site area in real time;
the data analysis module is used for comparing and analyzing the air haze degree with a preset air quality threshold value, comparing and analyzing the ground temperature and humidity data with a building site temperature and humidity data threshold value, and judging whether the air haze degree and the ground temperature and humidity data are in a target difference value permission interval or not.
Further, the data analysis module is further configured to:
if the air haze degree and the ground temperature and humidity data are in a target difference value allowable interval, judging that water is normally sprayed in the current area, and executing water spraying operation based on a water spraying plan;
if the air haze degree and the ground temperature and humidity data exceed the target difference value allowable interval, calculating the current water demand of the area, extracting the water sprinkling amount in the water sprinkling plan, and generating a regulating instruction based on the water sprinkling amount.
Further, the water spray control unit includes:
the water quantity monitoring module is used for acquiring the adjusting instruction to adjust the water sprinkling quantity, acquiring the data of the water sprinkling flow quantity in real time and feeding the data back to the data analysis module;
and the target area spraying module is used for determining the spraying range of the spraying robot in the area, generating target areas based on the spraying range, and determining the staggered coverage of each target area.
Further, the water quantity monitoring module adjusts the water sprinkling quantity, and the water sprinkling quantity comprises the following steps: step 1: acquiring real-time air haze data and ground humidity data of a construction site, and generating a construction site watering state model:
；
wherein ,representing a site watering state model; />Indicating the site->Position parameters of the individual sprinkling points; />Indicating the site->The water sprinkling point is->Expected air haze parameters at the moment; />Indicating the site->The water sprinkling point is->Real air haze parameters at moment; />Indicating the site->The water sprinkling point is->Expected ground humidity parameters at time; />Indicating the site->The water sprinkling point is->Real ground humidity parameters at the moment; />，/>Is a positive integer>Indicating the total number of site watering points;
step 2: judging whether the construction site meets the preset watering amount specification according to the construction site watering state model:
；
wherein G represents a judging value of the site watering state model;is indicated at->Probability of occurrence of real-time state of the moment construction site; />Representation->A moment of time of a site expected sprinkling state model; />Is indicated at->The occurrence probability of the expected sprinkling state of the moment construction site; />Indicating the endpoint time of site watering; />Indicating the initial moment of sprinkling water on a construction site; />Indicating compliance with the expected sprinkler specification; />Indicating that the expected water sprinkling amount specification is not met, performing water sprinkling amount adjustment, and at +.>And stopping sprinkling when the water is sprayed.
Compared with the prior art, the invention has the beneficial effects that:
1. the obstacle on the path and the advancing direction is judged and identified through the sprinkling robot, the sprinkling robot is controlled to avoid the obstacle, the air haze degree and the ground humidity of the construction site are detected in the advancing process according to the sprinkling robot, meanwhile, the sprinkling amount is flexibly adjusted according to the detection result, the environmental problem caused by local excessive humidity is avoided, the utilization rate of water resources is effectively improved, the air quality is further improved, the sprinkling areas of each target area are respectively and mutually staggered and covered, the sprinkling range of the sprinkling robot is free from dead angle coverage, the accuracy of the detection result and the sprinkling adjustment is ensured, and the air quality and the temperature humidity of the construction site are ensured to be in a proper range.
2. According to the method, a complete running scheme is finally generated by determining a suggested running speed range and a suggested running path according to a historical watering plan, the running scheme is used as a reference in the watering process of the watering robot, whether the operation of the watering robot is dangerous or not is analyzed, when an obstacle is found in the front, the deflection angle of the watering robot is controlled to avoid the obstacle by combining the current running speed, the running angle is corrected after the obstacle is avoided, the situation that the watering robot always runs on the running path is ensured, and the danger caused by the fact that the watering robot deviates from the running path is avoided.
3. The remote control terminal is used for displaying the watering plan of the watering robot and the execution progress of the watering robot in real time, positioning the watering robot on a map, giving an alarm corresponding to the remote control terminal when the watering robot is abnormal, facilitating remote real-time supervision and management of staff, timely finding the position of the watering robot when the watering robot is abnormal, improving rescue maintenance efficiency, and guaranteeing operation safety of the watering robot through remote control and supervision of the watering robot.
