Configurable multi-timing task control measurement robot and sensor data collection system and method

Abstract

The present invention belongs to the field of computer system design technology and automatic control, and discloses a configurable multi-timing task control measurement robot and sensor data collection system and method, including a task control system, a database, a task scheduling execution system, a task execution module, a communication module, a measurement robot, and a sensor; the task control system is responsible for the creation, configuration, allocation of equipment, and removal of tasks; the database is responsible for storing data; the task scheduling execution system is responsible for triggering task execution and real-time monitoring of task status; the task execution module is responsible for controlling the sensor equipment to collect environmental data, and parallelly controlling multiple sensor equipment and measurement robots to collect environmental data and measure; the communication module is responsible for data transmission and processing. The present invention has the advantages of multi-tasking, flexibility, high efficiency, stability, reliability, safety, and low cost, and can provide strong technical support for the data collection part of modern dam safety monitoring, generating considerable social and economic benefits.

Description

Technical Field

[0001] The invention belongs to the field of computer system design technology and automatic control, and in particular relates to a configurable multi-timing task control measurement robot and a sensor data collection system and method. Background Art

[0002] In recent years, with the improvement of people's living standards, water conservancy projects have flourished, and dam construction has become an important means of water conservancy development and utilization. Its operation mainly faces safety issues, so dam safety monitoring is crucial to its stable operation. It is necessary to pay attention to safety monitoring and reduce safety losses caused by accidents. In order to ensure the safe operation of the dam, efficient and real-time monitoring of the external deformation of the dam will help to increase the service life of the dam and ensure the stable and safe operation of the dam. With the rapid development of new technologies such as computer software, wireless networks, data storage, intelligent sensors, and automated measurement equipment, data collection by automatic control of measurement robots and sensor equipment through timed tasks is becoming more and more widely used in dam monitoring.

[0003] There are many defects in the automated control measurement robots and sensor data collection systems in the traditional automated monitoring systems on the market. For example, Leica's GeoMosMonitor system has the problem of difficulty in expanding sensor equipment, and the precision and flexibility of the execution time of scheduled tasks are not enough; the communicators and sensor equipment they support must be used in the hardware system, the selectivity is poor, and the hardware cost is too high; in the use scenario of deformation monitoring of dam intelligent measuring stations, there is a lack of equipment protection function, and there are certain safety risks to the safety of valuable equipment measurement robots. For example, the existing technology "integrated control system for deformation monitoring intelligent measuring stations" also has the problem of insufficient precision and flexibility in the execution time of scheduled tasks; the type and number of sensor equipment are fixed, and there is no sensor expansion function; the task of executing collection and measurement does not have the function of multi-device combination, and lacks certain flexibility; there are also certain problems in the parallel processing of multiple tasks, resulting in insufficient reliability of data collection. Summary of the invention

[0004] The purpose of the present invention is to propose a configurable multi-timing task control measurement robot and sensor data collection system and method in view of the fact that the existing technology cannot meet the requirements of multi-task, flexibility, high efficiency, stability, reliability, safety and low cost. While meeting the advantages of multi-task, flexibility, high efficiency, stability, reliability, safety and low cost, the present invention can provide strong technical support for the data collection part of modern dam safety monitoring, and generate considerable social and economic benefits.

[0005] The technical solution adopted by the present invention is a configurable multi-timing task control measurement robot and sensor data acquisition system, including a task control system, a database, a task scheduling execution system, a task execution module, a communication module, a measurement robot, and a sensor;

[0006] The mission control system is responsible for mission creation, configuration, equipment allocation, and removal;

[0007] The database is responsible for storing data;

[0008] The task scheduling execution system is responsible for triggering task execution and monitoring task status in real time;

[0009] The task execution module is responsible for controlling the sensor equipment to collect environmental data, and controlling multiple sensor equipment and measurement robots in parallel to collect environmental data and conduct measurements;

[0010] The communication module is responsible for data transmission and processing.

[0011] Furthermore, the database includes a task table, a task change table, and a data table. The task table is responsible for storing task data; the task change table is responsible for storing task change information; and the data table is responsible for storing task collection and measurement data.

