CN111896915A - Soft body row overlapping positioning monitoring detection system and use method thereof - Google Patents
Soft body row overlapping positioning monitoring detection system and use method thereof Download PDFInfo
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- CN111896915A CN111896915A CN202010322780.7A CN202010322780A CN111896915A CN 111896915 A CN111896915 A CN 111896915A CN 202010322780 A CN202010322780 A CN 202010322780A CN 111896915 A CN111896915 A CN 111896915A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
Abstract
The invention provides a soft row lap joint positioning monitoring detection system and a use method thereof, and the soft row lap joint positioning monitoring detection system consists of a soft row, a spread boat, a positioning label, a beacon point, a centralized controller and a soft row construction monitoring detection system, wherein the positioning label is fixed on the soft row, the beacon point is positioned at the slope position of the end part of the spread boat close to the sinking operation, and the beacon point and the positioning label are both electrically connected with the centralized controller; the centralized controller reads the serial number address of the positioning label from the software row, converts the serial number address into a data packet which can be identified by the positioning label, sends the data packet to a beacon point on the software row, and forwards the data packet to the positioning label so as to position and control the positioning label. The method can not only reduce the influence of external factors, but also quantitatively monitor and feed back the laying effect of the software row in real time and correct the poor laying position in time.
Description
Technical Field
The invention relates to a positioning monitoring detection system and a use method thereof, in particular to a software row lapping positioning monitoring detection system and a use method thereof.
Background
The engineering safety monitoring and detection is closely related to engineering construction, has strong engineering characteristics, is crossed with a plurality of disciplines and professions, and has strong comprehensiveness. Safety monitoring has the professional characteristics of the safety monitoring, and the safety monitoring develops by depending on multiple specialties and multiple subjects such as instruments and meters, computer technology, numerical analysis, automatic control, communication, engineering design, construction and the like. The safety monitoring and detection are cross disciplines and multi-professional crossed marginal disciplines, and have great development and application prospects.
Engineering detection and safety monitoring based on a wireless technology and a method are realized, a digitalized mode is realized in the whole process from intelligent sensing detection, transmission to receiving and processing, and an engine positioning technology is used for obtaining high-precision resolution, so that the method is suitable for real-time data acquisition and real-time safety transmission in a severe environment, and can timely capture the lapping effect of a software row. Although many researchers have conducted intensive research and study on engineering inspection and safety monitoring of wireless technology and methods, there are still less research on applications in the treatment of roadways, particularly in soft-row lap joints.
Disclosure of Invention
The purpose of the invention is as follows: the first purpose of the invention is to provide a software row lapping, positioning, monitoring and detecting system;
the second objective of the present invention is to provide a method for using the software lap joint positioning monitoring and detecting system.
The technical scheme is as follows: the invention provides a soft row lapping, positioning, monitoring and detecting system which consists of a soft row, a laying ship, a positioning label, a beacon point, a centralized controller and a soft row construction monitoring and detecting system, wherein the positioning label is fixed on the soft row, the beacon point is positioned at the slope position of the end part of the laying ship close to the sinking operation, and the beacon point and the positioning label are both electrically connected with the centralized controller; the centralized controller reads the serial number address of the positioning label from the software row, converts the serial number address into a data packet which can be identified by the positioning label, sends the data packet to a beacon point on the software row, and forwards the data packet to the positioning label so as to position and control the positioning label.
Preferably, the monitoring and detecting system further comprises an underwater camera which is connected with the centralized controller through a data line, and the centralized controller sends an instruction to control the centralized controller to automatically track the position of the positioning tag of the specified software row so as to observe the software row arrangement condition.
Preferably, the positioning tag is fixed on an interlocking block or a connecting rope of the soft body row. After the software row is pressed with the interlocking block, because the software row bound with the interlocking block can be regarded as a regular cuboid, and the distances from the positioning labels at the two ends to the vertex are fixed and can be measured, the positions of the positioning labels at the two ends can be regarded as the positions of the two vertex angles of the software row, and the offset between the positioning labels and the vertex angles is added during calculation.
