Method and device for controlling temperature and humidity in cold chain storage and transportation environment based on information fusion compensation

Abstract

The present invention relates to the field of cold chain transportation technology, and more specifically, to a method and device for controlling the temperature and humidity of a cold chain storage and transportation environment based on information fusion compensation. The present invention uses Kalman filtering to eliminate noise from the collected temperature and humidity data to make the data more accurate; through multi-sensor information fusion, the door status data is fused with the temperature and humidity sensor data, so that when a sudden change in the environment such as sudden door opening occurs, the Kalman gain coefficient is dynamically compensated, which can reduce the lag of the filtered data without affecting the normal filtering, thereby improving the real-time and reliability of the entire temperature control system.

Description

Technical Field

[0001] The present invention relates to the field of cold chain transportation technology, and more specifically, to a method and device for controlling temperature and humidity in a cold chain storage and transportation environment based on information fusion compensation. Background Art

[0002] At present, with the development of cold chain logistics, how to reduce the nutritional loss of food and medicine during transportation and ensure the safety of food and medicine has become the focus of attention. Due to the influence of external factors, the timeliness of transportation is highly uncontrollable. Therefore, for high-end fruit and vegetable products, medicines, quick-frozen products, etc., the environment in which they are in during transportation needs to be detected and controlled. It is well known that the most important way to reduce the value loss of food and medicine during transportation is to control the temperature and humidity.

[0003] However, due to the complexity and instability of the environment in the transport compartment, and the temperature and humidity sensors also have temperature drift and accuracy problems, the traditional temperature control method has a lag in control, especially when the environment suddenly changes such as the door of the transport compartment is suddenly opened. Summary of the invention

[0004] Based on this, it is necessary to provide a method and device for controlling the temperature and humidity of a cold chain storage and transportation environment based on information fusion compensation, which can respond promptly to the phenomenon in order to address the technical problem that existing transport carriages controlled by traditional methods have a delayed response when the doors suddenly open.

[0005] The present invention is implemented by the following technical solutions:

[0006] In a first aspect, the present invention discloses a method for controlling temperature and humidity in a cold chain storage and transportation environment based on information fusion compensation, which is applied to a cold chain transport vehicle cabin.

[0007] The method for controlling temperature and humidity in a cold chain storage and transportation environment based on information fusion compensation comprises the following steps:

[0008] Real-time acquisition of the collected temperature data T(t), humidity data W(t), and cabin door status data D(t) at the current time t;

[0009] Perform Kalman filtering on the temperature data T(t) and humidity data W(t), wherein the original Kalman gain coefficient is dynamically compensated by integrating the cabin door state data D(t) to obtain the processed temperature data T'(t) and humidity data W'(t);

[0010] The dynamic compensation method is designed as follows:

[0011] K p =K0+D(t)*S K ;

[0012] K p is the Kalman gain coefficient after dynamic compensation; K0 is the original Kalman gain coefficient, S K is the compensation coefficient; D(t) represents the door state;

[0013] Wherein, D(t) is 0 or 1, D(t)=0 means the door is closed, and D(t)=1 means the door is open;

[0014] or U(t) is the door opening amplitude at the current time t, U max The maximum opening range of the door;

[0015] The temperature and humidity of the cold chain transport cabin are controlled in real time according to the processed temperature data T'(t) and humidity data W'(t).

[0016] The method for controlling temperature and humidity in a cold chain storage and transportation environment based on information fusion compensation implements the method or process according to an embodiment of the present disclosure.

[0017] In the second aspect, the present invention discloses a temperature and humidity control device for a cold chain storage and transportation environment based on information fusion compensation, which uses the temperature and humidity control method for a cold chain storage and transportation environment based on information fusion compensation disclosed in the first aspect.

[0018] The temperature and humidity control device for the cold chain storage and transportation environment based on information fusion compensation is arranged in the transport vehicle cabin, and includes a refrigeration component, a ventilation component, a humidification component, a data acquisition component, and a controller.

