CN108563249B - Automatic tracking heating system and method based on uwb positioning - Google Patents

Abstract

The invention discloses an automatic tracking heating system and method based on uwb positioning, comprising a positioning device, a temperature measuring device, a coordinated control system and a heating device. The temperature measuring device measures the ambient temperature around the human body and transmits the temperature information to the coordinated control system; the coordinated control system receives the person's position information and temperature information, and the coordinated control system controls one or several heating devices that need to work according to the person's position information Move to a designated position; the temperature measuring device measures the ambient temperature around the person in real time, sends the temperature information to the coordinated control system, and the coordinated control system adjusts the working power of the heating device according to the current temperature; the invention can locate the person in the area and measure the surrounding area of the person Ambient temperature, the heating device moves to the vicinity of the person and directly heats the area around the person to realize the function of automatic tracking and heating.

Description

An automatic tracking heating system and method based on uwb positioning

technical field

The invention relates to the field of heating, and more particularly, to an automatic tracking heating system and method based on uwb positioning.

Background technique

Heating system refers to the process of adjusting and controlling the temperature of the air in the environment of buildings or structures by artificial means. With the progress of society and the development of science and technology, in most large-scale occasions, such as schools, factories or office buildings , heating systems have been widely used.

With the increasingly prominent energy problem, it is particularly necessary to save energy, and the existing heating system such as air conditioning system heats the whole area, such as the air conditioner in the factory or the air conditioner in the large shopping mall, heating or cooling It is to heat up or cool down the entire factory area or shopping mall area. The heating process is slow, the heating time is long, and the energy consumption is high. Even if there are only a few people in the area, the entire area will be heated, even when no one is there. It takes a long time to completely shut down the heating system, which can easily cause a lot of waste of resources.

The existing heating system does not have the function of targeted local temperature control for a single unit or a small number of targets in a large area, so research in this direction will greatly reduce the energy consumption of the heating system in a large area. It is of great significance to the sustainable development of energy.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the problems of slow heating speed, long heating time and large energy consumption caused by heating the entire area in the existing heating systems such as air conditioning systems, and proposes an automatic tracking heating system based on uwb positioning and The method can locate the person in the area and measure the ambient temperature around the person, and adjust the position and direction of the heating device, the heating temperature, and the number of heating devices according to the location of the person in the area and the surrounding temperature, so as to realize the function of automatic tracking heating.

The present invention achieves the above objects through the following technical solutions: an automatic tracking heating system based on uwb positioning, comprising a positioning device, a temperature measurement device, a coordinated control system and a heating device, the positioning device is used for positioning the human body, and The positioning information is sent to the coordinated control system; the temperature measurement device measures the ambient temperature of the human body, and transmits the temperature information to the coordinated control system; the coordinated control system receives the person's position information and temperature information, and the coordinated control system is based on the person's position. The information controls one or several heating devices that need to work to move to the designated position; the temperature measuring device measures the ambient temperature around the person in real time, sends the temperature information to the coordinated control system, and the coordinated control system adjusts the working power of the heating device according to the current temperature;

The positioning device adopts ultra-wideband technology, namely UWB technology, for positioning, and the positioning device transmits data by sending and receiving extremely narrow pulses with nanoseconds or less; the positioning device includes tags, anchors and positioning servers, and the tags are mobile. For objects to be located whose coordinates are unknown, the anchor point is a node whose own position or absolute coordinates are known, including several slave anchor points and master anchor points. The slave anchor point communicates directly with the tag to complete the ranging process, and the master anchor point is responsible for collecting slave anchor points. Based on the ranging results of the anchor point, the invalid results are filtered out, and the preliminary data is sorted and sent to the positioning server for positioning calculation, and a time calibration packet is sent to the slave anchor point for synchronization. The positioning server calculates the positioning result through the ranging information sent by the main anchor;