[0012] Furthermore, the task scheduling execution system includes a task scheduling pool and a task monitoring module. The task scheduling pool is responsible for the scheduling management of tasks; the task monitoring module is responsible for real-time monitoring of task changes and abnormal tasks.

[0013] Furthermore, the communication module includes a switch and a serial port server. The switch is responsible for exchanging TCP network data packets between the serial port server and the software system. The serial port server is responsible for converting TCP data packets into serial port signals and outputting them to the measuring robot and sensor equipment through RS232 and RS485 interfaces. The return data is returned to the server system along the original route.

[0014] Furthermore, the switch can be connected to multiple serial port sensors, the RS232 interface of the serial port server is connected to the Y shape of the measuring robot, and the RS485 interface is connected to the sensor device. The RS232 interface of each serial port server can be connected to a measuring robot, and the RS485 interface can be connected to one or more sensor devices.

[0015] The present invention also provides a configurable multi-timing task control measurement robot and a sensor data collection method, which is implemented by the configurable multi-timing task control measurement robot and the sensor data collection system, and includes the following steps:

[0016] S1. Create multiple scheduled tasks;

[0017] S2, the task scheduling end triggers task execution and monitors the task status in real time;

[0018] S3, after the task is triggered, the task is sent to the measurement robot and sensor device in sequence;

[0019] S4, after receiving the instruction, the measuring robot and the sensor device parse the instruction and complete the corresponding action;

[0020] S5. Feedback the task execution results to the task execution module for data result analysis and storage.

[0021] Furthermore, in S4, after receiving the task instruction, the measuring robot controls the multiple sensor devices and the measuring robot in parallel to collect environmental data and perform measurements.

[0022] The beneficial effects of the present invention are:

[0023] 1. Through the task control system custom task and Quartz timed task multi-threading technology, multi-task, flexible and efficient data acquisition function is realized;

[0024] 2. The reliability, stability and timeliness of the data collection service operation are solved through Winform technology and the function of monitoring task changes and abnormal tasks;

[0025] 3. The linkage control between devices meets the accuracy and specifications of the measurement requirements and also ensures the safety of valuable equipment;

[0026] 4. Improve communication efficiency by connecting network devices to serial port servers to convert protocols, increase the distance of remote communication, reduce the number of intermediate devices, and achieve the goal of reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is the overall process principle diagram of the present invention;

[0028] Figure 2 is a schematic diagram of the task control system of the present invention;

[0029] Figure 3 It is a schematic diagram of the task scheduling execution system of the present invention;

[0030] Figure 4 It is a schematic diagram of the task execution module of the present invention;

[0031] Figure 5 This is a schematic diagram of the linkage control of the measuring robot and the sensor device of the present invention;

[0032] Figure 6 This is a schematic diagram of the hardware communication connection principle of the present invention. DETAILED DESCRIPTION

[0033] In order to make the objectives, technical solutions and advantages of the present invention more clear and understandable, the technical solutions of the present invention will be further described in detail below with reference to the accompanying drawings.

[0034] See also Figure 1 The configurable multi-timing task control measurement robot and sensor data acquisition system of the present invention includes a task control system, a database, a task scheduling execution system, a task execution module, a communication module, a measurement robot, and a sensor.

[0035] Mission Control System

[0036] The task control system is developed using Winform technology. The task control system is responsible for the creation of scheduled tasks, the configuration of Cron expressions for task triggering time, the running and parsing of Cron expressions, the enabling and disabling of tasks, the assignment of multiple sensor devices or measurement robots to tasks, the removal of sensor devices and measurement robots from tasks, the editing of task field information and the removal of tasks, the viewing of task execution records, the viewing of data collected by task-associated devices, etc.

[0037] database

[0038] The database includes task table, task change table and data table.

[0039] The task table is responsible for storing task data; the task change table is responsible for storing task change information; and the data table is responsible for storing task collection and measurement data.

