CN105203147A - TEDS-based underwater robot detecting system and recognition and calibration method thereof - Google Patents

Abstract

The invention discloses a TEDS-based underwater robot detecting system. The system comprises a plurality of intelligent sensors, a main control module and a water surface control platform. Each intelligent sensor comprises a sensor body and a controller controlling the sensor body, wherein the identification information of the sensor body is stored in the controller. The controllers of the intelligent sensors are all connected with the main control module through data buses. The main control module is connected with the water surface control platform through a communication module. The invention also discloses a recognition and calibration method of the system. By the adoption of the system and the recognition and calibration method of the system, real-time monitoring and acquisition of underwater environment data are achieved, intelligent control and identification of the sensors are achieved, acquired data processing and detecting system calibration are achieved, and underwater monitoring is achieved automatically and intelligently with low power consumption.

Description

TEDS-based underwater robot detection system and its identification and calibration method

technical field

The invention relates to a TEDS-based underwater robot detection system and an identification and calibration method thereof, belonging to the field of automatic test systems.

Background technique

Water quality testing is an important technical guarantee for the prevention and control of water pollution, so it is particularly important to do a good job in water quality testing. However, my country's water quality testing has problems such as relatively backward technology and equipment, limited coverage of automation, and low monitoring efficiency. There is still a big gap in the advanced level of the sensor, the test accuracy of the sensor, and the real-time performance of the data transmission.

At present, water quality monitoring technology is mainly developing in the direction of network and intelligence. The monitoring instruments traditionally used in the water quality monitoring system are mainly two-wire analog transmitters, which have problems such as unstable signals, high cost, single function, and inability to connect with the fieldbus control system. The electronic data sheet (TEDS) provides a standard for realizing sensor intelligence. However, due to the limitations of existing measurement and control systems and the cost of implementing TEDS, there are many ways to implement TEDS. At present, there are mainly hardware-based TEDS implementation methods and pure software-based virtual TEDS methods. In the hardware-based TEDS implementation method, the hardware is provided by the sensor manufacturer, so it is difficult to implement the existing measurement and control system, and the maintenance cost is high. The virtual TEDS method reduces the cost, but it needs to manually import data, and the measurement and control system cannot automatically identify the sensor.

Contents of the invention

In order to solve the above technical problems, the present invention provides a TEDS-based underwater robot detection system and its identification and calibration method.

In order to achieve the above object, the technical scheme adopted in the present invention is:

The underwater robot detection system based on TEDS includes several smart sensors, a main control module and a water surface control platform; The controllers are all connected to the main control module through the data bus, and the main control module is connected to the water surface control platform through the communication module.

The communication module is a wireless communication module.

The intelligent sensors in the underwater robot detection system include temperature sensors, pH value sensors, conductivity sensors and dissolved oxygen sensors.

The identification and calibration method of the underwater robot detection system, including local sensor identification and calibration and remote sensor identification and calibration;

The process of identifying and calibrating the local sensor is as follows:

A1) Create a sensor spreadsheet;

The electronic data form includes identification information and calibration parameters of each sensor;

A2) Create an embedded database in the memory of the main control module;

A3) Write data from the sensor spreadsheet to the embedded database;

A4) The water surface control platform issues collection instructions according to the monitoring requirements;

A5) The main control module receives the acquisition command and sends it to each controller through the data bus;

A6) The controller obtains the identification information contained in the collection instruction by analyzing the collection instruction;

A7) Compare with the stored identification information, if the comparison is successful, send a response message, start the sensor, and collect data; if the comparison fails, the sensor will not be started;

A8) After the sensor completes the data collection, it sends the corresponding identification information and the collected data to the main control module;

A9) The main control module performs segmentation analysis to obtain identification information and collected data;

A10) The main control module obtains the calibration parameters of the corresponding sensor according to the identification information, and obtains the correction equation according to the calibration parameters;

A11) The main control module calibrates the collected data according to the correction equation, and sends the calibrated data to the water surface control platform;

The process of the remote sensor identification and calibration is,

B1) Create a database in the water surface control platform, and install calibration software in the water surface control platform;

B2) Store the identification information and calibration parameters of each sensor in the database;

B3) The water surface control platform issues collection instructions according to the monitoring requirements;