The temperature measurement device adopts the non-contact measurement method of infrared radiation thermometry to measure the target ambient temperature, and the infrared temperature sensor is installed on an omnidirectional pan-tilt that can rotate both on the horizontal plane and on the vertical plane. , use the motor to control the rotation of the pan/tilt and install the encoder in the two directions that can rotate. The encoder on the horizontal plane can obtain the angle between the direction of the infrared sensor on the horizontal plane and the true north, and the encoder on the vertical plane can obtain The angle between the direction of the infrared sensor and the vertical line. When the direction of the infrared sensor needs to be adjusted to face a certain position, the angle between the direction of the infrared sensor and the vertical line and the direction on the horizontal plane need to be adjusted. The included angle with true north, that is, control the motor to make the output of the two encoders on the horizontal plane and the vertical plane reach a certain value;

The contact measurement method measures the ambient temperature of the target, and installs the thermal resistance temperature sensor or thermocouple sensor on the work clothes. The target needs to wear the work clothes to measure the ambient temperature around it. Each sleeve is equipped with a thermal resistance temperature sensor or a thermocouple sensor. When it is necessary to detect the ambient temperature around the target, the four sensors on the work clothes work simultaneously to detect the ambient temperature, and the average of the obtained results is the ambient temperature;

The heating device is an infrared lamp or a hot tuyere. When the heating device is stationary, n heating devices are arranged at a certain height as required, and the heating device that needs to work executes the heating strategy.

Further, the whole area is divided into several sub-areas, and multiple heating devices are responsible for heating a sub-area. When there are more people in the sub-area than the heating device, the system control system calculates the heating device according to the principle that the amount of heat per capita is equal and the total energy is the largest. When the number of people in the sub-area is less than or equal to the heating device, each person is equipped with one or more heating devices, and the heating device moves with the position of the personnel.

An automatic tracking heating method based on uwb positioning, comprising the following steps: a positioning device locates a target in real time, and sends position information to a coordinated control system; the coordinated control system controls one or several heating devices that need to work according to the position information of the target Move to the designated position; the temperature measurement device measures the ambient temperature around the target in real time, and sends the temperature information to the coordinated control system; the coordinated control system adjusts the working power of the heating device according to the current temperature;

The positioning device adopts ultra-wideband technology, namely UWB technology, for positioning, and the positioning device transmits data by sending and receiving extremely narrow pulses with nanoseconds or less; the positioning device includes tags, anchors and positioning servers, and the tags are mobile. For the target to be located with unknown coordinates, the anchor point is a node whose own position or absolute coordinates are known, including several slave anchor points and master anchor points. The slave anchor point communicates directly with the tag to complete the ranging process, and the master anchor point is responsible for collecting From the ranging results of the anchor point, the invalid results are filtered out, and the preliminary data is sorted and sent to the positioning server for positioning calculation, and the time calibration package is sent to the slave anchor point for synchronization. The positioning server calculates the positioning result through the ranging information sent by the main anchor;

The temperature measurement device adopts the non-contact measurement method of infrared radiation thermometry to measure the target ambient temperature, and the infrared temperature sensor is installed on an omnidirectional pan-tilt that can rotate both on the horizontal plane and on the vertical plane. , use the motor to control the rotation of the pan/tilt and install the encoder in the two directions that can rotate. The encoder on the horizontal plane can obtain the angle between the direction of the infrared sensor on the horizontal plane and the true north, and the encoder on the vertical plane can obtain The angle between the direction of the infrared sensor and the vertical line. When the direction of the infrared sensor needs to be adjusted to face a certain position, the angle between the direction of the infrared sensor and the vertical line and the direction on the horizontal plane need to be adjusted. The included angle with true north, that is, control the motor to make the output of the two encoders on the horizontal plane and the vertical plane reach a certain value;

The heating device is an infrared lamp or a hot air outlet. When the heating device is stationary, n heating devices are arranged at a certain height according to needs, and the heating device that needs to work executes the heating strategy;