Furthermore, the positioning tag is an electronic positioning tag, the electronic positioning tag is a hardware module powered by a battery, can work underwater, and is fixedly installed on an interlocking block or a connecting rope of the soft body row through magnet adsorption or a binding belt as the positioning tag. The positioning label can be permanently left on the soft mattress for reuse in later-stage monitoring and maintenance; or can be recovered through a fixed traction rope in advance after the soft body row is arranged in place for the soft body row arrangement and recycling.
Furthermore, the number of the beacon points is 3-4; any three of the beacon points are not on a straight line.
Furthermore, the number of positioning labels is more than 6, the positioning labels are arranged on two shorter sides of the soft mattress, and each side of the positioning labels is respectively provided with more than 3 positioning labels.
The invention also provides a use method of the software row lapping, positioning, monitoring and detecting system, which comprises the following steps:
(1) 3-4 fixed points are arranged at the end part of the laying ship close to the position of the sinking operation slope and serve as beacon points, and more than 3 positioning labels are respectively fixed on two shorter side edges of the soft raft;
(2) measuring the distance between any pair of beacon points and the positioning label in the step (1) in the three-dimensional direction in the positioning coordinate system, and forwarding the obtained distance parameters to the centralized controller;
(3) after collecting the parameters of the positioning coordinates of the two beacon points in the step (2), the centralized controller obtains the real-time coordinates of the two fixed points, and stores the coordinates of the beacon points of the real-time positioning coordinate system as initial parameters into a software row construction monitoring and detecting system;
(4) the coordinates of each location tag are calculated as follows:
wherein (X)dYdZd) Coordinates of the beacon points for real-time positioning; (X)kYkZk) Coordinates for locating the tag; (Δ X Δ Y Δ Z) is the distance between a pair of beacon points and the positioning tag in the three-dimensional direction in the positioning coordinate system; s is the scale of the coordinate system of the beacon point and the coordinate system of the positioning label;
m is the rotation relationship of the two coordinate systems on three axes,
m can be written as: m is MX(α)·MY(β)·MZAnd (gamma), alpha, beta and gamma are rotation amounts of two coordinate systems.
Wherein any three of the 3-4 fixed points in the step (1) are not on the same straight line.
Furthermore, the step also comprises the step of connecting the underwater camera and the centralized controller through a data line, and the centralized controller sends an instruction to control the underwater camera to automatically track the position of the positioning label of the specified software row so as to observe the software row arrangement situation.
Furthermore, the centralized controller is connected with beacon points on four different spatial positions of the software row, and the beacon points can be communicated with the positioning labels on the software row in real time. The centralized controller reads the label point number address from the label address manager on the software row, converts the label point number address into a data packet which can be identified by the positioning label, and sends the data packet to the beacon point, and the beacon point forwards the data packet to the label, so that the function of controlling the label is realized. In addition, the following functions are provided: 1) and receiving wireless physical data sent by the label on the software row, analyzing the wireless physical data and storing the wireless physical data in a storage system. 2) Calculating the position of the positioning label: and analyzing the position information of the soft body arrangement label according to the stored wireless signal data of the positioning label to obtain the relative coordinate data. 3) And converting the collected relative coordinate data into absolute coordinate points and storing the absolute coordinate points in the system. 4) And displaying a closed three-dimensional space graph in a three-dimensional coordinate system according to the position information of the plurality of point labels to simulate the space position of the software row.
Preferably, the software row working monitoring and detecting system in the step (3) is a software row working monitoring software platform based on a WEB Server B/S framework, and the monitoring and detecting system integrates monitoring, query, and software row working information display into a whole, displays a three-dimensional space simulation image of a software row, can also display the current position and moving history track in a map, and can also judge whether a software row label is disappeared and whether corresponding warning is triggered, and when electronic labels are arranged on two adjacent software rows, the lap joint length can be calculated and quantitatively displayed.