B4) The main control module receives the acquisition command and sends it to each controller through the data bus;

B5) The controller obtains the identification information contained in the collection instruction by analyzing the collection instruction;

B6) Compare with the stored identification information, if the comparison is successful, send a response message, start the sensor, and collect data; if the comparison fails, do not start the sensor;

B7) After the sensor completes data collection, it sends the corresponding identification information and collected data to the water surface control platform;

B8) The calibration software parses out the identification information and collected data, and writes the collected data into the database;

B9) The calibration software obtains the calibration parameters of the corresponding sensor according to the identification information, and obtains the correction equation according to the calibration parameters;

B10) The calibration software draws the collected data curve and performs calibration according to the correction equation.

Before the water surface control platform issues the acquisition command, the calibration parameters of each sensor in the embedded database are updated.

When the calibration equation is calibrated, multiple sets of data will be collected for calculation, and finally the average value will be taken.

Beneficial effects achieved by the present invention: the present invention realizes real-time monitoring and collection of underwater environmental data, realizes intelligent control and identification of sensors, realizes data collection processing and calibration of detection systems, and realizes low power consumption and automation of underwater monitoring and intelligent.

Description of drawings

Fig. 1 is a schematic structural diagram of the system of the present invention.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.

As shown in Figure 1, the TEDS-based underwater robot detection system includes several intelligent sensors, a main control module and a surface control platform.

The smart sensor includes the sensor and the controller that controls the sensor. The controller stores the identification information of the sensor. The controllers of all smart sensors are connected to the main control module through the data bus (RS-485 bus can be used here), and the main control module passes The communication module is connected with the surface control platform.

The intelligent sensors in the above-mentioned underwater robot detection system include temperature sensors, PH value sensors, conductivity sensors and dissolved oxygen sensors; the controllers of the above-mentioned intelligent sensors adopt low-power MSP430 single-chip microcomputers, and the storage identification information adopts external ferroelectric memory FM25L512 .

The above-mentioned main control module takes LPC1788 microcontroller as the core, and expands SDRAM and FLASH interfaces at the same time. The peripheral circuit includes 100M Ethernet LAN91C111 chip and interface, USB2.0 chip CY7C68013 chip and interface, RS-232 to RS-485 circuit and UART interface.

The above-mentioned communication module adopts a wireless communication module, with CC430F5137 single-chip microcomputer as the core, communicates with the main control module through the SPI interface, and conducts RF communication with the water surface control platform.

The above-mentioned water surface control platform includes the field instrument server end, and the CC430F5137 single-chip microcomputer realizes RF communication to send and receive data.

The identification and calibration method of the underwater robot detection system includes local sensor identification and calibration and remote sensor identification and calibration.

The process of field sensor identification and calibration is:

A1) Create a sensor spreadsheet;

The electronic data form includes identification information and calibration parameters of each sensor;

A2) Create an embedded database in the memory of the main control module;

A3) Write data from the sensor spreadsheet to the embedded database;

A4) The water surface control platform issues collection instructions according to the monitoring requirements;

A5) The main control module receives the acquisition command and sends it to each controller through the data bus;

A6) The controller obtains the identification information contained in the collection instruction by analyzing the collection instruction;

A7) Compare with the stored identification information, if the comparison is successful, send a response message, start the sensor, and collect data; if the comparison fails, the sensor will not be started;

A8) After the sensor completes the data collection, it sends the corresponding identification information and the collected data to the main control module;

A9) The main control module performs segmentation analysis to obtain identification information and collected data;

A10) The main control module obtains the calibration parameters of the corresponding sensor according to the identification information, and obtains the correction equation according to the calibration parameters;

A11) The main control module calibrates the collected data according to the correction equation, and sends the calibrated data to the water surface control platform;

The process of remote sensor identification and calibration is:

B1) Create a database in the water surface control platform, and install calibration software in the water surface control platform;

B2) Store the identification information and calibration parameters of each sensor in the database;

B3) The water surface control platform issues collection instructions according to the monitoring requirements;

B4) The main control module receives the acquisition command and sends it to each controller through the data bus;

B5) The controller obtains the identification information contained in the collection instruction by analyzing the collection instruction;

B6) Compare with the stored identification information, if the comparison is successful, send a response message, start the sensor, and collect data; if the comparison fails, do not start the sensor;

B7) After the sensor completes data collection, it sends the corresponding identification information and collected data to the water surface control platform;

B8) The calibration software parses out the identification information and collected data, and writes the collected data into the database;

B9) The calibration software obtains the calibration parameters of the corresponding sensor according to the identification information, and obtains the correction equation according to the calibration parameters;

B10) The calibration software draws the collected data curve and performs calibration according to the correction equation.

