CN105045195A - Building maintenance system based on drone for maintaining building and building maintenance method thereof - Google Patents
Building maintenance system based on drone for maintaining building and building maintenance method thereof Download PDFInfo
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- CN105045195A CN105045195A CN201510536342.XA CN201510536342A CN105045195A CN 105045195 A CN105045195 A CN 105045195A CN 201510536342 A CN201510536342 A CN 201510536342A CN 105045195 A CN105045195 A CN 105045195A
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- building
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- unmanned plane
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
Abstract
The invention discloses a building maintenance system based on a drone for maintaining a building and a building maintenance method thereof. The system herein comprises: wireless building monitoring nodes, a building central control center and a drone. The invention also provides a building maintenance method of the building maintenance system, including the following steps: 1. the wireless building monitoring nodes send the surrounding conditions of the building and the damage status of the nodes thereof to an integrated controller or the building central control center; 2. the building central control center determines detailed materials which are required to maintain the wireless building monitoring nodes and sends the detailed materials to the drone; 3. the drone establishes communication with the building central control center, and heads towards the damaged wireless building monitoring nodes for maintenance or replacement of the designated wireless building monitoring nodes. The system and method of the invention lower cost required by maintaining building equipment and achieve wirelessness of the building equipment.
Description
Technical field
The present invention relates to a kind of intelligent building maintenance platform technology of robotization, particularly a kind of building maintenance system and building maintaining method thereof safeguarding unmanned plane based on building.
Background technology
The exterior wall of building often has various camera; Infrared intrusion detector; the equipment such as wireless signal transmitter; these equipment are because for a long time at the outside work of working environment complexity; often there will be the situation of damage, once occur damaging, because it is deployed on external wall; prior art often needs professional to keep in repair, and maintenance cycle is long.And, in order to install these equipment, also to dispose power transmission line for it, the peripheral connection device such as netting twine, making building once construct, again will dispose and just need part exterior wall of dismantling, very loaded down with trivial details.
On the other hand, in current building, there is a large amount of sensors, once sensor degradation, easily cause economic loss, but in current technology, find that sensor degradation often relies on artificial inspection, and once damage and send and repair, also there will be the empty window phase do not monitored, so, be badly in need of a kind of building maintenance technology, not only can reduce artificial maintenance, the cost of deployment facility, also will can reduce the economic loss that equipment failure brings.
Current unmanned aerial vehicle (UAV) control technical development is swift and violent, when there being gps signal, unmanned plane can when Pyatyi strong wind, fix error controls to be no more than one centimetre in skew per hour, such precision has enough carried out maintenance and the replacing of robotization to wireless monitoring equipment, utilize unmanned plane to be maintained as current technical matters urgently to be resolved hurrily to building.
Summary of the invention
Primary and foremost purpose of the present invention is that the shortcoming overcoming prior art is with not enough, and provide a kind of building maintenance system safeguarding unmanned plane based on building, this building maintenance system reduces the deployed with devices of building outside and the time cost of maintenance.
Another object of the present invention is to overcome the shortcoming of prior art and deficiency, there is provided a kind of and be applied to the described building maintaining method safeguarding the building maintenance system of unmanned plane based on building, this building maintaining method, by building central control network network transmission operational data, achieves the wireless penetration of building equipment.
Primary and foremost purpose of the present invention is achieved through the following technical solutions: a kind of building maintenance system safeguarding unmanned plane based on building, can comprise:
For monitoring or data transmission, and the wireless building monitor node of radio node damaged condition can be sent;
Communicate with described wireless building monitor node, obtain the building central control center of radio node damaged condition in building;
Communicate with described building central control center, there is the unmanned plane of the function of maintenance or replacing specified node;
Wireless building monitor node uses sensor record building ambient conditions, the damaged condition of record own node, and the damaged condition of building ambient conditions and own node is sent to building central control center by wireless communication module; Described wireless communication module can be: 3G module, 2.5G module or WIFI module;
Building central control center is communicated with described wireless building monitor node by wireless communication module, obtains the damaged condition of building ambient conditions and own node, and generates unmanned plane maintenance instruction, send to unmanned plane by wireless communication module;
Can also comprise: Centralized Controller, described wireless building monitor node is placed in the optional position in building respectively, and the intercommunication of multiple described wireless building monitor node and Centralized Controller.
