CN110244312A - A kind of distribution multi-source information co-located system and method - Google Patents
A kind of distribution multi-source information co-located system and method Download PDFInfo
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- CN110244312A CN110244312A CN201910340933.8A CN201910340933A CN110244312A CN 110244312 A CN110244312 A CN 110244312A CN 201910340933 A CN201910340933 A CN 201910340933A CN 110244312 A CN110244312 A CN 110244312A
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
Abstract
The present invention relates to a kind of distributed multi-source information co-located system and methods, system includes the transmitting module being located on first surface, the feedback module being located on the second surface opposite with first surface, and the server with transmitting module and feedback module communication connection；Transmitting module includes the first data processing unit, the first radar cell and laser emission element, and feedback module includes the second data processing unit, the second radar cell and laser acquisition unit.Distributed multi-source information co-located system and method for the invention, it is high to the measurement result accuracy of positional relationship between first surface and second surface, and it is suitable for the scene of two apparent surface's positional relationships of a variety of measurements.
Description
Technical field
The present invention relates to range measurement and calibration technique field more particularly to a kind of distributed multi-source information co-located systems
System and method.
Background technique
Integral steel platform is when climbing when occurring used in high-building construction, and steel platform is by several hydraulic mandrils
It is supported, hydraulic mandril bottom is located at completed armored concrete surface layer, and integral steel platform is under oil cylinder effect along liquid
Pressure guide post climbs upwards, since steel platform is that rigidity is whole, if hydraulic mandril occur that absolute altitude is inconsistent or the speed of service not
Situations such as with, traffic direction out of plumb, is promoted difficult or causes security risk for construction it will cause integral steel platform.
In order to guarantee that stability of the steel platform in the case where carrying out lift work or stationary deployment state, the prior art generally use
The mode of ultrasonic distance measurement detects the position of hydraulic mandril, but due to construction site bad environments, misty rain is raised
Dirt is very big to the interference of ultrasonic wave, leads to that measurement result is unstable or measured value deviation is larger.
Summary of the invention
For in the prior art the technical issues of, the present invention provides a kind of distributed multi-source information co-located system and side
Method.
A kind of distribution multi-source information co-located system, including be located on first surface transmitting module, be located at and the
Feedback module on the opposite second surface in one surface, and it is configured to transmitting module and feedback module the service of communication connection
Device, in which:
Transmitting module includes the first data processing unit, the first radar cell and laser emission element, the first radar list
Member and laser emission element are connect with the first data processing unit；First radar cell is used to issue distance measurement request signal,
And distance measurement request signal is sent to the first data processing unit；Laser emission element is perpendicular with first surface for emitting
Laser beam；First data processing unit and server communication connection, for distance measurement request signal to be sent to server；
Feedback module includes the second data processing unit, the second radar cell and laser acquisition unit, the second radar list
Member and laser acquisition unit are connect with the second data processing unit；Second radar cell is for receiving distance measurement request signal simultaneously
It is corresponding to issue ranging answer signal；Laser acquisition unit is used to receive the laser beam of laser emission element transmitting, and obtains and swash
The spot position information and intensity signal of light light beam；Second data processing unit and server communication connection are used for ranging
Answer signal and spot position information, intensity signal are sent to server；
First radar cell is also used to receive ranging answer signal and ranging answer signal is sent to the first data processing
Unit, the first data processing unit are used to ranging answer signal being sent to server；Alternatively, the second radar cell be also used to by
Ranging answer signal is sent to the second data processing unit, and the second data processing unit is used to ranging answer signal being sent to clothes
Business device；
Server is used to calculate the according to distance measurement request signal, ranging answer signal, spot position information and intensity signal
Positional relationship between one surface and second surface.
Further, transmitting module further includes the first inclination angle measuring unit, and feedback module further includes that the measurement of the second inclination angle is single
Member, in which:
First inclination angle measuring unit is connect with the first data processing unit, for generating first surface obliquity information and sending
To the first data processing unit；
Second inclination angle measuring unit is connect with the second data processing unit, for generating second surface obliquity information and sending
To the second data processing unit；
First data processing unit is calculated for first surface obliquity information to be sent to server；At second data
Reason unit is calculated for second surface obliquity information to be sent to server.
Further, laser acquisition unit includes photodetector and drive amplification circuit, and photodetector is put with driving
Big circuit connection, drive amplification circuit are connect with the second data processing unit, in which:
Photodetector is used to receive the laser beam of laser emission element transmitting and generates spot position information and light
Strong information；
Drive amplification circuit is for amplifying spot position information and intensity signal；
Second data processing unit is used to the spot position information of amplification and intensity signal being sent to server.
Further, the first data processing unit and the second data processing unit are configured to connect with server wire communication
Or wireless telecommunications connection.
