CN109458988B - Holding pole inclination angle measuring method based on UWB wireless distance measuring technology - Google Patents
Holding pole inclination angle measuring method based on UWB wireless distance measuring technology Download PDFInfo
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- CN109458988B CN109458988B CN201811604476.0A CN201811604476A CN109458988B CN 109458988 B CN109458988 B CN 109458988B CN 201811604476 A CN201811604476 A CN 201811604476A CN 109458988 B CN109458988 B CN 109458988B
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Abstract
A derrick mast inclination angle measuring method based on a UWB wireless distance measuring technology comprises the steps of establishing a three-dimensional space coordinate system in a construction space of a tower assembly by utilizing the UWB technology during derrick mast construction, obtaining distance data measured by each fulcrum and derrick mast end points, establishing an optimized data equation set according to distance measuring errors of the UWB distance measuring technology, solving the optimized data equation set by utilizing a second-order cone planning algorithm to obtain derrick mast end point coordinates, and finally obtaining a derrick mast inclination angle alpha according to three-dimensional space coordinates of end points at two ends of a derrick mast. The method for calculating the inclination angle of the holding pole by using the three-dimensional space directly solves the actual load condition of the inclination angle of the holding pole according to the coordinates of the two end points of the holding pole, and compared with the conventional method for measuring the inclination angle of the holding pole by using an inclination angle measuring instrument, the method can eliminate the interference of the bending of the inclination angle of the holding pole, so that the calculation result of the inclination angle is more accurate.
Description
Technical Field
The invention relates to the technical field of high-voltage line iron tower electric power construction, in particular to a holding pole inclination angle measuring method based on a UWB wireless distance measuring technology.
Background
The demand of assembling high-voltage line iron towers by using holding poles in large quantity exists in power construction. During the construction process of tower assembly, the holding pole is suspended inside the tower body, and when the main tower body material is lifted, the holding pole is properly inclined to prevent the lifted tower material from touching the assembled tower body, so that the lifting is unstable and the tower material is damaged. When the holding pole is inclined, the tension state of the upper pull wire and the bearing rope can be changed, the stress is uneven, and the potential safety hazard of construction is caused. Therefore, the inclination angle of the holding pole system is measured and monitored, and the stress and displacement of the corresponding outer pull wire, bearing wire and holding pole under different holding pole inclination angles are reflected, so that the construction safety is guaranteed.
The typical holding pole inclination angle monitoring method adopts an inclination angle measuring instrument, wherein the inclination angle measuring instrument generally detects the change of an inclination angle through an inclination angle sensor arranged on a holding pole, but in the tower assembling process, the holding pole is slightly bent, so that the inclination angle measuring instrument cannot correctly measure the inclination angle of the holding pole, and a constructor makes wrong judgment on the state of the holding pole, thereby causing an accident.
Disclosure of Invention
In order to solve the technical problem, the invention provides a holding pole inclination angle measuring method based on a UWB wireless distance measuring technology. Compared with the traditional mode of measuring the inclination angle of the holding pole by adopting the inclination angle measuring instrument, the interference of bending the inclination angle of the holding pole can be eliminated, and the calculation result of the inclination angle is more accurate.
The technical scheme adopted by the invention is as follows:
a derrick mast inclination angle measuring method based on a UWB wireless distance measuring technology comprises the steps of establishing a three-dimensional space coordinate system in a construction space of a tower assembly by utilizing the UWB technology during derrick mast construction, obtaining distance data measured by each fulcrum and derrick mast end points, establishing an optimized data equation set according to distance measuring errors of the UWB distance measuring technology, solving the optimized data equation set by utilizing a second-order cone planning algorithm to obtain derrick mast end point coordinates, and finally obtaining a derrick mast inclination angle alpha according to three-dimensional space coordinates of end points at two ends of a derrick mast.