[0019] The refrigeration component is arranged at the bottom of the transport cabin, and is used to cool down the interior of the transport cabin. The ventilation component is arranged at the head of the transport cabin. The ventilation component is provided with a vent, and the vent is used to communicate with the outside. The ventilation component is used to exhaust air to the outside when the vent is open, and to circulate air in the transport cabin when the vent is closed. The humidification component is arranged near the head of the transport cabin, and is used to humidify the interior of the transport cabin. The data acquisition component includes a temperature and humidity sensor and a door status sensor. The temperature and humidity sensors are arranged in n numbers, and are arranged in multiple points in the transport cabin, and are used to collect the temperature and humidity inside the transport cabin. The door status sensor is installed on the door of the transport cabin, and is used to monitor the door status information. The door status information includes whether the door is open or closed. The controller is electrically connected to the data acquisition component, the refrigeration component, the ventilation component, and the humidification component. The controller filters the collected temperature and humidity data through the Kalman filter algorithm, and integrates the door status information. When the door is opened, the controller dynamically compensates the Kalman gain coefficient, and then controls the refrigeration component, ventilation component, and humidification component according to the processed temperature and humidity data to achieve adaptive adjustment of the cabin temperature and humidity.

[0020] The cold chain storage and transportation environment temperature and humidity control device based on information fusion compensation implements the method or process according to the embodiment of the present disclosure.

[0021] In a third aspect, the present invention discloses a readable storage medium, in which computer program instructions are stored. When the computer program instructions are read and run by a processor, the method for controlling temperature and humidity in a cold chain storage and transportation environment based on information fusion compensation disclosed in the first aspect is executed.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The present invention uses Kalman filtering to eliminate noise from the collected temperature and humidity data to make the data more accurate; through multi-sensor information fusion, the door status data is fused with the temperature and humidity sensor data, so that when a sudden environmental change such as sudden door opening occurs, the Kalman gain coefficient can be dynamically compensated, which can reduce the lag of the filtered data without affecting the normal filtering, thereby improving the real-time and reliability of the entire temperature control system.

[0024] 2. The present invention controls the duty cycle of the PWM wave based on PID, thereby adjusting the ventilation components and refrigeration components. PID uses closed-loop negative feedback and does not rely on a specific system mathematical model. It has good adaptability and strong robustness. The present invention uses PID control, combined with a multi-sensor fusion filtering algorithm, to quickly and accurately stabilize the temperature in the cold chain cabin near the target value. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a flow chart of a method for controlling temperature and humidity in a cold chain storage and transportation environment based on information fusion compensation in an embodiment of the present invention;

[0026] Figure 2 It is a structural diagram of a temperature and humidity control device for a cold chain storage and transportation environment based on information fusion compensation in an embodiment of the present invention;

[0027] Figure 3 for Figure 2 Temperature control flow chart of the temperature and humidity control device for cold chain storage and transportation environment;

[0028] Figure 4 for Figure 2 Temperature control curve of the mid-transport vehicle cabin;

[0029] Figure 5 for Figure 2 Structural diagram of the middle vent when exhausting;

[0030] Figure 6 for Figure 2 Structural diagram of the middle vent when exhausting;

[0031] Figure 7 for Figure 2 The result diagram of the temperature and humidity control device in the cold chain storage and transportation environment using the traditional filtering method;

[0032] Figure 8 for Figure 7 A partial enlarged view of

[0033] Fig. 9 for Figure 2 The result diagram after dynamic compensation using the temperature and humidity control device in the cold chain storage and transportation environment;

[0034] Fig.10 for Fig. 9 A partial enlarged view of .

[0035] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0036] 1. Transport cabin, 2. Refrigeration assembly, 3. Ventilation assembly, 4. Humidification assembly, 5. Data acquisition assembly, 301. Movable baffle. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] It should be noted that when a component is referred to as being "mounted on" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a central component at the same time. When a component is considered to be "fixed to" another component, it may be directly fixed on the other component or there may be a central component at the same time.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "or / and" used herein includes any and all combinations of one or more of the related listed items.

[0040] Example 1

[0041] See also Figure 1 , Figure 1This is a flow chart of the method for controlling the temperature and humidity of a cold chain storage and transportation environment based on information fusion compensation in the present invention. This method for controlling the temperature and humidity of a cold chain storage and transportation environment based on information fusion compensation is applied to a cold chain transportation vehicle cabin and specifically includes the following steps:

[0042] S1, real-time acquisition of the collected temperature data T(t), humidity data W(t), and cabin door status data D(t) at the current time t;

[0043] The purpose of S1 is to obtain real-time temperature data, humidity data, and cabin door status data, which is achieved by arranging temperature and humidity sensors and door status sensors in the transport cabin.

