Clean room environment detection device mobile mounting platform control system and method

Abstract

The present invention discloses a control system and method for a mobile carrying platform of a clean room environment detection device. It comprises the following steps: Step 1: distribute multiple sensing modules in the clean room, and their sensing areas do not overlap with each other; Step 2: randomly generate a moving path of the mobile carrying platform; Step 3: the mobile carrying platform moves along the current path; Step 4: when a sensing module collects a moving sensing signal, determine whether the sensing module collects a thermal infrared human body sensing signal, if so, go to step 5; otherwise, go to step 7; Step 5: the sensing module sends a command signal to the mobile carrying platform; Step 6: when the mobile carrying platform receives the command signal, clears the current unfinished moving path and goes to step 2; Step 7: the mobile carrying platform self-checks whether the moving path has been completed, if so, go to step 2; if not, go to step 3. The present invention can avoid collisions between the mobile carrying platform of the environmental detection device and the staff, improve production safety, and extend the service life of the mobile carrying platform.

Description

Technical Field

[0001] The present invention relates to the technical field of clean room detection management, and in particular to a control system for a mobile mounting platform of a clean room environment detection device, and a control method implemented based on the system. Background Art

[0002] A clean room is also called a dust-free workshop, a clean room or a clean room. Its main function is indoor pollution control. Only when the pollution in the clean room is guaranteed to be lower than a predetermined value can the production and processing of certain pollution-sensitive parts be realized. In the prior art, large clean rooms are often inspected for pollution by a mobile carrying platform equipped with an environmental detection device. The problem with this technical solution is that the moving trajectory of the mobile carrying platform is planned in advance, which makes it easy for the mobile carrying platform to collide with the staff, causing production safety hazards or equipment damage. Therefore, how to develop a new control method for the mobile carrying platform of a clean room environmental detection device to overcome the above-mentioned defects in the prior art is a direction that technical personnel in this field need to study. Summary of the invention

[0003] The present invention aims to provide a method for controlling a mobile carrying platform of a clean room environment detection device, which can divide the clean room into multiple areas, avoid collision between the mobile carrying platform of the environment detection device and workers, improve production safety, and extend the service life of the mobile carrying platform.

[0004] The technical solutions adopted are as follows:

[0005] A method for controlling a mobile mounting platform of a clean room environment detection device comprises the following steps:

[0006] Step 1: Distribute multiple sensing modules in the clean room, and make sure that the sensing areas of different sensing modules do not overlap with each other;

[0007] Step 2: randomly generate a moving path of a mobile carrying platform, wherein an environment detection device is installed on the mobile carrying platform, and the environment detection device includes:

[0008] Step 3: The mobile platform moves along the current moving path;

[0009] Step 4: When the motion sensing device on a sensing module collects a motion sensing signal, the thermal infrared human body sensing device on the sensing module is activated. If the thermal infrared human body sensing device collects a thermal infrared human body sensing signal, jump to step 5; otherwise, jump to step 7;

[0010] Step 5: The sensing module described in step 4 sends a command signal to the mobile carrying platform;

[0011] Step 6: When the mobile platform receives the command signal, it clears the current unfinished moving path and jumps to step 2;

[0012] Step 7: The mobile platform checks whether the moving path has been completed. If so, jump to step 2; if not, jump to step 3.

[0013] By adopting the above technical solution: using multiple sensing modules to sense different position areas in the clean room respectively, when only the mobile sensing signal is triggered in the sensing area of ​​a certain sensing module, it means that the mobile sensing signal is triggered by the mobile carrying platform of the environmental detection device. At this time, the mobile carrying platform of the environmental detection device continues to operate according to the current path. If the mobile sensing signal and the thermal infrared human body sensing device are triggered at the same time, it means that there is someone in the area. The sensing module sends a command signal to the sensing area covered by it; if the mobile carrying platform of the environmental detection device is not in the area at this time, the signal is invalid. If the mobile carrying platform of the environmental detection device enters the area at this time, in order to avoid collision with human bodies active in the area, the current unfinished inspection route is automatically cleared, and a new inspection route is randomly generated. In this way, the intelligent and automatic adjustment of the inspection route is realized, avoiding the collision between the mobile carrying platform of the environmental detection device and the human body.