When the heating device is an infrared lamp, the irradiance value q of the infrared lamp received at a certain point is related to the distance r from the point to the axis of the infrared lamp and the heating current I, and the irradiance value of the infrared lamp received at a certain point:

q=f(r,I);

When the heating device is a hot air outlet, the heating power P (W/m2) per unit area received at a certain point is related to the distance l from the point to the hot air outlet, the air outlet speed v and the outlet air temperature. Heating power per unit area received at a point:

p=f(l,v,t);

The role of the coordinated control system is to receive the position information and temperature information, and formulate a control strategy to control the corresponding heating device to supply heat to the target; when one or more targets are in the heating area, it is necessary to make the irradiance value or unit area of each target. The heating power reaches a certain value; when there are m targets in the area, in order to meet the heating requirements, the coordinated control system formulates a control strategy, and transmits the control strategy to the heating device that needs to work; the control strategy includes which heating devices to control How much power is used by the working and heating device to heat;

The specific control strategy is as follows:

When there are multiple heating devices, the decision-making method of the heating quantity of the specific heating device and the heating quantity of each heating device is as follows: Suppose there are n heating devices, numbered: 1, L, n; The power is O _i , where O _i >0: there are m positions that need to be heated, numbered: 1, L, m, the heat required by the jth heat source per unit time is Q _j to maintain or meet its needs The temperature t _j , where j=1, L, m and Q _j > 0, the heat that the heating device i can provide to the heat source j per unit time is P _ij ;

根据

的值从小到大重新排列对应决策变量x_i其中，

的值最小的x_i变为x₁，值最大的x_i变为x_n，决策方案用一个二进制数X＝(x₁x₂L x_n)₂表示，如X＝(00L 01)₂表示重新排列后的第n个加热装置打开，其余的关闭；Step1: Calculate for each heating device i

according to

The values of the corresponding decision variables x _i are rearranged from small to large, where,

The smallest value x _i becomes x ₁ , the largest value x _i becomes x _n , the decision-making scheme is represented by a binary number X=(x ₁ x ₂ L x _n ) ₂ , such as X=(00L 01) ₂ The rearranged nth heating device is turned on, and the rest are turned off;

当前采取的方案为X＝(x₁x₂L x_n)₂＝(00L 1)₂；根据Q_j的值从大到小对其约束条件进行排序，即Q_j值最大的设为第一个约束，次大的设为第二个约束，…，最小的设为最后一个约束；Step2: Set Y=∞,

The currently adopted solution is X=(x ₁ x ₂ L x _n ) ₂ =(00L 1) ₂ ; the constraints are sorted according to the value of Q _j from large to small, that is, the one with the largest Q _j value is set as the first A constraint, the second largest is set as the second constraint, ..., the smallest is set as the last constraint;

如目标函数值小于Y，则设置第一个约束为当前约束，否则转到Step6；Step3: Calculate the objective function value of the current plan

If the objective function value is less than Y, set the first constraint as the current constraint, otherwise go to Step6;

Step4: According to the current scheme X=(x ₁ x ₂ L x _n ) ₂ , judge whether the current constraints are satisfied, if satisfied, go to Step 5, otherwise go to Step 6;

为当前方案X，令Y为当前决策方案X的目标函数值，转到Step6；Step5: Determine whether there are constraints that have not been checked, if so, take the next constraint as the current constraint, and go to Step4; otherwise, update the optimal decision-making scheme

is the current plan X, let Y be the objective function value of the current decision-making plan X, and go to Step 6;

Step6: Determine whether X+1≤(11L 1) ₂ is satisfied, if satisfied, take the next solution, that is, set X=X+1 as the current solution, go to Step3; otherwise, go to Step7;