Preferably, the obtaining of the position information in step (2) or (3) measures a time difference of wireless signal propagation between the positioning tag and different positioning base stations by using an ultra-wideband technology, so as to obtain a distance difference between the positioning electronic tag and the positioning base stations.
Further, the calculating step in step (4) further includes determining a rotation relationship between the two coordinate systems, and the calculation formula is as follows:
has the advantages that: engineering detection and safety monitoring based on a wireless technology and a method are realized, a digitalized mode is realized in the whole process from intelligent sensing detection, transmission to receiving and processing, and an engine positioning technology is used for obtaining high-precision resolution, so that the method is suitable for real-time data acquisition and real-time safety transmission in a severe environment, and can timely capture the lapping effect of a software row.
Drawings
FIG. 1 is a schematic diagram of the arrangement of the beacon points in the soft mattress lapping positioning detection method;
FIG. 2 is a diagram of a positioning tag installation structure in a soft body row lapping positioning detection method;
FIG. 3 is a schematic diagram of software row positioning and displaying under a three-dimensional coordinate system in the software row overlapping positioning and detecting method.
Detailed Description
Example 1
(1) 4 fixed points are arranged at the end part of the laying ship close to the position of the sinking operation slope and serve as beacon points, and more than 3 positioning labels are respectively fixed on two shorter side edges of the soft raft;
(2) measuring the distance between any pair of beacon points and the positioning label in the step (1) in the three-dimensional direction in the positioning coordinate system, and forwarding the obtained distance parameters to the centralized controller;
(3) after collecting the parameters of the positioning coordinates of the two beacon points in the step (2), the centralized controller obtains the real-time coordinates of the two fixed points, and stores the coordinates of the beacon points of the real-time positioning coordinate system as initial parameters into a software row construction monitoring and detecting system;
(4) the coordinates of each location tag are calculated as follows:
wherein (X)dYdZd) Coordinates of the beacon points for real-time positioning; (X)kYkZk) Coordinates for locating the tag; (Δ X Δ Y Δ Z) is the distance between a pair of beacon points and the positioning tag in the three-dimensional direction in the positioning coordinate system; s is the scale of the coordinate system of the beacon point and the coordinate system of the positioning label;
m is the rotation relation of two coordinate systems on three axes;
m can be written as: m is MX(α)·MY(β)·MZAnd (gamma), alpha, beta and gamma are rotation amounts of two coordinate systems. The positioning data acquisition and display technology based on the three-dimensional space coordinate system comprises the steps that in the process of software sinking operation, positioning labels move along with soft arrangement and are in real-time wireless communication with beacon points, parameters are forwarded to a centralized controller through the beacon points, and the centralized controller calculates the position information of the positioning labels in real time and stores the position information to a system platform. In order to conveniently display the software arrangement effect and the lap joint condition in the monitoring and detecting system, a three-dimensional rectangular coordinate system taking a berthing ship as a reference system needs to be established, the position information of a positioning label is converted into the coordinate system, a closed plane geometric figure is formed, and the current state of the software berth can be dynamically displayed. The schematic diagram of positioning display in three-dimensional space is shown in fig. 3.
Table 1 shows the simulation test results of the present patent method for a certain engineering software row, and 10 groups of data are extracted after positioning according to the above method. Because the Z value of the detection point is very small in change and is not the main direction of positioning, the X and Y values are subjected to positioning simulation, and the result is very close to the sonar detection result, which shows that the method has very high engineering practical value.