Described wireless building monitor node can make breakdown maintenance application when breaking down by initiatively sending warning message.
Described wireless building monitor node is built-in with battery, device of solar generating or wind electricity generating system.
Described wireless building monitor node connects described Centralized Controller by radio frequency.
Described Centralized Controller collects the data of wireless building monitor node by wireless communication module, and communicates with described building central control center.
Described wireless building monitor node comprises: main control chip and minimum system, and the sensor be electrically connected with described main control chip and minimum system inputs, battery or electricity generation module, control module and antenna transmission module.
Described Centralized Controller comprises main control chip, and described main control chip is electrically connected with 3G module, 2.5G module or WIFI module, and described main control chip is connected with supply module.
Described unmanned plane comprises: electrical compass module, 2.5G module, GPS module, supply module, central processing unit, flight controller module, screw propeller and motor.
Another object of the present invention is achieved through the following technical solutions: be a kind ofly applied to the described building maintaining method safeguarding the building maintenance system of unmanned plane based on building, comprises the following steps:
Step 1, wireless building monitor node use sensor record building ambient conditions, the damaged condition of record own node, and the damaged condition of building ambient conditions and own node is sent to described Centralized Controller or building central control center;
Step 2, building central control center communicate with described Centralized Controller or wireless building monitor node, obtain the damaged condition of described building ambient conditions and own node, and for the wireless building monitor node needing to safeguard, arrange priority of maintenance order, generate unmanned plane maintenance instruction, determine the particulars needed for maintenance needing the wireless building monitor node safeguarded, and send to unmanned plane;
Step 3, unmanned plane communicate with described building central control center, go to impaired wireless building monitor node to keep in repair or change specific radio building monitoring node; If wireless building monitor node is impaired and can be keeped in repair by unmanned function, just keeped in repair then and there by unmanned plane; If the impaired and unmanned plane of wireless building monitor node can not keep in repair, just changed then and there by unmanned plane; After replacing, impaired wireless building monitor node is transported to appointed place, and by specialized maintenance, personnel keep in repair.
Principle of the present invention: the building external unit that automatically can detect needs and change of the present invention, and by passing to unmanned plane needing the information of the building external unit changed to convert flight path information to, complete automatic equipment replacement by unmanned plane, the present invention effectively solves building equipment maintenance period and grows up to this high problem.
In addition, the invention belongs to the intelligent building maintenance platform of robotization, mainly comprise wireless building monitor node, unmanned plane and building central control network network equipment; When exterior wall has wireless building monitoring one malfunctions time, can control in building from trend building wireless network and send maintenance signal, time building central control network network receives maintenance signal, infield and the device type of this equipment is searched from the facility information list of registration in advance, and be converted to GPS and elevation information, send to unmanned plane, unmanned plane goes to the equipment changed or keep in repair and need to safeguard according to this information.Meanwhile, the wireless penetration technology had of wireless building monitor node is comprised.In order to the difficulty that connects up when reducing installation, and allow unmanned plane change speed and the degree of accuracy of building external unit, use the wireless building monitor node from charged pool, such as from the camera of charged pool, Infrared intrusion detector, wireless signal transmitter, wireless building monitor node, by building central control network network transmission operational data, achieves the wireless penetration of building equipment.
The present invention mainly have employed following technology: 1, the automatic maintenance technology of unmanned plane.Time by there being a wireless building monitoring one malfunctions when exterior wall, automatically maintenance signal can be sent by Centralized Controller to building central control center, time building central control center receives maintenance signal, infield and the device type of this equipment is searched from the facility information list of registration in advance, and be converted to GPS and elevation information, send to unmanned plane, unmanned plane goes to the equipment changed or keep in repair and need to safeguard according to this information.2. the wireless penetration technology of wireless building monitor node.In order to the difficulty that connects up when reducing installation, and allow unmanned plane change speed and the degree of accuracy of building external unit, use the wireless building monitor node from charged pool, such as from the camera of charged pool, Infrared intrusion detector, wireless signal transmitter, wireless building monitor node is by building central control network network transmission operational data, realize the central control network network equipment of wireless penetration 3. building of building equipment, central control network network equipment comprises Centralized Controller and building central control center, wireless external wall of building equipment is by comprising 2.5G, the modes such as 3G communicate with the central control network network equipment of building, after the central control network network equipment collection warning message of building, by can realize the monitoring alarm to damage equipment in building to the database manipulation of building central control center.