4. The method comprises the steps of acquiring air quality data of a building site environment in real time, extracting a target air haze index in the air quality data, judging the air haze degree of a building site, judging the water demand in the current air according to the air haze degree, acquiring the ground temperature and humidity data of the building site environment in real time, judging the water demand on the current ground according to the ground temperature and humidity data, comparing the water demand with the water sprinkling amount of the current water sprinkling robot, judging whether the water sprinkling robot is in a difference value allowable range if the water demand is found out, adjusting the water sprinkling amount of the water sprinkling robot if the water demand exceeds the difference value allowable range, calculating the water sprinkling robot, ensuring that the water sprinkling result and the water sprinkling area are error caused by long-time reaction, ensuring that the humidity of the building site and the air haze degree are kept in a proper range, and protecting the environment.
Drawings
FIG. 1 is a block diagram of a control system of a sprinkler robot according to the present invention;
FIG. 2 is a block diagram of a travel brake unit according to the present invention;
FIG. 3 is a schematic diagram of a remote control module according to the present invention;
FIG. 4 is a block diagram of an environmental monitoring unit and a sprinkler control unit according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order to solve the prior art, the intelligent level of watering robot is lower, can't dodge the barrier on the watering robot route, and can't adjust the watering volume at the watering in-process, causes local building site and air too moist, is unfavorable for environmental protection's technical problem, please refer to fig. 1-4, and this embodiment provides following technical scheme:
a control system for a worksite sprinkler robot, comprising: the travelling braking unit is used for acquiring basic data of the water spraying robot and adjusting travelling direction and speed of the water spraying robot based on the basic data; wherein the base data includes robot global environment data, travel route data, and travel speed data; the environment monitoring unit is used for acquiring the air quality of the site area and the temperature and humidity data of the site area, comparing the air quality with the temperature and humidity data of the site area with a preset air quality and temperature and humidity data threshold value of the site area, and calculating a comparison result; the sprinkling control unit is used for determining a sprinkling target area, performing sprinkling adjustment based on the sprinkling amount required by the target area and controlling the sprinkling robot to perform sprinkling operation;
a sprinkler control unit comprising: the water quantity monitoring module is used for acquiring the adjusting instruction to adjust the water sprinkling quantity, acquiring the data of the water sprinkling flow quantity in real time and feeding the data back to the data analysis module; and the target area spraying module is used for determining the spraying range of the spraying robot in the area, generating target areas based on the spraying range, and determining the staggered coverage of each target area.
Specifically, judge discernment through carrying out the route to the watering robot and going up the barrier on the direction of travel, the control watering robot dodges the barrier, and carry out building site air haze degree and ground humidity detection according to the watering robot in the progress in-process, adjust the watering volume in a flexible way simultaneously according to the testing result, avoid the local too wet environmental problem that leads to, effectively improved the utilization ratio of water resource, further improved air quality, crisscross cover each other between each target area respectively, watering robot watering scope does not have the dead angle to cover, the accuracy of testing result and spraying adjustment has been guaranteed, air quality and building site temperature humidity are in suitable scope.