及对应的最优值Y，若Y＝∞，

则表明问题无可行解；Step7: The algorithm ends, and the optimal decision-making scheme is output

and the corresponding optimal value Y, if Y=∞,

It means that the problem has no feasible solution;

j＝1,L,m和x_i＝0or1作为约束条件，其中

为目标函数，即最小化总能耗、j＝1,L,m表示各个加热源对受热源提供的热源要大于等于其需要量；和x_i＝0or1表示决策变量的取值范围。Among them, x _i is a decision variable, 0 in 0 or 1 means that the ith heating device is turned off, and 1 means that the ith heating device is turned on;

j=1, L,m and x _i =0or1 as constraints, where

is the objective function, i.e. minimize the total energy consumption, j=1, L, m indicates that the heat source provided by each heating source to the heat receiving source should be greater than or equal to its demand; and x _i =0or1 indicates the value range of the decision variable.

Further, the time difference of arrival positioning algorithm, ie TDOA positioning algorithm, is used as the core algorithm of the entire positioning device. The TDOA positioning algorithm is established through a mathematical model to solve the problem. It mainly uses the characteristics of the hyperbola in mathematics. When there are two When a fixed point is used, another moving point will be on the hyperbola with the two fixed points as the focus. When there are two or more groups of such data structures at the same time, the intersection of these hyperbolas is the required target object. Location.

The beneficial effects of the present invention are:

1. The present invention can locate the personnel in the area and measure the ambient temperature around the person, and adjust the position and direction of the heating device, the heating temperature, the number of heating devices, etc. according to the location of the personnel in the area and the surrounding temperature. Nearby, it directly heats the area around the person, and the position and direction of the heating device follow the movement of the person to realize the function of automatic tracking and heating.

2. The present invention can locate the personnel in the area in real time, and the heating device can move with the position of the personnel to realize the function of tracking heating.

3. The present invention does not need to heat the entire environment, but only heats the area around the personnel, with fast heating speed, short heating time and low energy consumption.

4. In the present invention, when the number of people in the area is small, the heating device corresponding to the person works, and the other heating devices can be in a standby state; when there is no one in the area, the heating system stops working, which effectively solves the drawbacks of the existing heating system ,Reduce energy consumption.

5. The present invention uses UWB technology for positioning, and the target carries a label, which can achieve high-precision positioning indoors and improve the accuracy of the heating position.

6. The present invention uses an infrared temperature sensor to measure the ambient temperature around the measurement target, thereby realizing non-contact measurement.

7. The heating device of the present invention adopts infrared lamps or hot air vents, and the heating body as the core does not need to be moved, the overall mechanical structure is simple, the overall cost is reduced, the heating device can be rotated, and the direction of the heating device can be changed with the change of the target position. Realize the function of tracking heating, improve heating effect and reduce energy consumption.

8. The present invention adjusts the heating power according to the temperature around the target to improve the comfort of the surrounding environment of the target.

9. In the present invention, when the number of targets in the sub-area is small, the heating device corresponding to the target works, and the other heating devices can be in a standby state; when there is no target in the area, the heating system stops working, which effectively solves the problem of the existing heating system. disadvantages and reduce energy consumption.

Description of drawings

FIG. 1 is a schematic diagram of the basic structure of the automatic tracking heating system based on uwb positioning of the present invention.

FIG. 2 is a schematic structural diagram of the positioning device of the present invention.

3 is a schematic diagram of the workflow of an automatic tracking heating method based on uwb positioning according to the present invention.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings:

As shown in Figures 1 and 2, an automatic tracking heating system based on uwb positioning includes a positioning device, a temperature measurement device, a coordinated control system and a heating device, and the positioning device is used to locate the human body and transfer the positioning information Send it to the coordinated control system; the temperature measurement device measures the ambient temperature of the human body, and transmits the temperature information to the coordinated control system; the coordinated control system receives the person's position information and temperature information, and the coordinated control system controls according to the person's position information One or several heating devices that need to work move to the designated position; the temperature measuring device measures the ambient temperature around the person in real time, sends the temperature information to the coordinated control system, and the coordinated control system adjusts the working power of the heating device according to the current temperature;