The present invention has following advantage and effect relative to prior art:
1, this building maintenance system reduces time and the cost of the deployed with devices of building outside.The wireless monitoring equipment that the present invention 24 hours is ceaselessly full building by unmanned plane is installed, and wireless monitoring equipment is not because have external connection line, decreases the time and cost of arranging all kinds of cable.
2, this building maintenance system reduces time and the cost of the maintenance of equipment of building outside.The present invention ceaselessly for the wireless monitoring equipment of full building is safeguarded, decreases because the working time is limited by unmanned plane 24 hours, and the exterior wall maintainer working time conflicts the long delay of the maintenance caused.
3, the present invention can automatically safeguard by the timely wireless monitoring equipment to fault, reduces the work mistake due to report barrier personnel on duty, causes the unmanned maintenance of equipment failure, causes stolen, the economic losses such as alarm of fire is malfunctioning.
Accompanying drawing explanation
Fig. 1 is the building maintenance system block diagram safeguarding unmanned plane based on building.
Fig. 2 is wireless building watch-dog structured flowchart.
Fig. 3 is Centralized Controller structured flowchart.
Fig. 4 is unmanned plane structured flowchart.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment
Embodiments of the invention mainly comprise following three parts:
One, system unit:
As shown in Figure 1, the building maintenance system of unmanned plane mainly comprises to have building to safeguard: wireless building watch-dog 1, Centralized Controller 2, building central control center 3 and unmanned plane 4;
Two, the transmitting portion of the maintenance alarm of wireless building watch-dog:
By in time having described wireless building watch-dog to break down, can send alarm signal from trend Centralized Controller, wireless building watch-dog uses Single-chip Controlling mode, has two kinds and safeguards alarm sending mode:
(1) wireless building watch-dog initiatively launches warning mode: wireless building watch-dog non-continuous being connected to Centralized Controller, lower when finding self to be in electricity, store full, Watchdog register spilling mistake etc. need safeguard situation time, can by connect Centralized Controller send maintenance information to building central control center.As shown in Figure 2, wireless building watch-dog can pass through sensor load module environment of accepting information, because whole wireless building watch-dog does not adopt wired connection, so by passing through powered battery, after the information processing of minimum system, be sent to next stage receiving end by wireless module.Its wireless module can comprise 5G module, 4G module, 3G module, 2.5G module, 2.4G module, wifi module, bluetooth module zigbee module and nfc module.
(2) building central control center heartbeat checking mode: for the wireless building watch-dog of lasting connection Centralized Controller, after connection one period of specifying of disconnection, building central control center can record this wireless building watch-dog and be in off-line state, and sends maintenance information.
(3) after building central control center obtains and safeguards alarm, as shown in Figure 3, the Centralized Controller of building central control center receives the facility information needing to safeguard by WIFI module, 3G module and 2.5G module after, can the GPS address information of equipment, elevation information is stored in the Flash controlled in unmanned plane.As shown in Figure 4, the central processing unit on unmanned plane receives the control signal of building central control center by WIFI module and 2.5G wireless receiving module, and controls motor driving screw propeller, flies and go to service equipment according to the route of specifying.