In order to solve the technical problems that in the prior art, obstacles on a route cannot be identified and avoided according to the route of the robot, damage to the robot or the obstacles is easily caused, practicality and flexibility of the sprinkler robot are greatly reduced, and application range is reduced, please refer to fig. 1-4, the embodiment provides the following technical scheme:
the traveling braking unit comprises a scheme making module, a traveling speed setting module and a traveling speed setting module, wherein the scheme making module is used for obtaining a sprinkling plan, extracting traveling speeds and traveling paths in a historical sprinkling plan, determining a suggested traveling speed range and a suggested traveling path, and generating a traveling scheme based on the suggested traveling speed range and the suggested traveling path; the distance measurement sensing module is used for acquiring the running scheme, acquiring the distance value between the obstacle in the running direction of the sprinkler robot and the distance value in real time, and judging the running safety coefficient based on the distance value and the current running speed of the sprinkler robot;
the obstacle recognition module is used for acquiring the obstacle data uploaded by the ranging sensing module, determining obstacle characteristics based on the obstacle data, and judging whether the sprinkling robot is avoided or not based on the obstacle characteristics; the steering control module is used for acquiring the avoidance instruction uploaded by the obstacle recognition module, controlling the travelling angle of the sprinkler robot based on the travelling safety coefficient, and correcting the travelling angle of the sprinkler robot based on the travelling scheme after the obstacle avoidance is completed; and the remote control module is used for carrying out data connection with a remote control terminal based on a wireless network, and the remote control terminal acquires the water spraying plan of the water spraying robot and the travelling direction and speed data of the water spraying robot in real time.
Specifically, a suggested running speed range and a suggested running path are generated based on a historical running speed list and a historical running path list of the sprinkler robot, a complete running scheme is finally generated, the running scheme is used as a reference in the sprinkling process of the sprinkler robot, whether the operation of the sprinkler robot is dangerous or not is analyzed, when an obstacle is found in the front, the deflection angle of the sprinkler robot is controlled to avoid the obstacle by combining the current running speed, the running angle is corrected after the obstacle is avoided, the sprinkler robot is guaranteed to always run on the running path, and the danger caused by the deviation of the sprinkler robot from the running path is avoided.
In order to solve the technical problems that in the prior art, remote control cannot be performed on a sprinkler robot, and adjustment cannot be performed according to a historical driving plan when a sprinkler plan is made, and adaptability is poor, please refer to fig. 1-4, the present embodiment provides the following technical scheme:
the remote control module comprises a display sub-module, a control module and a control module, wherein the display sub-module is used for displaying a water spraying plan of the water spraying robot and the execution progress of the water spraying robot in real time; the equipment positioning sub-module is used for acquiring positioning data of the water spraying robot in real time and displaying the positioning data in a map in real time; meanwhile, when abnormal data of the sprinkling robot are acquired, highlighting, positioning and displaying are carried out in the map; the remote alarm sub-module is used for acquiring abnormal data of the water spraying robot, matching the abnormal data with preset abnormal data characteristics based on the abnormal data, judging the data type of the abnormal data, and carrying out corresponding abnormal alarm based on the data type;
in the process of remote abnormality alarm, the invention executes the following procedures:
the remote alarm submodule carries out corresponding abnormal alarm based on the data type, and the method comprises the following steps of:
step 1: acquiring an abnormal data model of the water spraying robot for generating abnormal data and a control data model for generating preset abnormal data characteristics:
；
wherein Y represents an abnormal data model; d represents a control data model;a data weight of the i-th data representing the abnormal data; />Characteristic parameters of the i-th data representing the abnormal data; />Representing variable regression coefficients; />Variable parameters representing dependent variables that cause generation of the ith data of the abnormal data; />A time quantization parameter of the i-th data representing the abnormal data; />A data loss parameter indicating the i-th data of the abnormal data; />I is a positive integer; n represents the total number of abnormal data; />Data weight of the j-th data feature representing the preset abnormal data feature; />Characteristic parameters of a j-th data characteristic representing preset abnormal data characteristics; />Variable parameters representing dependent variables that lead to the generation of a j-th data feature of a preset abnormal data feature; />A time quantization parameter representing a j-th data feature of the preset abnormal data feature; />J is a positive integer; m represents the total number of preset abnormal data features;
step 2: matching the abnormal data model with the contrast data model, and determining matching parameters:
；
wherein P represents a matching parameter; m represents a matching degree function; a represents a matching recognition model of abnormal data; b represents an identification parameter of the abnormal data;
step 3: presetting a matching threshold, when the matching parameter is within the matching threshold, representing preset abnormal data corresponding to the j-th data feature with the preset abnormal data feature in the abnormal data, determining the data type of the abnormal alarm according to the preset abnormal data corresponding to the j-th data feature with the preset abnormal data feature, and carrying out the abnormal alarm.