[0040] The functions and fields of the task table, task change table, and data table are described as follows:

[0041] A. The task table stores the created scheduled tasks. The task table contains the primary key task ID, task name, task description, task execution Corn expression, task expression description, whether the task is enabled, task creator, task updater, whether it is a delayed task, the number of allowed delays, whether delays are allowed, task running status, and original task name.

[0042] B. Task Change Table Storage Whenever a task is created, edited, or removed, a record is created in this table to trigger task monitoring to update the task in the task scheduling pool. After the update, the Waiting for Update field of the change record is set to False. The task change table contains the primary key ID, the change task ID, the operation identifier (I, U, and D represent add, update, and remove, respectively), the change record time, and whether to wait for update.

[0043] C. The data table stores the data collected by the sensor equipment and measured by the measuring robot. The data table contains the primary key ID, equipment number, measurement point number, task ID, task number, group number, data collection time, data column 1, data column 2, and data column 16.

[0044] Task scheduling execution system

[0045] The task scheduling execution system is developed using Quartz technology. The task scheduling execution system includes a task scheduling pool and a task monitoring module.

[0046] The task scheduling pool is responsible for the scheduling management of tasks, including starting task scheduling, adding tasks in the task table to the plan, triggering task execution, pausing tasks, resuming tasks, and removing tasks.

[0047] The task monitoring module includes task change monitoring and abnormal task monitoring. Task change monitoring is responsible for real-time monitoring of changes in the task change table in the database, and timely updating of tasks in the task scheduling pool to keep the task change table consistent with the tasks in the task scheduling pool; abnormal task monitoring is responsible for real-time monitoring of abnormal status tasks in the task scheduling pool, performing abnormal task recovery, and ensuring the timeliness of task scheduling pool updates and the correctness of task status.

[0048] Measuring robots, sensors

[0049] The measuring robot in the present invention is a Leica measuring robot TS60, and the sensors are anemometer, temperature, humidity and pressure sensor, ultrasonic rangefinder, relay, sound and light alarm, rain gauge and camera.

[0050] Task execution module

[0051] The task execution module encapsulates the .NET function library of the measurement robot based on the GeoCom technology ASCⅡ protocol, mainly including AUS (the button behind SHIFT+User), AUT (automatic control), BAP (basic application), BMM (basic human-machine function), COMF (processing basic communication parameters), COM (communication function), CSV (providing instrument setting function), CTL (system control task), EDM (electronic distance measurement module), FTR (file transfer function), IMG (image processing), MOT (motorized components), SUP (control some general parameters) TMC (measurement data acquisition module). It encapsulates the access function library of multiple sensors based on the Modbus protocol of the 485 protocol. Currently, the supported devices include anemometers, temperature, humidity and pressure sensors, ultrasonic rangefinders, relays, sound and light alarms, rain gauges and other sensors to collect data. The Job_Main class of the Quartz technology IJob interface is called. This class realizes the sequential control of collecting environmental data and measurements for multiple sensor devices and measurement robots when the task is triggered; in the process of collecting environmental data and measuring, the linkage control between devices meets the measurement requirements and ensures the safety of the equipment.

[0052] Communication module

[0053] The communication module includes a switch and a serial port server. The switch is responsible for exchanging TCP network data packets between the serial port server and the software system. The serial port server is responsible for converting TCP data packets into serial port signals and outputting them to the measuring robot or sensor equipment through the RS232 and RS485 interfaces. The return data is then returned to the server system along the original route.

[0054] The server of the task scheduling execution system uses a network cable to connect to the switch, the switch is connected to the serial port server, the RS232 interface of the serial port server is connected to the Y shape of the measurement robot, and the RS485 interface is connected to the RS485 type sensor device. Multiple serial port servers can be connected to the switch, and the RS232 of each serial port server can be connected to a measurement robot, and the RS485 interface can be connected to one or more sensor devices.

[0055] The method for controlling a measuring robot and collecting data by using the control system to configure multiple timing tasks includes the following steps:

[0056] S1. Create multiple scheduled tasks

[0057] See also Figure 2 , create multiple scheduled tasks in the task control system. Each task can set the trigger running time, whether to allow repetition after failure, and can be independently assigned to measurement robots and sensor devices. At the same time, the relevant information of multiple scheduled tasks will be stored in the task table of the database, and the created, edited, and removed tasks will be stored in the task change table of the database.