[0044] S2, Kalman filtering is performed on the temperature data T(t) and humidity data W(t), and the cabin door status data D(t) is integrated to dynamically compensate the original Kalman gain coefficient to obtain the processed temperature data T'(t) and humidity data W'(t).

[0045] The Kalman filter used in this method is based on the following principles:

[0046] The environment inside the transporter cabin is regarded as a one-dimensional equation, expressed as:

[0047] X n =A*X n-1 +B*U n-1 +W n-1 ;

[0048] Among them, X n is the state matrix of the environment at the current time n, X n-1 is the state matrix of the environment at time n-1, A is the state transfer matrix, B is the control input matrix, U n-1 is the input at time n-1, W n-1 is the process noise that follows Gaussian distribution.

[0049] Since the sensors used in data collection have problems such as drift and accuracy, the data is noisy, and the observation equation for data collection can be expressed as:

[0050] Z n =H*X n +v n ;

[0051] Among them, Z n is the actual measurement value at the current time n, H is the state observation matrix, v n is the observation noise that follows Gaussian distribution.

[0052] From the above equation, we can see that noise exists in the process of sensor detection. Since the error in the detection data will affect the real-time performance of the control system, Kalman filtering is traditionally used to solve the sensor noise. Its principle is to obtain the weighted sum of the last optimal value and the current actual measurement value of the sensor. The equation is as follows:

[0053]

[0054] in, is the current best estimate, is the last best estimate;

[0055] K0 represents the weighted sum, that is, the Kalman gain coefficient.

[0056] K0 can be obtained by the variance of the optimal estimate:

[0057] P n,n =K0 2 *r n +(1-K0) 2 *P n,n-1 ;

[0058] Among them, P n,n for The variance, P n,n-1 for The variance, r n Z n The variance of .

[0059] P n,n-1 Taking the partial derivative of K0, we get:

[0060]

[0061] According to the Kalman principle equation, when the uncertainty of the system measurement value is small and the uncertainty of the estimate is large, the Kalman gain coefficient K0 is close to 1. At this time, the weight of the measurement value is large, which is equivalent to trusting the measurement value more. Conversely, when the uncertainty of the measurement is large and the uncertainty of the estimate is small, the Kalman gain coefficient K0 is close to 0. At this time, the weight of the estimate is large, which is equivalent to trusting the estimate more.

[0062] In cold chain transportation, due to environmental uncertainty, operations such as opening doors will destroy the original system model, resulting in data lag after filtering. Step 2 is to modify the Kalman filter algorithm based on the multi-sensor fusion algorithm, as shown below:

[0063]

[0064] K p =K0+D(t)*S K ;

[0065] Right now,

[0066] Among them, K p is the Kalman gain coefficient after dynamic compensation; K0 is the original Kalman gain coefficient, S K is the compensation coefficient; D(t) represents the door state.

[0067] D(t) can be calculated in two ways:

[0068] (i) D(t) takes the value of 0 or 1, D(t) = 0 means the door is closed, and D(t) = 1 means the door is open.

[0069] In this way, when the door is open, the Kalman gain coefficient is increased to increase the weight of the measured value, making the prediction result more biased towards the measured value. When the door is closed, the compensation coefficient is not used, and the prediction uses the inherent parameters. In this way, by fusing multi-sensor data, feedback can be introduced into the control system to improve system stability.

[0070] (two) U(t) is the door opening amplitude at the current time t, U max The maximum opening range of the door.

[0071] In this way, the door status is further refined, that is, the door status is determined according to the door opening and closing amplitude, thereby affecting D(t)*S K value, thereby improving the dynamic compensation effect of the Kalman gain coefficient.

[0072] S3, controlling the temperature and humidity of the cold chain transport vehicle cabin in real time according to the processed temperature data T'(t) and humidity data W'(t).

[0073] Specifically, the processed temperature data T'(t) is compared with the preset target temperature value T0 to perform temperature control: if T'(t) is greater than the preset target temperature value T0, the transport compartment 1 is cooled and the air in the transport compartment 1 is circulated;

[0074] It should be noted that if the temperature data T'(t)≤T0, no operation is performed on the temperature control of the transport carriage 1.