The positioning device adopts ultra-wideband technology, namely UWB technology, for positioning, and the positioning device transmits data by sending and receiving extremely narrow pulses with nanoseconds or less; the positioning device includes tags, anchors and positioning servers, and the tags are mobile. For objects to be located whose coordinates are unknown, the anchor point is a node whose own position or absolute coordinates are known, including several slave anchor points and master anchor points. The slave anchor point communicates directly with the tag to complete the ranging process, and the master anchor point is responsible for collecting slave anchor points. Based on the ranging results of the anchor point, the invalid results are filtered out, and the preliminary data is sorted and sent to the positioning server for positioning calculation, and a time calibration packet is sent to the slave anchor point for synchronization. The positioning server calculates the positioning result through the ranging information sent by the main anchor;

The temperature measurement device adopts the non-contact measurement method of infrared radiation thermometry to measure the target ambient temperature, and the infrared temperature sensor is installed on an omnidirectional pan-tilt that can rotate both on the horizontal plane and on the vertical plane. , use the motor to control the rotation of the pan/tilt and install the encoder in the two directions that can rotate. The encoder on the horizontal plane can obtain the angle between the direction of the infrared sensor on the horizontal plane and the true north, and the encoder on the vertical plane can obtain The angle between the direction of the infrared sensor and the vertical line. When the direction of the infrared sensor needs to be adjusted to face a certain position, the angle between the direction of the infrared sensor and the vertical line and the direction on the horizontal plane need to be adjusted. The included angle with true north, that is, control the motor to make the output of the two encoders on the horizontal plane and the vertical plane reach a certain value;

The heating device is an infrared lamp or a hot tuyere. When the heating device is stationary, n heating devices are arranged at a certain height as required, and the heating device that needs to work executes the heating strategy.

The whole area is divided into several sub-areas, and multiple heating devices are responsible for heating a sub-area. When there are more people in the sub-area than the heating device, the system control system calculates the location of the heating device according to the principle that the amount of heat per capita is equal and the total energy is the largest; When the number of people in the sub-area is less than or equal to the heating device, each person is equipped with one or more heating devices, and the heating device moves with the position of the person.

An automatic tracking heating method based on uwb positioning, comprising the following steps: a positioning device locates a target in real time, and sends position information to a coordinated control system; the coordinated control system controls one or several heating devices that need to work according to the position information of the target Move to the designated position; the temperature measurement device measures the ambient temperature around the target in real time, and sends the temperature information to the coordinated control system; the coordinated control system adjusts the working power of the heating device according to the current temperature;

The positioning device adopts ultra-wideband technology, namely UWB technology, for positioning, and the positioning device transmits data by sending and receiving extremely narrow pulses with nanoseconds or less; the positioning device includes tags, anchors and positioning servers, and the tags are mobile. For the target to be located with unknown coordinates, the anchor point is a node whose own position or absolute coordinates are known, including several slave anchor points and master anchor points. The slave anchor point communicates directly with the tag to complete the ranging process, and the master anchor point is responsible for collecting From the ranging results of the anchor point, the invalid results are filtered out, and the preliminary data is sorted and sent to the positioning server for positioning calculation, and the time calibration package is sent to the slave anchor point for synchronization. The positioning server calculates the positioning result through the ranging information sent by the main anchor;

The temperature measurement device adopts the non-contact measurement method of infrared radiation thermometry to measure the target ambient temperature, and the infrared temperature sensor is installed on an omnidirectional pan-tilt that can rotate both on the horizontal plane and on the vertical plane. , use the motor to control the rotation of the pan/tilt and install the encoder in the two directions that can rotate. The encoder on the horizontal plane can obtain the angle between the direction of the infrared sensor on the horizontal plane and the true north, and the encoder on the vertical plane can obtain The angle between the direction of the infrared sensor and the vertical line. When the direction of the infrared sensor needs to be adjusted to face a certain position, the angle between the direction of the infrared sensor and the vertical line and the direction on the horizontal plane need to be adjusted. The included angle with true north, that is, control the motor to make the output of the two encoders on the horizontal plane and the vertical plane reach a certain value;