A holding pole inclination angle measuring method based on a UWB wireless distance measuring technology comprises the following steps:
step 1: establishing a simple space coordinate system, arranging UWB wireless ranging nodes at 4 positions of B1, B2, B3 and B4 according to the working condition of a construction site, and determining three-dimensional space coordinates of points B1, B2, B3 and B4 after the UWB wireless ranging nodes are arranged; a1 and A2 are two ends of a holding pole, UWB wireless ranging nodes are respectively arranged at A1 and A2, coordinates of A1 and A2 of the two ends of the holding pole are unknown when the holding pole works, and the coordinates are set as A1(x1,y1,z1)，A2(x2,y2,z2)；
Step 2: according to the distance of the coordinate point in the coordinate system and the measured distance measured by the UWB wireless ranging node, the measured distance and the actual distance are obtainedSetting up equation (1) under the condition that the absolute value of the distance error is less than or equal to the UWB wireless ranging device error, and determining to solve A1(x1,y1,z1) Constraint equation of point coordinates:
in equation (1):
is a obtained from coordinates of a coordinate system1B1、A1B2、A1B3、A1B4Actual distance of l1、l2、l3、l4And detecting the obtained measuring distance for the UWB ranging node. M is the measurement error of the measuring device within 100M;
and step 3: determining solution A by taking the minimum error between the actual distance and the measured distance as a target1(x1,y1,z1) The objective function is shown in equation (2):
in the formula: delta l is the absolute error of the actual distance and the measured distance;
and 4, step 4: solving out the end A of the holding pole according to a nonlinear programming method by taking the equation (1) as a constraint condition and the equation (2) as an objective function1(x1,y1,z1) Coordinates of the points;
and 5: according to the point A in step 2, step 3 and step 41(x1,y1,z1) Solving method of coordinates to obtain the other end point A of the holding pole2(x2,y2,z2) Three-dimensional space coordinates of (a);
step 6: according to the three-dimensional space angle formula (3), combining the end points A at the two ends of the holding pole obtained in the step 4 and the step 51(x1,y1,z1)，A2(x2,y2,z2) And solving the inclination angle alpha of the holding pole.
In the formula: l5Is the projection distance of two end points of the holding pole on the x and y planes, | | A1A2I is A1And A2The distance between the two endpoints;
and 7: and 6, according to the calculation result of the step 6, namely the precise inclination angle alpha of the holding pole when the holding pole is used for tower assembling.
The invention discloses a pole holding inclination angle measuring method based on a UWB wireless distance measuring technology, which has the following technical effects:
1) the method for calculating the inclination angle of the holding pole by using the three-dimensional space directly solves the inclination angle of the holding pole according to the coordinates of the two end points of the holding pole, and is more suitable for the actual working condition.
2) And through the UWB wireless ranging technology, real-time inclination angle measurement data transmission is realized.
3) UWB distance measurement node compares in traditional inclination measuring instrument low price, the inclination monitoring cost in the tower construction process of group that can significantly reduce.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
fig. 1 is a schematic diagram of a principle of a pole holding inclination angle measurement method based on the UWB technology.
Fig. 2 is a schematic view of a pole inclination angle measurement process.
Detailed Description
According to the pole holding inclination angle measuring method based on the UWB wireless distance measuring technology, during pole holding construction, a three-dimensional space coordinate system is established in a construction space of a tower assembly by utilizing the UWB technology, distance data measured by each fulcrum and a pole holding end point is obtained, an optimized data equation set is established according to the distance measuring error of the UWB distance measuring technology, a second-order cone planning algorithm is utilized to solve the optimized data equation set to calculate the pole holding end point coordinates, and finally, a pole holding inclination angle alpha is calculated according to the three-dimensional space coordinates of the end points of the two ends of the pole holding, so that a more accurate reference basis is provided for the tower assembly construction of a power transmission line.