[0075] The cooling control is based on PID to adjust the PWM wave duty cycle U(t) of the device for cooling the transport compartment 1 (such as the refrigeration component mentioned below).

[0076] U(t) is based on the following formula:

[0077]

[0078] Where, t represents time; e() is the difference function between the measured value and the target value; I p ,I i ,I d All are adjustment parameters: I p is the proportional gain, I i is the integral gain, I d is the differential gain. p ,I i ,I d The value of is determined based on experience.

[0079] The processed humidity data W'(t) is compared with the preset target humidity interval ΔW to perform humidity control: if W'(t) is greater than the upper limit of the preset target humidity interval ΔW, the transport compartment 1 is exhausted from the inside to the outside for dehumidification; if W'(t) is less than the lower limit of the preset target humidity interval ΔW, the transport compartment 1 is humidified and the air in the transport compartment 1 is circulated;

[0080] Similar to the temperature, if W'(t) is within the preset target humidity range ΔW, no operation is performed on the humidity control of the transport compartment 1 .

[0081] The air internal circulation control adjusts the PWM wave duty ratio U'(t) of the device for air internal circulation in the transport compartment 1 (eg the ventilation component mentioned below) based on PID.

[0082] U'(t) is based on the following formula:

[0083]

[0084] Where t represents time; e'() is the variance function of the measured value and the mean of the measured value; I' p ,I i '、I' d All are adaptation parameters: I' p is the proportional gain, I i ' is the integral gain, I' d is the differential gain. I' p ,I i '、I' d The value of is determined based on experience.

[0085] S3 is to control the temperature and humidity of the transport compartment 1 according to the processed temperature data T'(t) and humidity data W'(t).

[0086] It should be noted that the real-time acquisition of S1 takes ΔT as a cycle, and the current moment t represents the real-time time. Therefore, the current moment corresponding to ΔT is also updated in real time, and the corresponding subsequent S2 and S3 are also updated. This is equivalent to looping S1, S2, and S3, thereby automatically adjusting the temperature and humidity inside the cold chain transport cabin.

[0087] Based on the above-mentioned cold chain storage and transportation environment temperature and humidity control method based on information fusion compensation, this embodiment also provides a cold chain storage and transportation environment temperature and humidity control device based on information fusion compensation, which is arranged in a transport vehicle cabin 1, and includes: a refrigeration component 2, a ventilation component 3, a humidification component 4, a data acquisition component 5, and a controller. The cold chain storage and transportation environment temperature and humidity control device uses the above-mentioned temperature and humidity control method.

[0088] See also Figure 2 , which is the structural diagram of the temperature and humidity control device for the cold chain storage and transportation environment based on information fusion compensation.

[0089] The refrigeration assembly 2 is arranged at the bottom of the transport cabin 1, and is used to cool down the interior of the transport cabin 1. In this embodiment, the refrigeration assembly 2 includes a refrigeration fin and a heat dissipation fan. The cold end of the refrigeration fin is located at the bottom of the transport cabin, and the hot end extends out of the transport cabin 1; the heat dissipation fan is installed at the outer bottom of the transport cabin 1, and is used to dissipate heat from the hot end of the refrigeration fin.

[0090] It should be noted that the cooling plate is connected to an adjustable voltage. Figure 3 The controller changes the PWM wave duty cycle U(t) of the refrigeration component based on PID according to the processed temperature data T'(t), controls the adjustable voltage one and thus controls the working power of the refrigeration plate.

[0091] Specifically, the controller controls the adjustable voltage 1 through the PWM wave duty cycle U(t), thereby controlling the working power of the refrigeration plate, and further controlling the temperature in the transport cabin 1. It is known that when the PWM duty cycle U(t) is 100%, the cooling speed is the fastest. The smaller the PWM duty cycle U(t), the slower the cooling speed.

[0092] However, due to the distance of the environmental collection point, the characteristics of the cooling components, and the temperature inertia when the vehicle body is cooled, a single constant PWM wave duty cycle cannot well control the temperature in the transport cabin 1. This device controls the temperature by using the PWM wave duty cycle controlled by PID. The PWM wave duty cycle U(t) is calculated according to the U(t) calculation formula in the above method.

[0093] It should be noted that:

[0094]

[0095]

[0096] T n '(t) is the temperature data processed by the nth temperature and humidity sensor, is the average temperature, and T0 is the preset target temperature value.