The heating device is an infrared lamp or a hot air outlet. When the heating device is stationary, n heating devices are arranged at a certain height according to needs, and the heating device that needs to work executes the heating strategy;

When the heating device is an infrared lamp, the irradiance value q of the infrared lamp received at a certain point is related to the distance r from the point to the axis of the infrared lamp and the heating current I, and the irradiance value of the infrared lamp received at a certain point:

q=f(r,I);

When the heating device is a hot air outlet, the heating power P per unit area received at a certain point is related to the distance l from the point to the hot air outlet, the air outlet speed v and the outlet air temperature t. Heating power per unit area received at a point:

p=f(l,v,t);

The role of the coordinated control system is to receive the position information and temperature information, and formulate a control strategy to control the corresponding heating device to supply heat to the target; when one or more targets are in the heating area, it is necessary to make the irradiance value or unit area of each target. The heating power reaches a certain value; when there are m targets in the area, in order to meet the heating requirements, the coordinated control system formulates a control strategy, and transmits the control strategy to the heating device that needs to work; the control strategy includes which heating devices to control How much power is used by the working and heating device to heat;

The specific control strategy is as follows:

When there are multiple heating devices, the decision-making method of the heating quantity of the specific heating device and the heating quantity of each heating device is as follows: Suppose there are n heating devices, numbered: 1, L, n; The power is O _i , where O _i >0: there are m positions that need to be heated, numbered: 1, L, m, the heat required by the jth heat source per unit time is Q _j to maintain or meet its needs The temperature t _j , where j=1, L, m and Q _j > 0, the heat that the heating device i can provide to the heat source j per unit time is P _ij ;

根据

的值从小到大重新排列对应决策变量x_i其中，

的值最小的x_i变为x₁，值最大的x_i变为x_n，决策方案用一个二进制数X＝(x₁x₂L x_n)₂表示，如X＝(00L 01)₂表示重新排列后的第n个加热装置打开，其余的关闭；Step1: Calculate for each heating device i

according to

The values of the corresponding decision variables x _i are rearranged from small to large, where,

The smallest value x _i becomes x ₁ , the largest value x _i becomes x _n , the decision-making scheme is represented by a binary number X=(x ₁ x ₂ L x _n ) ₂ , such as X=(00L 01) ₂ The rearranged nth heating device is turned on, and the rest are turned off;

当前采取的方案为X＝(x₁x₂L x_n)₂＝(00L 1)₂；根据Q_j的值从大到小对其约束条件进行排序，即Q_j值最大的设为第一个约束，次大的设为第二个约束，…，最小的设为最后一个约束；Step2: Set Y=∞,

The currently adopted solution is X=(x ₁ x ₂ L x _n ) ₂ =(00L 1) ₂ ; the constraints are sorted according to the value of Q _j from large to small, that is, the largest value of Q _j is set as the first A constraint, the second largest is set as the second constraint, ..., the smallest is set as the last constraint;

如目标函数值小于Y，则设置第一个约束为当前约束，否则转到Step6；Step3: Calculate the objective function value of the current plan

If the objective function value is less than Y, set the first constraint as the current constraint, otherwise go to Step6;

Step4: According to the current scheme X=(x ₁ x ₂ L x _n ) ₂ , judge whether the current constraints are satisfied, if satisfied, go to Step 5, otherwise go to Step 6;

为当前方案X，令Y为当前决策方案X的目标函数值，转到Step6；Step5: Determine whether there are constraints that have not been checked, if so, take the next constraint as the current constraint, and go to Step4; otherwise, update the optimal decision-making scheme

is the current plan X, let Y be the objective function value of the current decision-making plan X, and go to Step 6;

Step6: Determine whether X+1≤(11L 1) ₂ is satisfied, if satisfied, take the next solution, that is, set X=X+1 as the current solution, and go to Step3; otherwise, go to Step7;