Firstly, in the step 1, two models, namely an abnormal data model of the sprinkler robot which is acquired respectively and a preset comparison data model of abnormal data which can appear, are constructed, and in the construction process of the two models, the same mode is adopted, and multi-feature data fusion is adopted.Is the product of the data weight and the data characteristic parameter, and is used for determining the strength of the influence of abnormal data on water sprinkling, namely the loss or risk caused by the abnormal data. />The product of the variable regression coefficient and the variable parameter of the dependent variable generated by the abnormal data is used for representing the probability of generating the abnormal data; />The represented time quantization parameter represents the factor corresponding to the data, and the influence caused by the factor is continuously expanded within the duration time;the corresponding loss is the loss in the data acquisition calculation process, and in the preset abnormal data characteristics, no loss exists because the loss is preset. In step 2, argmax is a function, which is a function for solving parameters (sets) of the function, in the invention, matching parameters are calculated by using the argmax, in the function, a matching degree function is included, in the matching degree function, A is a large matching recognition model used for recognizing whether identical abnormal data exists between an abnormal data model and a comparison data model, and b is a recognition parameter of the corresponding abnormal data used for recognizing whether single data in the abnormal data model and the comparison data model is the abnormal data or not, so that normal data cannot appear in the comparison data and the collected abnormal data, and judgment errors are caused. And then, according to specific abnormal data, the corresponding data type is determined through the step 3, and further, quick abnormal alarm is realized.
The scheme making module is used for acquiring a to-be-sprayed item based on a spraying requirement, reading the to-be-sprayed item, determining a spraying plan of the to-be-sprayed item, analyzing the spraying plan, determining a data type of the spraying plan, and classifying data based on the data type; extracting historical data consistent with the data type of the water spraying plan from a historical water spraying plan database, and acquiring a historical running speed list and a historical running path list of the water spraying robot based on the historical data; and generating a suggested running speed range and a suggested running path based on the historical running speed list and the historical running path list of the water spraying robot, generating a running scheme, and analyzing whether the behavior of the water spraying robot accords with the running scheme in the running process of the water spraying robot.
Specifically, the execution progress of the sprinkling plan of the sprinkling robot and the sprinkling robot is displayed in real time through the remote control terminal, the sprinkling robot is positioned on a map, whether the behavior of the sprinkling robot accords with the running scheme is analyzed in the running process of the sprinkling robot, when the sprinkling robot is abnormal, the alarm reminding corresponding to the remote control terminal is given, the remote control terminal is convenient for personnel to monitor and manage in real time in a remote mode, when the sprinkling robot is abnormal, the position of the sprinkling robot is found in time, the rescue maintenance efficiency is improved, and the operation safety of the sprinkling robot is guaranteed through remote control and supervision of the operation of the sprinkling robot.
In order to solve the technical problem that in the prior art, the sprinkling amount cannot be controlled according to the air haze degree of the construction site and the humidity of the ground, so that the humidity of the construction site and the air haze degree cannot be kept in a proper range, and the utilization rate of water resources is low, please refer to fig. 1-4, the embodiment provides the following technical scheme:
the environment monitoring unit comprises an air quality monitoring module and a control unit, wherein the air quality monitoring module is used for acquiring air quality data of a building site in real time, extracting a target air haze index in the air quality data, and calculating the air haze degree of the area according to the target air haze index;
the ground surface temperature and humidity monitoring module is used for acquiring ground surface temperature and humidity data of a site area in real time;
the data analysis module is used for comparing and analyzing the air haze degree with a preset air quality threshold value and comparing and analyzing the ground temperature and humidity data with a building site temperature and humidity data threshold value, and judging whether the air haze degree and the ground temperature and humidity data are in a target difference value allowable interval or not;
the data analysis module is further used for judging that the current area is normally sprinkler if the air haze degree and the ground temperature and humidity data are in a target difference value allowable interval, and executing sprinkler operation based on a sprinkler plan; if the air haze degree and the ground temperature and humidity data exceed the target difference value allowable interval, calculating the current water demand of the area, extracting the water sprinkling amount in the water sprinkling plan, and generating a regulating instruction based on the water sprinkling amount.