[0058] S2. The task scheduling end triggers task execution and monitors the task status in real time

[0059] After completing the configuration task, see Figure 3 The task scheduling execution system initializes tasks and executes tasks after being triggered, and monitors the task status in real time. When the task change table in the database is monitored to change, the tasks in the task scheduling pool are updated in time to keep the task change table consistent with the tasks in the task scheduling pool; when the abnormal status tasks in the task scheduling pool are monitored, the abnormal tasks are restored and continued to be executed to ensure that the tasks scheduled are always correct and timely.

[0060] S3, after the task is triggered, the task is sent to the measurement robot and sensor device in sequence;

[0061] After the task is triggered, see Figure 4In the task execution module, the device sequence assigned to the task is parsed. If it is a measuring robot device, it follows the GeoCom (geographic data communication interface) protocol rules of Leica Corporation and calls the encapsulated function library to send the ASCII protocol instructions to the serial port server; if it is an RS485 sensor device, it calls the function encapsulated according to the Modbus protocol based on the 485 protocol to send the instruction to the serial port server; the serial port server then forwards it to the measuring robot or sensor device.

[0062] S4. After receiving the instruction, the measuring robot and sensor device analyze the instruction and complete the corresponding action.

[0063] The task of collecting environment data is triggered. After receiving the instruction, the sensor device parses the instruction and executes the task of collecting environment data.

[0064] The measurement task is triggered, and the measurement robot parses the command after receiving it. At this time, multiple sensor devices need to provide measurement services for the measurement robot, and multiple sensor devices and measurement robots are controlled in parallel to collect environmental data and measure. Figure 5 ,The linkage process between each sensor device and the measurement robot is as follows:

[0065] The temperature, humidity and pressure sensors collect the temperature, humidity and pressure data of the current environment, and provide the measurement robot with the temperature, humidity and pressure data required for atmospheric correction.

[0066] The anemometer and rain gauge are responsible for measuring the current wind speed and rainfall, and judging whether the current environment meets the requirements of the measurement environment. If it does not meet the requirements, the measurement task will be stopped and the measurement robot will be controlled to stop measuring; if it meets the measurement environment requirements, the measurement robot will continue to measure.

[0067] The relay provides power on and off functions for other sensors.

[0068] Ultrasonic ranging is responsible for judging whether the surrounding environment is safe, that is, whether there are people or objects approaching. If a person or object is detected approaching, the measuring robot is controlled to stop measuring and trigger the alarm strategy, and the alarm light is controlled to sound + flash to remind the operation and maintenance personnel of abnormal conditions. At the same time, the operation and maintenance personnel can view abnormal conditions near the measuring robot through the camera.

[0069] S5: Feedback the task execution results to the task execution module for data result analysis and storage

[0070] See also Figure 1 and Figure 6The data measured by the measuring robot and collected by the sensor equipment are sent to the serial port server through the RS232 and RS485 interfaces. The serial port server forwards it to the switch, and the switch sends it to the task execution module. The task execution module parses and judges the feedback instructions and data, stores the correct data, and finally stores the correct data in the data table in the database. The task measurement and collected data can be viewed in the task control system.

[0071] The task scheduling execution system of the present invention realizes the precision and flexibility of the scheduled task execution time by using Quartz technology; multi-task multi-thread parallel execution collects data to ensure high efficiency; the task execution module realizes the flexible combination and control of task equipment and the data interaction with the task scheduling execution system; the abnormal task monitoring function is designed in the task scheduling system to ensure the reliability of task execution; the "foreign object intrusion" alarm function is realized under the linkage control of ultrasonic waves, sound and light alarms and cameras, and the safety of the valuable equipment measuring robot is ensured; the measurement accuracy of the measuring robot is improved under the linkage control of the measuring robot and sensor equipment such as temperature, humidity and pressure sensors, anemometers, and rain gauges; the cost is reduced by using low-cost and universal serial port servers and switches, opening free Modbus protocols, and not requiring additional control all-in-one machines.