Three, the control section of unmanned plane:
Unmanned plane adopts GPS mode to navigate.Owing to have employed independently attitude control system, Navigation Control workload alleviates greatly.Navigational system primary responsibility GPS information and electrical compass module information acquisition, coordinate conversion, flight control strategy is determined and control task execution etc.If Fig. 4 unmanned plane is in automatic control process, GPS is adopted to obtain the information such as position, height and course to determine control strategy.When carrying out normal data acquisition, central processing unit first gathers GPS information, from NMEA0183 format string, primary information is obtained every 20ms, and be converted to the data layout of specifying, switch to electrical compass module data again, carry out same operation, thus obtain carrying out the valid data needed for flight condition adjudgement, enter navigation computing mode.After navigation calculating completes, switch back data acquisition state, start to gather next time, so circulation is until arrive objective.Emphasize to realize arriving fast needing the equipment of maintenance and safeguarding in building are safeguarded, course line is had no special requirements.Therefore, the method being close to course line all the time is not taked in the formulation of navigation strategy, and have employed head and point to next destination strategy all the time.According to aircraft changing coordinates, coordinate of ground point that GPS obtains, the data such as the deviation angle of the vector that electrical compass module obtains and bogey heading and quadrant calculate navigational calibration instruction, and mail to flight control modules.After completing this calculating, switch to data acquisition state, wait for next group data.Electric Machine Control is completed by flight control modules.After flight control modules static debugging, by the Flash of the data such as unmanned plane direction, neutral position and fine setting scope stored in unmanned plane central processing unit, to realize the automatic control of unmanned plane to aerial mission.After receiving the steering order sent from central processing unit, produce corresponding pwm signal by flight control modules and mail to motor, and once maintain output waveform before steering order in execution.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (10)
1. safeguard a building maintenance system for unmanned plane based on building, it is characterized in that, comprising:
For monitoring or data transmission, and the wireless building monitor node of radio node damaged condition can be sent;
Communicate with described wireless building monitor node, obtain the building central control center of radio node damaged condition in building;
Communicate with described building central control center, there is the unmanned plane of the function of maintenance or replacing specified node;
Wireless building monitor node uses sensor record building ambient conditions, the damaged condition of record own node, and the damaged condition of building ambient conditions and own node is sent to building central control center by wireless communication module;
Building central control center is communicated with described wireless building monitor node by wireless communication module, obtains the damaged condition of building ambient conditions and own node, and generates unmanned plane maintenance instruction, send to unmanned plane by wireless communication module.
2. the building maintenance system safeguarding unmanned plane based on building according to claim 1, it is characterized in that, also comprise Centralized Controller, described wireless building monitor node is placed in the optional position in building respectively, and has the intercommunication of wireless building monitor node and Centralized Controller described in several.
3. the building maintenance system safeguarding unmanned plane based on building according to claim 2, is characterized in that, described wireless building monitor node can make breakdown maintenance application when breaking down by initiatively sending warning message.
4. the building maintenance system safeguarding unmanned plane based on building according to claim 3, is characterized in that, described wireless building monitor node is built-in with battery, device of solar generating or wind electricity generating system.
5. the building maintenance system safeguarding unmanned plane based on building according to claim 4, is characterized in that, described wireless building monitor node connects described Centralized Controller by radio frequency.
6. the building maintenance system safeguarding unmanned plane based on building according to claim 5, is characterized in that, described Centralized Controller collects the data of wireless building monitor node by wireless communication module, and communicates with described building central control center.
7. the building maintenance system safeguarding unmanned plane based on building according to claim 1, it is characterized in that, described wireless building monitor node comprises: main control chip and minimum system, and the sensor be electrically connected with described main control chip and minimum system inputs, battery or electricity generation module, control module and antenna transmission module.
8. the building maintenance system safeguarding unmanned plane based on building according to claim 1, it is characterized in that, described Centralized Controller comprises main control chip, and described main control chip is electrically connected with 3G module, 2.5G module or WIFI module, and described main control chip is connected with supply module.
9. the building maintenance system safeguarding unmanned plane based on building according to claim 1, it is characterized in that, described unmanned plane comprises: electrical compass module, 2.5G module, GPS module, supply module, central processing unit, flight controller module, screw propeller and motor.
10. be applied to the building maintaining method safeguarding the building maintenance system of unmanned plane based on building according to claim 1, it is characterized in that, comprise the following steps:
Step 1, wireless building monitor node use sensor record building ambient conditions, the damaged condition of record own node, and the damaged condition of building ambient conditions and own node is sent to described Centralized Controller or building central control center;
Step 2, building central control center communicate with described Centralized Controller or wireless building monitor node, obtain the damaged condition of described building ambient conditions and own node, and for the wireless building monitor node needing to safeguard, arrange priority of maintenance order, generate unmanned plane maintenance instruction, determine the particulars needed for maintenance needing the wireless building monitor node safeguarded, and send to unmanned plane;
Step 3, unmanned plane communicate with described building central control center, go to impaired wireless building monitor node to keep in repair or change specific radio building monitoring node; If wireless building monitor node is impaired and can be keeped in repair by unmanned function, keeped in repair then and there by unmanned plane; If the impaired and unmanned plane of wireless building monitor node can not keep in repair, changed then and there by unmanned plane; After replacing, impaired wireless building monitor node is transported to appointed place, and by specialized maintenance, personnel keep in repair.
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Cited By (1)
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