Specifically, the air quality data of the building site environment are obtained in real time, the target air haze index in the air quality data is extracted, the air haze degree of the building site is judged, the water demand in the current air is judged according to the air haze degree, the ground temperature and humidity data of the building site environment are obtained in real time, the water demand on the current ground is judged according to the ground temperature and humidity data, the water demand is compared with the water sprinkling amount of the current water sprinkling robot, if the difference is found, whether the difference is in a difference allowable interval is judged, if the difference is exceeded, the water sprinkling amount of the water sprinkling robot is adjusted, the air haze degree and the ground humidity of the building site can be detected while walking, the calculation value is simple, the reaction is rapid, the situation that errors occur between the water sprinkling result and the water sprinkling area due to long-time reaction is avoided, the fact that the humidity and the air haze degree of the building site are kept in a proper range is ensured, the utilization ratio of water resources is improved, and the environment is more protected.
Further:
the water quantity monitoring module adjusts the water sprinkling quantity, and comprises the following steps: step 1: acquiring real-time air haze data and ground humidity data of a construction site, and generating a construction site watering state model:
；
wherein ,representing a site watering state model; />Indicating the site->Position parameters of the individual sprinkling points; />Indicating the site->The water sprinkling point is->Expected air haze parameters at the moment; />Representation ofSite->The water sprinkling point is->Real air haze parameters at moment; />Indicating the site->The water sprinkling point is->Expected ground humidity parameters at time; />Indicating the site->The water sprinkling point is->Real ground humidity parameters at the moment; />，/>Is a positive integer>Indicating the total number of site watering points;
step 2: judging whether the construction site meets the preset watering amount specification according to the construction site watering state model:
；
wherein G represents a judging value of the site watering state model;is indicated at->Probability of occurrence of real-time state of the moment construction site; />Representation->A moment of time of a site expected sprinkling state model; />Is indicated at->The occurrence probability of the expected sprinkling state of the moment construction site; />Indicating the endpoint time of site watering; />Indicating the initial moment of sprinkling water on a construction site; />Indicating compliance with the expected sprinkler specification; />Indicating that the expected water sprinkling amount specification is not met, performing water sprinkling amount adjustment, and at +.>And stopping sprinkling when the water is sprayed.
In the process of adjusting the sprinkling amount, in step 1, the invention firstly calculates the specific sprinkling state of the construction site under the real-time air haze data and ground humidity data, namely the specific scene state displayed in real time under the condition of sprinkling, wherein the construction site has the haze and humidity generated after sprinkling, and in the process,for determining the difference ratio of haze parameters, +.>For determining a difference ratio of the worksite humidity. By means of the two difference ratios and the specific location, the specific sprinkling state of the construction site can be determined, the specific sprinkling condition of the construction site is determined, and in step 2, whether the sprinkling amount is satisfied or not is judged by subtracting the expected sprinkling occurrence state from the specific sprinkling state, namely:this determination is made for a period of time, so is +.>The method comprises the steps of carrying out a first treatment on the surface of the Is an overall determination over this period of time and further controls continued watering if the amount of watering is insufficient until the amount of watering is greater than or equal to the preset amount of watering.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should be covered by the protection scope of the present invention by making equivalents and modifications to the technical solution and the inventive concept thereof.