TABLE 1
Claims (10)
1. The utility model provides a software row overlap joint location monitoring detecting system which characterized in that: the system comprises a soft row lap joint positioning monitoring detection system, a positioning label, a beacon point, a centralized controller and a soft row construction monitoring detection system, wherein the positioning label is fixed on the soft row, the beacon point is positioned at the slope position of the end part of the laying ship close to the sinking operation, and the beacon point and the positioning label are both electrically connected with the centralized controller; the centralized controller reads the serial number address of the positioning label from the software row, converts the serial number address into a data packet which can be identified by the positioning label, sends the data packet to a beacon point on the software row, and forwards the data packet to the positioning label so as to position and control the positioning label.
2. The system of claim 1, wherein: the monitoring and detecting system also comprises an underwater camera which is connected with the centralized controller through a data line, and the centralized controller sends an instruction to control the centralized controller to automatically track the position of the positioning label of the specified software row so as to observe the software row arrangement and release condition.
3. The system of claim 1, wherein: the number of the beacon points is 3-4; any three of the beacon points are not on a straight line.
4. The system of claim 1, wherein: the number of location label is more than 6, two shorter sides on the software row are installed to the location label, and each side is installed the location label more than 3.
5. The method of claim 1, further comprising the steps of:
(1) 3-4 fixed points are arranged at the end part of the laying ship close to the position of the sinking operation slope and serve as beacon points, and more than 3 positioning labels are respectively fixed on two shorter side edges of the soft raft;
(2) measuring the distance between any pair of beacon points and the positioning label in the step (1) in the three-dimensional direction in the positioning coordinate system, and forwarding the obtained distance parameters to the centralized controller;
(3) after collecting the parameters of the positioning coordinates of the two beacon points in the step (2), the centralized controller obtains the real-time coordinates of the two fixed points, and stores the coordinates of the beacon points of the real-time positioning coordinate system as initial parameters into a software row construction monitoring and detecting system;
(4) the coordinates of each location tag are calculated as follows:
wherein (X)dYdZd) Coordinates of the beacon points for real-time positioning; (X)kYkZk) Coordinates for locating the tag; (Δ X Δ Y Δ Z) is the distance between a pair of beacon points and the positioning tag in the three-dimensional direction in the positioning coordinate system; s is the scale of the coordinate system of the beacon point and the coordinate system of the positioning label;
m is the rotation relationship of the two coordinate systems on three axes,
m can be written as: m is MX(α)·MY(β)·MZAnd (gamma), alpha, beta and gamma are rotation amounts of two coordinate systems.
6. The method of claim 5, wherein the step of positioning, monitoring and detecting the soft body row comprises: in the step (1), any three of the 3-4 fixed points are not on the same straight line.
7. The method of claim 5, wherein the step of positioning, monitoring and detecting the soft body row comprises: the step also comprises connecting the underwater camera and the centralized controller through a data line, and sending an instruction by the centralized controller to control the underwater camera to automatically track the position of the positioning label of the specified software row so as to observe the software row arrangement condition.
8. The method of claim 5, wherein the step of positioning, monitoring and detecting the soft body row comprises: the software bank worker monitoring and detecting system in the step (3) is a software bank worker monitoring and detecting software platform based on a WEB Server B/S framework, integrates monitoring, inquiring and software emptying information displaying into a whole, displays a three-dimensional space simulation image of a software bank, can also display the current position and the moving historical track in a map, and can also judge whether a software bank label disappears and trigger corresponding warning and other information, and when electronic labels are distributed on two adjacent software banks, the lap joint length can be calculated and quantitatively displayed.
9. The method of claim 5, wherein the step of positioning, monitoring and detecting the soft body row comprises: and (3) obtaining the position information in the step (2) or (3), and measuring the time difference of the wireless signal propagation between the positioning tag and different positioning base stations by adopting an ultra-wideband technology, so as to obtain the distance difference of the positioning electronic tag relative to the positioning base stations.
10. The method of claim 5, wherein the step of positioning, monitoring and detecting the soft body row comprises: the calculating step in the step (4) further includes determining a rotation relationship between the two coordinate systems, and the calculation formula is shown as the following formula:
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