Before the water surface control platform issues the acquisition command, the calibration parameters of each sensor in the embedded database are updated.

When the calibration equation is calibrated, multiple sets of data will be collected for calculation, and finally the average value will be taken.

The invention realizes real-time monitoring and collection of underwater environment data, realizes intelligent control and identification of sensors, realizes data collection processing and calibration of a detection system, and realizes low power consumption, automation and intelligence of underwater monitoring.

The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, some improvements and modifications can also be made. It should also be regarded as the protection scope of the present invention.

Claims (6)

1. based on the underwater robot detection system of TEDS, it is characterized in that: comprise some intelligent sensors, main control module and water surface parametric controller;

Described intelligent sensor comprises sensor and controls the controller of sensor, the identification information of sensor is stored in described controller, the controller of all intelligent sensors is all connected with main control module by data bus, and described main control module is connected with water surface parametric controller by communication module.

2. the underwater robot detection system based on TEDS according to claim 1, is characterized in that: described communication module is wireless communication module.

3. the underwater robot detection system based on TEDS according to claim 1, is characterized in that: the intelligent sensor in described underwater robot detection system comprises temperature sensor, pH value sensor, conductivity sensor and dissolved oxygen sensor.

4. based on identification and the calibration steps of underwater robot detection system according to claim 1, it is characterized in that: comprise the formula sensor identification of existing ground and calibration and remote sensor identification and calibration;

The process of described now formula sensor identification and calibration is,

A1) sensor electronic data form is created;

Described electronic data sheet comprises identification information and the calibrating parameters of each sensor;

A2) in the storer of main control module, embedded database is created;

A3) by the data write embedded database in sensor electronic data form;

A4) water surface parametric controller sends acquisition instructions according to monitoring requirements;

A5) main control module receives acquisition instructions, and sends to each controller by data bus;

A6) controller obtains by resolving acquisition instructions the identification information comprised in acquisition instructions;

A7) compare with the identification information stored, if comparison success, then send response message, start sensor, carry out data acquisition; If comparison failure, then not start sensor;

A8), after sensor data acquisition, the identification information of correspondence is sent to main control module together with image data;

A9) main control module carries out piecewise analytic, obtains identification information and image data;

A10) main control module obtains the calibrating parameters of respective sensor according to identification information, and obtains correction equation according to calibrating parameters;

A11) main control module is calibrated image data according to correction equation, and the data after calibration are sent to water surface parametric controller;

The process of described remote sensor identification and calibration is,

B1) creation database in water surface parametric controller, installation calibrating software in water surface parametric controller;

B2) by the identification information of each sensor and calibrating parameters stored in database;

B3) water surface parametric controller sends acquisition instructions according to monitoring requirements;

B4) main control module receives acquisition instructions, and sends to each controller by data bus;

B5) controller obtains by resolving acquisition instructions the identification information comprised in acquisition instructions;

B6) compare with the identification information stored, if comparison success, then send response message, start sensor, carry out data acquisition; If comparison failure, then not start sensor;

B7), after sensor data acquisition, the identification information of correspondence is sent to water surface parametric controller together with image data;

B8) calibration software parses identification information and image data, and by image data write into Databasce;

B9) calibration software obtains the calibrating parameters of respective sensor according to identification information, and obtains correction equation according to calibrating parameters;

B10) calibration software draws image data curve map, and calibrates according to correction equation.

5. the identification of underwater robot detection system according to claim 4 and calibration steps, is characterized in that: before water surface parametric controller sends acquisition instructions, upgrade the calibrating parameters of each sensor in embedded database.

6. the identification of underwater robot detection system according to claim 4 and calibration steps, is characterized in that: when correction equation is calibrated, can gather multi-group data and calculate, finally average.