Claims (10)
1. A control system of a watering robot for a construction site is characterized in that: comprising the following steps:
the travelling braking unit is used for acquiring basic data of the water spraying robot and adjusting travelling direction and speed of the water spraying robot based on the basic data; wherein the base data includes robot global environment data, travel route data, and travel speed data;
the travel brake unit includes:
the scheme making module is used for obtaining a sprinkling plan, extracting the running speed and the running path in the historical sprinkling plan, determining a suggested running speed range and a suggested running path, and generating a running scheme based on the suggested running speed range and the suggested running path;
the scheme making module comprises the following specific steps:
acquiring a to-be-sprayed item based on a spraying requirement, reading the to-be-sprayed item, determining a spraying plan of the to-be-sprayed item, analyzing the spraying plan, determining a data type of the spraying plan, and classifying data based on the data type;
extracting historical data consistent with the data type of the water spraying plan from a historical water spraying plan database, and acquiring a historical running speed list and a historical running path list of the water spraying robot based on the historical data;
and generating a suggested running speed range and a suggested running path based on the historical running speed list and the historical running path list of the water spraying robot, generating a running scheme, and analyzing whether the behavior of the water spraying robot accords with the running scheme in the running process of the water spraying robot.
2. A control system for a worksite sprinkler robot according to claim 1, wherein: the control system further comprises:
the environment monitoring unit is used for acquiring the air quality of the site area and the temperature and humidity data of the site area, comparing the air quality with the temperature and humidity data of the site area with a preset air quality and temperature and humidity data threshold value of the site area, and calculating a comparison result;
and the sprinkling control unit is used for determining a sprinkling target area, performing sprinkling adjustment based on the sprinkling amount required by the target area, and controlling the sprinkling robot to perform sprinkling operation.
3. A control system for a worksite sprinkler robot according to claim 2, wherein: the travel brake unit further includes:
the obstacle recognition module is used for acquiring the obstacle data uploaded by the ranging sensing module, determining obstacle characteristics based on the obstacle data, and judging whether the sprinkling robot is avoided or not based on the obstacle characteristics;
the steering control module is used for acquiring the avoidance instruction uploaded by the obstacle recognition module, controlling the travelling angle of the sprinkler robot based on the travelling safety coefficient, and correcting the travelling angle of the sprinkler robot based on the travelling scheme after the obstacle avoidance is completed;
and the remote control module is used for carrying out data connection with a remote control terminal based on a wireless network, and the remote control terminal acquires the water spraying plan of the water spraying robot and the travelling direction and speed data of the water spraying robot in real time.
4. A control system for a worksite sprinkler robot according to claim 3, wherein: the travel brake unit further includes:
and the distance measurement sensing module is used for acquiring the running scheme, acquiring the distance value between the obstacle in the running direction of the sprinkler robot and the distance value in real time, and judging the running safety coefficient based on the distance value and the current running speed of the sprinkler robot.
5. A control system for a worksite sprinkler robot according to claim 4, wherein: the remote control module comprises:
the display sub-module is used for displaying the sprinkling plan of the sprinkling robot and the execution progress of the sprinkling robot in real time;
the equipment positioning sub-module is used for acquiring positioning data of the water spraying robot in real time and displaying the positioning data in a map in real time; meanwhile, when abnormal data of the sprinkling robot are acquired, highlighting, positioning and displaying are carried out in the map;
and the remote alarm sub-module is used for acquiring the abnormal data of the water spraying robot, matching the abnormal data with preset abnormal data characteristics, judging the data type of the abnormal data, and carrying out corresponding abnormal alarm based on the data type.