及对应的最优值Y，若Y＝∞，

则表明问题无可行解；Step7: The algorithm ends, and the optimal decision-making scheme is output

and the corresponding optimal value Y, if Y=∞,

It means that the problem has no feasible solution;

j＝1,L,m和x_i＝0or1作为约束条件，其中

为目标函数，即最小化总能耗、j＝1,L,m表示各个加热源对受热源提供的热源要大于等于其需要量；和x_i＝0or1表示决策变量的取值范围。Among them, x _i is a decision variable, 0 in 0 or 1 means that the ith heating device is turned off, and 1 means that the ith heating device is turned on;

j=1, L,m and x _i =0or1 as constraints, where

is the objective function, i.e. minimize the total energy consumption, j=1, L, m indicates that the heat source provided by each heating source to the heat receiving source should be greater than or equal to its demand; and x _i =0or1 indicates the value range of the decision variable.

The time difference of arrival positioning algorithm, ie TDOA positioning algorithm, is used as the core algorithm of the entire positioning device. The TDOA positioning algorithm is established and solved through a mathematical model. It mainly uses the characteristics of hyperbola in mathematics. When there are two fixed points , the other moving point will be on the hyperbola with the two fixed points as the focus. When there are two or more sets of such data structures at the same time, the intersection of these hyperbolas is the position of the required target object.

The above-described embodiments are only preferred embodiments of the present invention, and are not intended to limit the technical solutions of the present invention. As long as the technical solutions that can be realized on the basis of the above-described embodiments without creative work, all should be regarded as falling into the patent of the present invention. within the scope of protection of rights.

Claims (2)

1. an automatic tracking heating method based on uwb positioning, is characterized in that: comprise the steps: positioning device locates the target in real time, and position information is sent to the coordinated control system; One or several heating devices move to a designated position; the temperature measuring device measures the ambient temperature around the target in real time, and sends the temperature information to the coordinated control system; the coordinated control system adjusts the working power of the heating device according to the current temperature; The positioning device adopts ultra-wideband technology, namely UWB technology, for positioning, and the positioning device transmits data by sending and receiving extremely narrow pulses with nanoseconds or less; the positioning device includes tags, anchors and positioning servers, and the tags are mobile. For the target to be located with unknown coordinates, the anchor point is a node whose own position or absolute coordinates are known, including several slave anchor points and master anchor points. The slave anchor point communicates directly with the tag to complete the ranging process, and the master anchor point is responsible for collecting From the ranging results of the anchor point, the invalid results are filtered out, and the preliminary data is sent to the positioning server for positioning calculation, and the time calibration package is sent to the slave anchor point for synchronization; Calculate the positioning result from the distance information; The temperature measurement device adopts the non-contact measurement method of infrared radiation thermometry to measure the target ambient temperature, and the infrared temperature sensor is installed on an omnidirectional pan-tilt that can rotate both on the horizontal plane and on the vertical plane. , use the motor to control the rotation of the pan/tilt and install the encoder in the two directions that can rotate. The encoder on the horizontal plane can obtain the angle between the direction of the infrared sensor on the horizontal plane and the true north, and the encoder on the vertical plane can obtain The angle between the direction of the infrared sensor and the vertical line. When the direction of the infrared sensor needs to be adjusted to face a certain position, the angle between the direction of the infrared sensor and the vertical line and the direction on the horizontal plane need to be adjusted. The included angle with true north, that is, control the motor to make the output of the two encoders on the horizontal plane and the vertical plane reach a certain value; The heating device is an infrared lamp or a hot air outlet. When the heating device is stationary, n heating devices are arranged at a certain height according to needs, and the heating device that needs to work executes the heating strategy; When the heating device is an infrared lamp, the irradiance value q of the infrared lamp received at a certain point is related to the distance r from the point to the axis of the infrared lamp and the heating current I, and the irradiance value of the infrared lamp received at a certain point: q=f(r,I); When the heating device is a hot air outlet, the heating power P (W/m ² ) per unit area received at a certain point is related to the distance l from the point to the hot air outlet, the outlet air velocity v and the outlet air temperature, and the unit received at a certain point is related to Area heating power: p=f(l,v,t); The role of the coordinated control system is to receive the position information and temperature information, and formulate a control strategy to control the corresponding heating device to supply heat to the target; when one or more targets are in the heating area, it is necessary to make the irradiance value or unit area of each target. The heating power reaches a certain value; when there are m targets in the area, in order to meet the heating requirements, the coordinated control system formulates a control strategy, and transmits the control strategy to the heating device that needs to work; the control strategy includes which heating devices to control How much power is used by the working and heating device to heat; The specific control strategy is as follows: When there are multiple heating devices, the decision-making method for the heating quantity of the specific heating device and the heating quantity of each heating device is as follows: Suppose there are n heating devices, numbered: 1,...,n; The power is O _i , where O _i > 0: there are m positions that need to be heated, numbered: 1,...,m, the heat that the jth heat source needs to provide per unit time is Q _j to maintain or meet its needs The temperature t _j , where j=1,...,m and Q _j > 0, the heat that the heating device i can provide to the heat source j per unit time is P _ij ; Step1: Calculate for each heating device i