[0097] The ventilation assembly 3 is arranged at the head of the transport cabin 1. The ventilation assembly 3 is provided with a vent, which is used to communicate with the outside. The ventilation assembly 3 is used to exhaust air to the outside when the vent is opened, and to circulate air in the transport cabin 1 when the vent is closed. The humidification assembly 4 is arranged near the head of the transport cabin 1, and is used to humidify the inside of the transport cabin 1.

[0098] See also Figure 2 In this embodiment, a mounting cavity is provided at the head of the transport cabin 1, and one end of the mounting cavity close to the transport cabin body is connected to the main body of the transport cabin 1. The vent is provided at one end of the mounting cavity away from the transport cabin body. Specifically, the ventilation assembly 3 includes two worm gear fans. The controller controls the worm gear fans to rotate to form airflow.

[0099] The vent is equipped with a movable baffle 301, which is located outside the vent. The top of the movable baffle 301 is hinged to the top of the vent, and the movable baffle 301 covers the vent from the outside of the vent. Figure 5 , Figure 6 , which are schematic diagrams of different working states of the movable baffle 301. When the worm fan rotates forward, the airflow formed is outward, and the movable baffle 301 is blown open to exhaust air outward, which can reduce the humidity of the transport cabin 1. When the worm fan rotates reversely, the airflow formed is inward, and the movable baffle 301 is adsorbed on the vent, so that the transport cabin 1 generates air circulation, making the temperature and humidity in the transport cabin 1 more uniform.

[0100] It should be noted that although the movable baffle 301 can achieve self-control, it will shake during transportation, causing discomfort in user experience.

[0101] Therefore, the vent can also be designed with an electric control cover. The controller is electrically connected to the electric control cover, and the controller controls the electric control cover according to the processed temperature and humidity data to control the opening or closing of the vent. In this way, the worm fan rotates unidirectionally to form an airflow from the transport vehicle cabin body to the vent. When the vent is open, exhaust is achieved to the outside; when the vent is closed, the airflow is blocked by the electric control cover and returns to the transport vehicle cabin body, thereby forming an internal air circulation.

[0102] Similar to temperature control, the worm fan is loaded with adjustable voltage 2 when the air is circulating. The controller changes the PWM wave duty ratio U'(t) of the ventilation component based on PID according to the processed temperature data T'(t), controls the adjustable voltage 2 and controls the speed of the worm fan. The PWM wave duty ratio U'(t) is calculated according to the U'(t) calculation formula in the above method.

[0103] It should be noted that:

[0104]

[0105]

[0106] T n '(t) is the temperature data processed by the nth temperature and humidity sensor, is the mean temperature. e'(t) represents the variance of the temperature data: when the variance is larger, that is, the temperature in the transport cabin 1 is more uneven, the speed of the worm gear fan is higher; conversely, the speed of the worm gear fan is lower.

[0107] It should be noted that when the worm gear fan exhausts air to the outside, a fixed voltage with a constant duty cycle of the PWM wave is loaded.

[0108] The humidification component 4 is arranged near the head of the transport compartment 1, and is used to humidify the inside of the transport compartment 1. In this embodiment, the humidification component 4 includes a water tank and an ultrasonic vibrator. The controller controls the ultrasonic vibrator to break up the water droplets in the water tank into tiny particles, and disperse them into the air of the transport compartment 1 for humidification.

[0109] For the humidification component 4, PID control is not used temporarily. Instead, when humidification is needed, the controller turns on the ultrasonic vibrator.

[0110] The data acquisition component 5 includes a temperature and humidity sensor and a door status sensor. There are n temperature and humidity sensors, which are arranged at multiple points in the transport cabin 1 to collect the temperature and humidity inside the transport cabin 1. The door status sensor is installed on the door of the transport cabin 1 to monitor the door status information. The door status information includes whether the door is open or closed.

[0111] In this embodiment, the temperature and humidity sensor is placed on the top of the transport cabin 1, and the collected temperature and humidity are processed and averaged. The temperature and humidity sensor can be YSAT01B. The door state sensor can also be a door magnetic sensor, which is turned on when the door touches and turned off when it is away.

[0112] Of course, the door status sensor can also use a distance sensor, such as the ES02 pull rope sensor, one end of which is fixed on the vehicle body and the other end is fixed on the door. The door opening and closing status and the door opening range are obtained by measuring the distance between the vehicle body and the door.