[0072] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. Configurable multi-timed task control measurement robot and sensor data collection system, characterized by: Including task control system, database, task scheduling execution system, task execution module, communication module, measurement robot, and sensor; The mission control system is responsible for mission creation, configuration, equipment allocation, and removal; The database is responsible for storing data; The database includes task table, task change table and data table. The task table is responsible for storing task data. The task change table is responsible for storing the information of task changes; the data table is responsible for storing the data collected and measured by the task; The functions and fields of the task table, task change table, and data table are described as follows: A. The task table stores the created scheduled tasks. The task table contains the primary key task ID, task name, task description, task execution Corn expression, task expression description, whether the task is enabled, task creator, task updater, whether it is a delayed task, the number of allowed delays, whether delays are allowed, task running status and original task name; B. Task change table storage Whenever a task is created, edited, or removed, a record is created in this table to trigger task monitoring to update the task in the task scheduling pool. After the update, the waiting update field of the change record is set to False. The task change table contains the primary key ID, the change task ID, the operation identifier, the change record time, and whether to wait for update. C. The data table stores the data collected by the sensor equipment and measured by the measurement robot. The data table contains the primary key ID, equipment number, measurement point number, task ID, task number, group number, data collection time, data column 1, data column 2, and data column 16; The task scheduling execution system is responsible for triggering task execution and monitoring task status in real time; The task scheduling execution system is developed using Quartz technology. The task scheduling execution system includes a task scheduling pool and a task monitoring module. The task scheduling pool is responsible for task scheduling management; the task monitoring module is responsible for real-time monitoring of task changes and abnormal tasks; The task scheduling pool includes starting task scheduling, putting tasks in the task list into the plan, triggering task execution, pausing tasks, resuming tasks, and removing tasks; The task monitoring module includes task change monitoring and abnormal task monitoring. Task change monitoring is responsible for real-time monitoring of changes in the task change table in the database, and timely updating of tasks in the task scheduling pool to keep the task change table consistent with the tasks in the task scheduling pool. Abnormal task monitoring is responsible for real-time monitoring of abnormal status tasks in the task scheduling pool, performing abnormal task recovery, and ensuring the timeliness of task scheduling pool updates and the correctness of task status. The task execution module is responsible for controlling the sensor equipment to collect environmental data, and controlling multiple sensor equipment and measurement robots in parallel to collect environmental data and conduct measurements; The communication module is responsible for data transmission and processing.

2. The configurable multi-timing task control measurement robot and sensor data acquisition system according to claim 1, characterized in that: The communication module includes a switch and a serial port server. The switch is responsible for exchanging TCP network data packets between the serial port server and the software system. The serial port server is responsible for converting TCP data packets into serial port signals and outputting them to the measuring robot and sensor equipment through RS232 and RS485 interfaces. The return data is returned to the server system along the original route.

3. The configurable multi-timing task control measurement robot and sensor data acquisition system according to claim 2, characterized in that: The switch is connected to multiple serial port sensors, the RS232 interface of the serial port server is connected to the Y shape of the measuring robot, the RS485 interface is connected to the sensor device, the RS232 interface of each serial port server is connected to a measuring robot, and the RS485 interface is connected to one or more sensor devices.

4. A method for configurable multi-timing task control measurement robot and sensor data collection, characterized in that: The method is implemented by the configurable multi-timing task control measurement robot and sensor data collection system as described in any one of claims 1 to 3, comprising the following steps: S1. Create multiple scheduled tasks; S2, the task scheduling end triggers task execution and monitors the task status in real time; S3, after the task is triggered, the task is sent to the measurement robot and sensor device in sequence; S4, after receiving the instruction, the measuring robot and the sensor device parse the instruction and complete the corresponding action; S5. Feedback the task execution results to the task execution module for data result analysis and storage.

5. The configurable multi-timing task control measurement robot and sensor data collection method according to claim 4, characterized in that: In S4, after receiving the task instruction, the measuring robot controls the multiple sensor devices and the measuring robot in parallel to collect environmental data and perform measurements.

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