[0014] In order to realize the above control method, the present invention also discloses a control system for a mobile mounting platform of a clean room environment detection device, and the technical solution adopted is as follows:

[0015] A control system for a mobile platform of a clean room environment detection device, comprising: a mobile platform, a processor and a plurality of sensing modules; an environment detection device is installed on the mobile platform, and the environment detection device is used to obtain an environment detection index, which includes a real-time monitoring module for floating bacteria and a real-time monitoring module for dust particles; an industrial computer, a drive device and a power supply system are installed in the mobile platform; a signal antenna is also arranged on the mobile platform; the signal antenna is electrically connected to the environment detection device and the industrial computer respectively, and is used to receive a command signal and forward it to the industrial computer, and is also used to send the environment detection index obtained by the environment detection device to the processor in the form of a wireless signal; the industrial computer is electrically connected to the drive device and is used to When receiving the command signal, a moving path is generated by a pre-stored planning path algorithm, and the driving device is controlled to work based on the moving path; the driving device is used to drive the mobile carrying platform to move; the power supply system is used to power the industrial computer, the signal antenna, the environmental detection device and the driving device; the multiple sensing modules are distributed in the clean room; each of the multiple sensing modules is respectively integrated with a moving sensing device, a thermal infrared human body sensing device and a command sending module; and the moving sensing device and the thermal infrared human body sensing device on the same sensing module have the same sensing area; and the moving sensing devices on different sensing modules have non-overlapping sensing areas; the command sending module is used to send a command signal within the sensing area of ​​the moving sensing device on the sensing module.

[0016] Preferably, in the above-mentioned control system of the mobile mounting platform of the clean room environment detection device: the environment detection device further comprises: a wind speed monitoring module, a temperature monitoring module and a humidity monitoring module.

[0017] Preferably, in the above-mentioned clean room environment detection device mobile carrying platform control system: the processor includes an alarm module, the alarm module is used to read the planktonic bacteria concentration and the fine dust concentration, and to alarm when the planktonic bacteria concentration and / or the fine dust concentration are higher than a pre-stored threshold value.

[0018] Preferably, in the above-mentioned control system of the mobile mounting platform of the clean room environment detection device: the implementation form of the alarm module is any one of window shaking and light flashing.

[0019] By adopting this technical solution: the real-time monitoring module for floating bacteria and the real-time monitoring module for dust particles are used to obtain the concentration of floating bacteria and the concentration of fine dust. The wind speed monitoring module, temperature monitoring module and humidity monitoring module are used to obtain the airflow velocity, temperature value and humidity value in the clean room. And automatic alarm is realized for the two most important data indicators, the concentration of floating bacteria and the concentration of fine dust.

[0020] Compared with the prior art, the present invention can avoid collision between the mobile carrying platform of the environmental detection device and the staff, thereby improving production safety and extending the service life of the mobile carrying platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the process of Example 1;

[0022] Figure 2 This is a schematic diagram of the distribution of various equipment in the clean room in Example 1;

[0023] The corresponding relationship between the reference numerals and component names is as follows:

[0024] 1. Mobile loading platform; 2. Processor; 3. Sensing module; 4. Clean room. DETAILED DESCRIPTION

[0025] The embodiments of the present invention will be further described below in conjunction with the accompanying drawings. It should be understood by those skilled in the art that the embodiments described in the present invention are only exemplary embodiments.

[0026] In the description of the present invention, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. When an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centered element at the same time. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0027] like Figure 1-2 As shown:

[0028] A control system for a mobile platform 1 of a clean room environment detection device, comprising: a mobile platform 1, a processor 2 and 11 sensing modules 3. The 11 sensing modules 3 are evenly distributed in a clean room 4; and the sensing areas of the sensing modules 3 do not overlap with each other;

[0029] In this example: the mobile carrying platform 1 is implemented based on a patrol robot. The robot is equipped with an environmental detection device, which is used to obtain environmental detection indexes, including a real-time monitoring module for floating bacteria, a real-time monitoring module for dust particles, a wind speed monitoring module, a temperature monitoring module and a humidity monitoring module.

[0030] An industrial computer, a drive device and a power supply system are installed in the robot; a signal antenna is also provided on the robot; the signal antenna is electrically connected to the environment detection device and the industrial computer respectively, for receiving the command signal and forwarding it to the industrial computer, and for sending the environment detection index obtained by the environment detection device to the processor 2 in the form of a wireless signal; the industrial computer is electrically connected to the drive device, for generating a moving path with a pre-stored planning path algorithm when receiving the command signal, and controlling the drive device to work based on the moving path; the drive device is used to drive the robot to move; the power supply system is used to power the industrial computer, the signal antenna, the environment detection device and the drive device; the multiple sensing modules 3 are distributed in the clean room; each of the multiple sensing modules 3 is respectively integrated with a mobile sensing device, a thermal infrared human body sensing device and a command sending module; and the mobile sensing device and the thermal infrared human body sensing device on the same sensing module 3 have the same sensing area; and the mobile sensing devices on different sensing modules 3 have non-overlapping sensing areas; the command sending module is used to send a command signal within the sensing area of ​​the mobile sensing device on the sensing module 3.

[0031] The processor 2 includes an alarm module, which is used to read the concentration of floating bacteria and the concentration of fine dust, and to alarm when the concentration of floating bacteria and / or the concentration of fine dust is higher than a pre-stored threshold. The implementation form of the alarm module is any one of window shaking and light flashing.