[0113] The controller is electrically connected to the data acquisition component 5 , the refrigeration component 2 , the ventilation component 3 , and the humidification component 4 .

[0114] The controller filters the temperature and humidity data collected by the temperature and humidity sensor through the Kalman filtering algorithm, and integrates the door status information collected by the door status sensor. It dynamically compensates the Kalman gain coefficient when the door is opened, and then controls the refrigeration component 2, ventilation component 3, and humidification component 4 according to the processed temperature and humidity data to achieve adaptive adjustment of the temperature and humidity of the transport cabin 1.

[0115] Specifically, the controller works according to the above-mentioned cold chain storage and transportation environment temperature and humidity control method:

[0116] As for the temperature, filtering and fusion are performed based on the temperature acquired by the data acquisition component 5 to correct the environment inside the transport cabin 1.

[0117] When the temperature in the cabin is higher than the preset target temperature value, cooling treatment is performed: keep the vent closed; initialize PID parameters through the error between the current temperature information and the preset target temperature value, adjust the PWM wave for controlling the refrigeration component 2, and act on the refrigeration component 2 with the adjusted PWM wave; start the ventilation component 3, adjust the PWM wave for controlling the ventilation component 3, and act on the ventilation component 3 with the adjusted PWM wave to circulate the air in the transport cabin 1; then regularly collect the temperature information of the transport cabin 1 through the data acquisition component 5 as feedback, compare it with the preset target temperature value, and correct and adjust the above PWM wave so that the cabin temperature tends to the preset target temperature value and remains in a stable state.

[0118] As for humidity, similar to temperature, the humidity acquired by the data acquisition component 5 is filtered and fused to correct the environment inside the transport cabin 1.

[0119] The humidity in the transport cabin 1 is compared with the preset target humidity value interval. If the humidity in the transport cabin 1 is higher than the upper limit of the preset target humidity value interval, the vent is opened and the ventilation component 3 is started to exhaust air outward to reduce the humidity in the cabin; if the humidity in the transport cabin 1 is lower than the lower limit of the preset target humidity value interval, the vent is kept closed, the humidification component 4 is opened, and the ventilation component 3 is started, the PWM wave for controlling the ventilation component 3 is adjusted, and the adjusted PWM wave is applied to the ventilation component 3 to circulate the air in the transport cabin 1 and increase the humidity in the cabin.

[0120] For the opening and closing of the vent, please refer to the description of the ventilation assembly 3. If a movable baffle 301 is used, when the humidity in the transport cabin 1 is higher than the upper limit of the preset target humidity value interval, the controller controls the worm gear fan in the ventilation assembly 3 to rotate forward; if the humidity in the transport cabin 1 is lower than the lower limit of the preset target humidity value interval, the controller controls the worm gear fan in the ventilation assembly 3 to rotate reversely. If an electric control cover is used, the controller needs to control the electric control cover to open and close the vent, and the direction of the worm gear fan does not need to be adjusted.

[0121] When the data acquisition component 5 collects temperature and humidity, there is noise in the measurement data due to sensor drift and accuracy issues. The noise can be eliminated by performing Kalman filtering on the temperature and humidity information.

[0122] See also Figure 4 , is the temperature control curve of the transport cabin 1. When the door is opened at node 1, the temperature rises sharply. When the door is closed at node 2, the cabin model tends to be stable afterwards. Due to the unstable factors in the environment of the transport cabin 1, such as the sudden opening of the door, the temperature and humidity will change sharply. The use of the original coefficient of the Kalman filter will cause the waveform to lag, affecting the real-time control of the cabin temperature and humidity. By integrating the information data of the door status sensor, the Kalman filter coefficient is dynamically compensated in time after the door opening operation, that is, the original coefficient of the Kalman filter is corrected, so that the waveform tends to the true value. Of course, after closing the door, the compensation for the Kalman filter coefficient is removed, so that the filtering strategy is adjusted according to the actual situation, which is more stable and accurate.

[0123] Example 2

[0124] This embodiment verifies the method of embodiment 1. Wherein, D(t) is 0 or 1, D(t)=0 means the door is closed, and D(t)=1 means the door is open.