6. A control system for a worksite sprinkler robot according to claim 5, wherein: the remote alarm submodule carries out corresponding abnormal alarm based on the data type, and the method comprises the following steps of:
step 1: acquiring an abnormal data model of the water spraying robot for generating abnormal data and a control data model for generating preset abnormal data characteristics:
；
；
wherein ,representing an abnormal data model; />Representing a control data model; />Represents the->A data weight of the individual data; />Represents the->Characteristic parameters of the individual data; />Representing variable regression coefficients; />Represents +.>Variable parameters of dependent variables generated by data; />Represents the->A time quantization parameter for the individual data; />Represents the->A data loss parameter for each data; />，/>Is a positive integer; />Representing the total number of abnormal data; />The +.o representing the characteristics of the preset abnormal data>Data weight of the data feature; />The +.o representing the characteristics of the preset abnormal data>Characteristic parameters of the data characteristics; />Representing the +.o. that causes the preset abnormal data features>Variable parameters of the generated dependent variable of the data characteristic; />The +.o representing the characteristics of the preset abnormal data>Time quantization parameters of the data features; />，/>Is a positive integer; />Representing the total number of preset abnormal data features;
step 2: matching the abnormal data model with the contrast data model, and determining matching parameters:
；
wherein ,representing the matching parameters; />Representing a matching degree function; />A matching recognition model representing the anomaly data; />Identification parameters representing abnormal data;
step 3: presetting a matching threshold, and indicating the first abnormal data characteristic with the preset abnormal data characteristic in the abnormal data when the matching parameter is within the matching thresholdPreset abnormal data corresponding to the data characteristic according to the +.>And determining the data type of the abnormality alarm according to preset abnormality data corresponding to the data characteristics, and performing the abnormality alarm.
7. A control system for a worksite sprinkler robot according to claim 6, wherein: the environment monitoring unit includes:
the air quality monitoring module is used for acquiring air quality data of a site area in real time, extracting a target air haze index in the air quality data, and calculating the air haze degree of the area according to the target air haze index;
the ground surface temperature and humidity monitoring module is used for acquiring ground surface temperature and humidity data of a site area in real time;
the data analysis module is used for comparing and analyzing the air haze degree with a preset air quality threshold value, comparing and analyzing the ground temperature and humidity data with a building site temperature and humidity data threshold value, and judging whether the air haze degree and the ground temperature and humidity data are in a target difference value permission interval or not.
8. A control system for a worksite sprinkler robot according to claim 7, wherein: the data analysis module is further configured to:
if the air haze degree and the ground temperature and humidity data are in a target difference value allowable interval, judging that water is normally sprayed in the current area, and executing water spraying operation based on a water spraying plan;
if the air haze degree and the ground temperature and humidity data exceed the target difference value allowable interval, calculating the current water demand of the area, extracting the water sprinkling amount in the water sprinkling plan, and generating a regulating instruction based on the water sprinkling amount.
9. A control system for a worksite sprinkler robot according to claim 8, wherein: the water spray control unit includes:
the water quantity monitoring module is used for acquiring the adjusting instruction to adjust the water sprinkling quantity, acquiring the data of the water sprinkling flow quantity in real time and feeding the data back to the data analysis module;
and the target area spraying module is used for determining the spraying range of the spraying robot in the area, generating target areas based on the spraying range, and determining the staggered coverage of each target area.
10. A control system for a worksite sprinkler robot according to claim 9, wherein: the water quantity monitoring module adjusts the water sprinkling quantity, and comprises the following steps: step 1: acquiring real-time air haze data and ground humidity data of a construction site, and generating a construction site watering state model:
；
wherein ,representing a site watering state model; />Indicating the site->Position parameters of the individual sprinkling points; />Indicating the site->The water sprinkling point is->Expected air haze parameters at the moment; />Indicating the site->The water sprinkling point is->Real air haze parameters at moment; />Indicating the site->The water sprinkling point is->Expected ground humidity parameters at time; />Indicating the site->The water sprinkling point is->Real ground humidity parameters at the moment; />，/>Is a positive integer>Indicating the total number of site watering points;
step 2: judging whether the construction site meets the preset watering amount specification according to the construction site watering state model:
；
wherein ,representing the judging value of the site watering state model; />Is indicated at->Probability of occurrence of real-time state of the moment construction site; />Representation->A moment of time of a site expected sprinkling state model; />Is indicated at->The occurrence probability of the expected sprinkling state of the moment construction site; />Indicating the endpoint time of site watering; />Indicating the initial moment of sprinkling water on a construction site; />Indicating compliance with the expected sprinkler specification; />Indicating that the water sprinkling amount is not in accordance with the expected water sprinkling amount specification, adjusting the water sprinkling amount, and stopping sprinkling when G is more than or equal to 0.
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