A holding pole inclination angle measuring method based on a UWB wireless distance measuring technology comprises the following steps:
step 1: establishing a simple space coordinate system, and arranging UWB wireless ranging nodes according to the working condition of a construction site, wherein the UWB wireless ranging nodes are arranged as shown in figure 1: the 4 positions of B1, B2, B3 and B4 and the arrangement positions of B1, B2, B3 and B4 are determined according to the working conditions of a working site so as to facilitate measurement priority as an arrangement condition, and after UWB wireless ranging nodes are arranged, the three-dimensional space coordinates of each point of B1, B2, B3 and B4 are determined. As shown in fig. 1: a1 and A2 are two ends of a holding pole, UWB wireless ranging nodes are respectively arranged at A1 and A2, coordinates of A1 and A2 of the two ends of the holding pole are unknown when the holding pole works, and the coordinates are set as A1(x1,y1,z1)，A2(x2,y2,z2)。
Step 2: according to the distance of the coordinate point in the coordinate system and the measured distance measured by the UWB wireless ranging node, under the condition that the absolute value of the error between the measured distance and the actual distance is less than or equal to the error of the UWB wireless ranging device, an equation (1) can be listed, and the solution A is determined1(x1,y1,z1) Constraint equations for point coordinates.
In equation (1):
is a obtained from coordinates of a coordinate system1B1、A1B2、A1B3、A1B4Actual distance of l1、l2、l3、l4And detecting the obtained measuring distance for the UWB ranging node. M is the measurement error of the measuring device within 100M.
And step 3: by actual distance and measured distance errorsThe minimum difference is taken as a target, and solution A is determined1(x1,y1,z1) The objective function is shown in equation (2):
in the formula: Δ l is the absolute error of the actual distance from the measured distance.
And 4, step 4: solving out the end A of the holding pole according to a nonlinear programming method by taking the equation (1) as a constraint condition and the equation (2) as an objective function1(x1,y1,z1) The coordinates of the points.
And 5: according to the point A in step 2, step 3 and step 41(x1,y1,z1) Solving method of coordinates to obtain the other end point A of the holding pole2(x2,y2,z2) Three-dimensional space coordinates of (a).
Step 6: according to the three-dimensional space angle formula (3), combining the end points A at the two ends of the holding pole obtained in the step 4 and the step 51(x1,y1,z1)，A2(x2,y2,z2) And solving the inclination angle alpha of the holding pole.
In the formula: l5Is the projection distance of two end points of the holding pole on the x and y planes, | | A1A2I is A1And A2The distance between the two end points is,
and 7: and according to the calculation result in the step 6, namely the accurate inclination angle alpha of the holding pole when the holding pole is used for tower assembling, providing advanced safety precaution when the inclination angle of the holding pole exceeds a certain angle in the tower assembling work.
The calculation result of the pole holding endpoint coordinate is as follows: performing optimization calculation on the holding pole endpoint coordinates according to the methods in the step 3, the step 4 and the step 5 to obtain an endpoint coordinate result:
A1the point coordinate solution results are as follows:
A2the point coordinate solution results are as follows:
the concrete calculation example is as follows:
according to the above algorithm, B1(0,0,0), B2(20,0,0), B3(20,20,0), B4(0,20,0) are assumed. Solving for A1When the coordinates are obtained, L1 is 29.5m, L2 is 30m, L3 is 30.5m, and L4 is 31 m. Solving for A2The point coordinates are that L1 is 19.5m, L2 is 20m, L3 is 20.5m, and L4 is 20 m.
Based on the above calculation result A1The point coordinates are (9.256252,8.475005,26.69732) and A2The coordinates of the points are (9.506246,9.506246,14.12490), and the holding pole inclination angle a is 4.824 ° calculated from the coordinates of the two ends.
The invention discloses a holding pole inclination angle measuring method based on a UWB (ultra wide band) wireless distance measuring technology, which is a method for measuring the distance between two end points of a holding pole and each fulcrum by using an ultra wide band wireless distance measuring sensor, optimizing the measured data, reconstructing a three-dimensional space and calculating the holding pole inclination angle according to the finally reconstructed three-dimensional space. According to the method, the measured data are optimized and reconstructed to obtain a locally optimal three-dimensional space model by means of second-order cone programming in the calculation process, the interference of bending of the holding pole inclination angle can be eliminated by means of calculating the holding pole inclination angle in the three-dimensional space, and the accurate inclination angle can be calculated directly according to the space coordinates of two end points of the holding pole. The method is used for monitoring the angle of the inclination angle of the holding pole in the tower assembling construction process, and the invention can also be used for monitoring the distance between the two ends of the holding pole and the direction in the tower assembling process because the calculation of the inclination angle of the holding pole is based on the ranging data of the UWB wireless ranging device.