[0125] See also Figure 7 , which is the result diagram of the cold chain storage and transportation environment temperature and humidity control device using the traditional filtering method, that is, there is no dynamic compensation based on the door status. Figure 8 for Figure 7 Enlarged view of the mutation part. Figure 8 1 is the door opening time, and 2 is the door closing time.

[0126] See also Fig. 9 , which is the result diagram after dynamic compensation for the temperature and humidity control device in the cold chain storage and transportation environment. Fig.10 for Fig. 9 Enlarged view of the mutation part. Fig.10 Where 1^ is the door opening time point, and 2^ is the door closing time point. K Take 0.5, at time 1^, D(t) = 1, so that K pIncreasing increases the weight of the actual measured value, making the filtering method more trustful of the measured value.

[0127] The above all use ΔT = 1s, that is, sampling once every 1s. The results show that Figure 7 , Figure 8 In the results of the traditional filtering method, the filtered value obviously lags behind the measured value, that is, there is the hysteresis mentioned above. Fig. 9 , Fig.10 In the simulation, due to the fusion of multiple sensors, the filtered value can be very close to the measured value, and the hysteresis is significantly improved.

[0128] Example 3

[0129] This embodiment also discloses a readable storage medium, in which computer program instructions are stored. When the computer program instructions are read and executed by a processor, the method for controlling temperature and humidity in a cold chain storage and transportation environment based on information fusion compensation of Embodiment 1 is executed.

[0130] When the method of Example 1 is applied, it can be applied in the form of software, such as a program designed as a computer-readable storage medium that can run independently. The computer-readable storage medium can be a USB flash drive designed as a USB shield, and the USB flash drive is designed to start the program of the entire method through an external trigger.

[0131] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0132] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for controlling temperature and humidity in a cold chain storage and transportation environment based on information fusion compensation, which is applied to a cold chain transportation vehicle cabin, comprises the following steps: Real-time acquisition of the collected temperature data T(t) and humidity data W(t) at the current time t; It is characterized in that the method for controlling temperature and humidity in a cold chain storage and transportation environment based on information fusion compensation further comprises the following steps: Obtain the cabin door status data D(t) at the current time t in real time; Perform Kalman filtering on the temperature data T(t) and humidity data W(t), wherein the original Kalman gain coefficient is dynamically compensated by integrating the cabin door state data D(t) to obtain the processed temperature data T'(t) and humidity data W'(t); The dynamic compensation method is designed as follows: K p =K0+D(t)*S K ; K p is the Kalman gain coefficient after dynamic compensation; K0 is the original Kalman gain coefficient, S K is the compensation coefficient; D(t) represents the door state; Wherein, D(t) is 0 or 1, D(t)=0 means the door is closed, and D(t)=1 means the door is open; or U(t) is the door opening amplitude at the current time t, U max The maximum opening range of the door; Control the temperature and humidity of the cold chain transport vehicle cabin in real time according to the processed temperature data T'(t) and humidity data W'(t); Among them, the method for controlling the temperature and humidity of the cold chain transport cabin in real time according to the processed temperature data T'(t) and humidity data W'(t) includes: The processed temperature data T'(t) is compared with the preset target temperature value T0 to perform temperature control; if T'(t) is greater than the preset target temperature value T0, the transport compartment is cooled and the air is circulated in the transport compartment; The processed humidity data W'(t) is compared with the preset target humidity interval ΔW to perform humidity control; if W'(t) is greater than the upper limit of the preset target humidity interval ΔW, the transport compartment is exhausted from the inside to the outside for dehumidification; if W'(t) is less than the lower limit of the preset target humidity interval ΔW, the transport compartment is humidified and the air is circulated in the transport compartment; Among them, the cooling control and air circulation control are based on PID to control the PWM wave duty cycle; The cooling control is based on PID to adjust the PWM wave duty cycle U(t) of the device for cooling the transport compartment; Where, t represents time; e() is the difference function between the measured value and the target value; I p ,I i ,I d All are adjustment parameters: I p is the proportional gain, I i is the integral gain, I d is the differential gain; The air circulation control adjusts the PWM wave duty ratio U'(t) of the device for transporting compartment air circulation based on PID; Where t represents time; e'() is the variance function of the measured value and the mean of the measured value; I' p ,I i '、I' d All are adaptation parameters: I' p is the proportional gain, I i ' is the integral gain, I' d is the differential gain.