according to

The values of the corresponding decision variables x _i are rearranged from small to large, where,

The smallest value x _i becomes x ₁ , the largest value x _i becomes x _n , the decision-making scheme is represented by a binary number X=(x ₁ x ₂ … x _n ) ₂ , such as X=(0 0 … 0 1 ) ₂ means that the nth heating device after rearrangement is turned on, and the rest are turned off; Step2: Set Y=∞,

The currently adopted solution is X=(x ₁ x ₂ … x _n ) ₂ =(0 0 … 1) ₂ ; the constraints are sorted according to the value of Q _j from large to small, that is, the largest value of Q _j is set as The first constraint, the second largest is set as the second constraint, ..., the smallest is set as the last constraint; Step3: Calculate the objective function value of the current plan

If the objective function value is less than Y, set the first constraint as the current constraint, otherwise go to Step6; Step4: According to the current scheme X=(x ₁ x ₂ ... x _n ) ₂ , judge whether the current constraints are satisfied, if satisfied, go to Step5, otherwise go to Step6; Step5: Determine whether there are constraints that have not been checked, if so, take the next constraint as the current constraint, and go to Step4; otherwise, update the optimal decision-making scheme

is the current plan X, let Y be the objective function value of the current decision-making plan X, and go to Step 6; Step6: Determine whether X+1≤(1 1 … 1) ₂ is satisfied, if satisfied, take the next solution, that is, set X=X+1 as the current solution, and go to Step3; otherwise, go to Step7; Step7: The algorithm ends, and the optimal decision-making scheme is output

and the corresponding optimal value Y, if Y=∞,

It means that the problem has no feasible solution; Among them, x _i is a decision variable, 0 in 0 or 1 means that the ith heating device is turned off, and 1 means that the ith heating device is turned on;

j=1,...,m and x _i =0 or 1 as constraints, where

is the objective function, that is to minimize the total energy consumption, j=1,...,m indicates that the heat source provided by each heating source to the heat receiving source is greater than or equal to its demand; and x _i =0 or 1 indicates the value range of the decision variable. 2. the automatic tracking heating method based on uwb positioning according to claim 1, is characterized in that: use time difference of arrival positioning algorithm namely TDOA positioning algorithm as the core algorithm of whole positioning device, TDOA positioning algorithm is to build up through a kind of mathematical model To solve, it mainly uses the characteristics of hyperbola in mathematics. When there are two fixed points, another moving point will be on the hyperbola with these two fixed points as the focus. When grouping such a data structure, the intersection of these hyperbolas is the position of the required target object.

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