The invention relates to a pole holding inclination angle measuring method based on a UWB wireless distance measuring technology, which utilizes the wireless distance measuring technology in tower assembling construction work and can monitor the safety distance in each direction in the whole construction process.
Claims (1)
1. A holding pole inclination angle measuring method based on a UWB wireless distance measuring technology is characterized by comprising the following steps:
step 1: establishing a simple space coordinate system, arranging UWB wireless ranging nodes at 4 positions of B1, B2, B3 and B4 according to the working condition of a construction site, and determining three-dimensional space coordinates of points B1, B2, B3 and B4 after the UWB wireless ranging nodes are arranged; a1 and A2 are two ends of a holding pole, UWB wireless ranging nodes are respectively arranged at A1 and A2, coordinates of A1 and A2 of the two ends of the holding pole are unknown when the holding pole works, and the coordinates are set as A1(x1,y1,z1)，A2(x2,y2,z2)；
Step 2: according to the distance of a coordinate point in a coordinate system and the measured distance measured by the UWB wireless ranging node, setting up an equation (1) under the condition that the absolute value of the error between the measured distance and the actual distance is less than or equal to the error of the UWB wireless ranging device, and determining to solve A1(x1,y1,z1) Constraint equation of point coordinates:
in equation (1):
is a obtained from coordinates of a coordinate system1B1、A1B2、A1B3、A1B4Actual distance of l1、l2、l3、l4Detecting the obtained measurement distance for the UWB ranging node; m is the measurement error of the measuring device within 100M;
and step 3: determining solution A by taking the minimum error between the actual distance and the measured distance as a target1(x1,y1,z1) The objective function is shown in equation (2):
in the formula: delta l is the absolute error of the actual distance and the measured distance;
and 4, step 4: solving out the end A of the holding pole according to a nonlinear programming method by taking the equation (1) as a constraint condition and the equation (2) as an objective function1(x1,y1,z1) Coordinates of the points;
and 5: according to the point A in step 2, step 3 and step 41(x1,y1,z1) Solving method of coordinates to obtain the other end point A of the holding pole2(x2,y2,z2) Three-dimensional space coordinates of (a);
step 6: according to the three-dimensional space angle formula (3), combining the end points A at the two ends of the holding pole obtained in the step 4 and the step 51(x1,y1,z1)，A2(x2,y2,z2) Solving an inclination angle alpha of the holding pole;
in the formula: l5Is the projection distance of two end points of the holding pole on the x and y planes, | | A1A2I is A1And A2The distance between the two endpoints;
and 7: and 6, according to the calculation result of the step 6, namely the precise inclination angle alpha of the holding pole when the holding pole is used for tower assembling.
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| CN111497813B (en) * | 2020-04-15 | 2021-03-19 | 浙江鸿泉电子科技有限公司 | Tire locking detection method and device based on UWB technology |
| CN112665550B (en) * | 2021-01-13 | 2022-04-08 | 三峡大学 | Suspension holding pole group tower monitoring device and method |
| CN112904273A (en) * | 2021-01-13 | 2021-06-04 | 三峡大学 | Real-time monitoring device and method for assembling of power transmission line iron tower |
| CN113625224B (en) * | 2021-07-28 | 2023-10-27 | 三峡大学 | Real-time monitoring method and system for space attitude of lifting tower slice |
| CN113607129B (en) * | 2021-07-28 | 2023-03-31 | 三峡大学 | Method and system for measuring and calculating gradient threshold of suspension holding pole in real time |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN204788358U (en) * | 2015-03-20 | 2015-11-18 | 北京中电兴发科技有限公司 | Shaft tower slope monitoring system |
| CA2934685A1 (en) * | 2015-06-30 | 2016-12-30 | Canrig Drilling Technology Ltd. | Active monitoring of alignment of rig component |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN204788358U (en) * | 2015-03-20 | 2015-11-18 | 北京中电兴发科技有限公司 | Shaft tower slope monitoring system |
| CA2934685A1 (en) * | 2015-06-30 | 2016-12-30 | Canrig Drilling Technology Ltd. | Active monitoring of alignment of rig component |
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