2. A temperature and humidity control device for cold chain storage and transportation environment based on information fusion compensation is arranged in the transport vehicle cabin, and is characterized in that: It uses the cold chain storage and transportation environment temperature and humidity control method based on information fusion compensation as described in claim 1; The cold chain storage and transportation environment temperature and humidity control device based on information fusion compensation includes: A refrigeration assembly, which is arranged at the bottom of the transport vehicle cabin and is used to cool the interior of the transport vehicle cabin; A ventilation assembly is arranged at the head of the transport vehicle cabin; the ventilation assembly is provided with a vent, the vent is used to communicate with the outside; the ventilation assembly is used to exhaust air to the outside when the vent is opened, and to circulate air in the transport vehicle cabin when the vent is closed; the ventilation assembly is used to exhaust air to the outside when the vent is opened, and to circulate air in the transport vehicle cabin when the vent is closed; A humidifying component is arranged near the head of the transport vehicle cabin and is used to humidify the interior of the transport vehicle cabin; The data acquisition component includes a temperature and humidity sensor and a door status sensor; n temperature and humidity sensors are arranged in multiple points in the transport vehicle cabin to collect temperature and humidity data inside the transport vehicle cabin; the door status sensor is installed on the door of the transport vehicle cabin to monitor the door status information; the door status information includes whether the door is open or closed; A controller is electrically connected to a data acquisition component, a refrigeration component, a ventilation component, and a humidification component; the controller filters the collected temperature and humidity data through a Kalman filter algorithm, and integrates the door status information, dynamically compensates the Kalman gain coefficient when the door is opened, and then controls the refrigeration component, the ventilation component, and the humidification component according to the processed temperature and humidity data to achieve adaptive adjustment of the cabin temperature and humidity.

3. The device for controlling temperature and humidity in cold chain storage and transportation environment based on information fusion compensation according to claim 2 is characterized in that: The refrigeration assembly includes a refrigeration fin and a heat dissipation fan; the cold end of the refrigeration fin is located at the bottom of the transport cabin, and the hot end extends out of the transport cabin; the heat dissipation fan is arranged at the bottom of the transport cabin, and is used to dissipate the heat of the hot end of the refrigeration fin; The cooling plate is loaded with an adjustable voltage 1; the controller changes the PWM wave duty cycle U(t) of the cooling component based on PID according to the processed temperature data T'(t), controls the adjustable voltage 1 and thus controls the working power of the cooling plate.

4. The device for controlling temperature and humidity in cold chain storage and transportation environment based on information fusion compensation according to claim 3 is characterized in that: In U(t): Among them, T n '(t) is the temperature data processed by the nth temperature and humidity sensor, is the average temperature, and T0 is the preset target temperature value.

5. The device for controlling temperature and humidity in cold chain storage and transportation environment based on information fusion compensation according to claim 2 is characterized in that: The ventilation assembly includes two worm gear fans, and the controller controls the worm gear fans to rotate to form airflow; The worm gear fan is loaded with adjustable voltage 2 when performing internal air circulation; the controller changes the PWM wave duty cycle U'(t) of the ventilation component based on PID according to the processed temperature data T'(t), controls the adjustable voltage 2 and thus controls the speed of the worm gear fan.

6. The device for controlling temperature and humidity in cold chain storage and transportation environment based on information fusion compensation according to claim 5 is characterized in that: In U'(t): Among them, T n '(t) is the temperature data processed by the nth temperature and humidity sensor, is the mean temperature.

7. The device for controlling temperature and humidity in cold chain storage and transportation environment based on information fusion compensation according to claim 6 is characterized in that: The vent is provided with a movable baffle; the movable baffle is located outside the vent, the top of the movable baffle is hinged with the top of the vent, and the movable baffle covers the vent from the outside of the vent.

8. The device for controlling temperature and humidity in cold chain storage and transportation environment based on information fusion compensation according to claim 4 is characterized in that: The humidifying component comprises a water tank and an ultrasonic vibrator. The controller controls the ultrasonic vibrator to break up the water droplets in the water tank into tiny particles and disperse them into the air of the transport compartment.

9. A readable storage medium, characterized in that: The readable storage medium stores computer program instructions, and when the computer program instructions are read and executed by a processor, the method for controlling temperature and humidity in a cold chain storage and transportation environment based on information fusion compensation as claimed in claim 1 is executed.

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