[0032] In practice, the working process is as follows:

[0033] Step 1: The robot enters the clean room from the door at the lower right corner of the clean room;

[0034] Step 2: Initialize the system and randomly generate a moving path for the mobile platform 1;

[0035] Step 3: The environment detection device moves the carrying platform 1 along the current moving path;

[0036] Step 4: When the motion sensing device on a sensing module 3 collects a motion sensing signal, the thermal infrared human body sensing device on the sensing module 3 is activated. If the thermal infrared human body sensing device collects a thermal infrared human body sensing signal, it means that there are staff in the area at this time, and the motion sensing signal may be triggered by a robot or a person, and the process jumps to step 5; otherwise, it means that the motion sensing signal should be triggered by a robot, and the process jumps to step 7;

[0037] Step 5: The sensing module 3 in step 4 sends a command signal to the mobile carrying platform 1 of the environment detection device;

[0038] Step 6: When the mobile platform 1 receives the command signal, it clears the current unfinished moving path and jumps to step 2;

[0039] Step 7: The mobile carrying platform 1 self-checks whether the moving path has been completed. If so, jump to step 2; if not, jump to step 3.

[0040] In the above steps, the processor 2 may also issue a stop command to the mobile carrying platform 1 of the environment detection device at any time. When the industrial computer receives the stop command, it stops running and clears the current unfinished moving path.

[0041] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for controlling a mobile platform of a clean room environment detection device, characterized in that: The steps include: Step 1: multiple sensing modules are distributed in the clean room; and the sensing areas of different sensing modules are not overlapped; each sensing module is respectively integrated with a mobile sensing device, a thermal infrared human body sensing device and a command sending module; and the mobile sensing device and the thermal infrared human body sensing device on the same sensing module have the same sensing area; and the mobile sensing devices on different sensing modules have sensing areas that do not overlap; the command sending module is used to send a command signal within the sensing area of ​​the mobile sensing device on the sensing module; Step 2: randomly generate a moving path of a mobile carrying platform, wherein an environment detection device is installed on the mobile carrying platform, and the environment detection device is used to obtain an environment detection index, which includes a real-time monitoring module for floating bacteria, a real-time monitoring module for dust particles, a wind speed monitoring module, a temperature monitoring module, and a humidity monitoring module; Step 3: The mobile platform moves along the current moving path; Step 4: When the motion sensing device on a sensing module collects a motion sensing signal, the thermal infrared human body sensing device on the sensing module is activated. If the thermal infrared human body sensing device collects a thermal infrared human body sensing signal, jump to step 5; otherwise, jump to step 7; Step 5: The sensing module in step 4 sends a command signal to the mobile carrying platform; Step 6: When the mobile platform receives the command signal, it clears the current unfinished moving path and jumps to step 2; Step 7: The mobile platform checks whether the moving path has been completed. If so, jump to step 2; if not, jump to step 3.

2. A control system for a mobile platform of a clean room environment detection device, characterized in that: The system is used to execute the control method of the mobile mounting platform of the clean room environment detection device according to claim 1, and the system comprises: A mobile platform, a processor and multiple sensor modules; An environmental detection device is installed on the mobile carrying platform, and the environmental detection device is used to obtain environmental detection indexes, which include a real-time monitoring module for floating bacteria and a real-time monitoring module for dust particles; an industrial computer, a drive device and a power supply system are installed in the mobile carrying platform; a signal antenna is also provided on the mobile carrying platform; the signal antenna is electrically connected to the environmental detection device and the industrial computer respectively, and is used to receive command signals and forward them to the industrial computer, and is also used to send the environmental detection index obtained by the environmental detection device to the processor in the form of wireless signals; the industrial computer is electrically connected to the drive device, and is used to generate a moving path with a pre-stored planning path algorithm when receiving the command signal, and control the drive device to work based on the moving path; the drive device is used to drive the mobile carrying platform to move; the power supply system is used to power the industrial computer, the signal antenna, the environmental detection device and the drive device; The multiple sensing modules are distributed in the clean room; each of the multiple sensing modules is respectively integrated with a mobile sensing device, a thermal infrared human body sensing device and a command sending module; the mobile sensing device and the thermal infrared human body sensing device on the same sensing module have the same sensing area; and the mobile sensing devices on different sensing modules have non-overlapping sensing areas; the command sending module is used to send a command signal within the sensing area of ​​the mobile sensing device on the sensing module.

3. The mobile platform control system for the clean room environment detection device according to claim 2, characterized in that: The environment detection device also includes: a wind speed monitoring module, a temperature monitoring module and a humidity monitoring module.

4. The mobile platform control system for the clean room environment detection device according to claim 2, characterized in that: The processor comprises an alarm module, which is used to read the concentration of airborne bacteria and the concentration of fine dust, and to generate an alarm when the concentration of airborne bacteria and / or the concentration of fine dust is higher than a pre-stored threshold value.

5. The mobile platform control system for the clean room environment detection device according to claim 4, characterized in that: The alarm module is implemented in the form of window shaking or light flashing.

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