A kind of distribution multi-source information co-located method, by above-mentioned distributed multi-source information co-located system by with
Under type is realized:
Transmitting module generate distance measurement request signal and to feedback module send and transmitting module by distance measurement request signal to
Server is sent；Transmitting module emits laser beam to feedback module；
Feedback module receives and responds distance measurement request signal, generates ranging answer signal and feedback module answers ranging
Signal is answered to send to server；Feedback module receives laser beam, and obtains the spot position information and light intensity of laser beam
Information, then spot position information and intensity signal are sent to server；
Server receives ranging answer signal, the light that the distance measurement request signal that transmitting module is sent and feedback module are sent
Dot position information and intensity signal, and the positional relationship between first surface and second surface is calculated.
A kind of distribution multi-source information co-located method, is passed through by above-mentioned distributed multi-source information co-located system
Following manner is realized:
Transmitting module generate distance measurement request signal and to feedback module send and transmitting module by distance measurement request signal to
Server is sent；Transmitting module emits laser beam to feedback module；
Feedback module receives and responds distance measurement request signal, generates ranging answer signal and sends to transmitting module；Feedback
Module receives laser beam, and obtains the spot position information and intensity signal of laser beam, then by spot position information and
Intensity signal is sent to server；
Transmitting module receives ranging answer signal, and ranging answer signal is sent to server；
Server receives the light that distance measurement request signal, ranging answer signal and the feedback module that transmitting module is sent are sent
Dot position information and intensity signal, and the positional relationship between first surface and second surface is calculated.
Further, this method further include:
The tilt angle of transmitting module measurement first surface simultaneously generates first surface obliquity information, and first surface is inclined
Angle information is sent to server；
The tilt angle of feedback module measurement second surface simultaneously generates second surface obliquity information, and second surface is inclined
Angle information is sent to server；
Server receives the second surface inclination angle that the first surface obliquity information that transmitting module is sent and feedback module are sent
Information, to the tilt angle of first surface and second surface to calculating.
Further, the first radar cell generate distance measurement request signal and to the second radar cell send and the first thunder
Distance measurement request signal is sent to server by the first data processing unit up to unit；Laser emission element is to laser acquisition list
Member transmitting laser beam；
Second radar cell receives and responds distance measurement request signal, generates ranging answer signal and the second radar cell
Ranging answer signal is sent to server by the second data processing unit；Laser acquisition unit receives laser beam, and obtains
The spot position information and intensity signal of laser beam are taken, and spot position information and intensity signal are passed through into the second number
It is sent according to processing unit to server；
Server receives the distance measurement request signal that the first data processing unit is sent and the second data processing unit is sent
Ranging answer signal, spot position information and intensity signal, and to the positional relationship between first surface and second surface into
Row calculates.
Further, the first radar cell generate distance measurement request signal and to the second radar cell send and the first thunder
Distance measurement request signal is sent to server by the first data processing unit up to unit；Laser emission element is to laser acquisition list
Member transmitting laser beam；
Second radar cell receives and responds distance measurement request signal, generates ranging answer signal and sends out to the first radar cell
It send；Laser acquisition unit receives laser beam, and obtains the spot position information and intensity signal of laser beam, and by light
Dot position information and intensity signal are sent by the second data processing unit to server；
First radar cell receives ranging answer signal, and ranging answer signal is passed through the first data processing unit to clothes
Business device is sent；
Server receives distance measurement request signal, ranging answer signal and the second data that the first data processing unit is sent
The spot position information and intensity signal that processing unit is sent calculate the positional relationship between first surface and second surface.
Further, the first inclination angle measuring unit measures the tilt angle of first surface and generates first surface inclination angle letter
Breath, and sent first surface obliquity information to server by the first data processing unit；
The tilt angle of second inclination angle measuring unit measurement second surface simultaneously generates second surface obliquity information, and passes through
Second data processing unit sends second surface obliquity information to server；
Server receives the first surface obliquity information that the first data processing unit is sent and the second data processing unit hair
The second surface obliquity information sent, calculates the tilt angle of first surface and second surface.
The distributed multi-source information co-located system and method for the present embodiment, has the advantages that
1. the survey that distance measurement request signal and the second radar cell that the first radar cell of the embodiment of the present invention generates generate
It is generated away from answer signal for calculating the distance between first surface and second surface, the first radar cell and the second radar cell
The radar surveying signal with noiseproof feature can still reach the testing requirements of high accuracy in harsh environment.2.
The light spot position for the laser beam that the laser beam and laser acquisition unit of the laser emission element transmitting of inventive embodiments obtain
Information and intensity signal are used to calculate the positional relationship of first surface and second surface, and laser is because of its strong interference immunity, measurement
Characteristic with high accuracy obtains more accurate measuring signal, to improve the measuring accuracy of this system.
3. first surface obliquity information and the second inclination angle that the first inclination angle measuring unit of the embodiment of the present invention generates are surveyed
The second surface obliquity information that amount unit generates is used to calculate the tilt angle of first surface and second surface, and server combines it
It is more accurate that his measurement data can calculate the positional relationship of first surface and second surface.
4. the embodiment of the present invention is applicable to the positional relationship for first surface and second surface under several scenes
Measurement, has wide range of applications, measurement result is accurate.
Detailed description of the invention
Illustrate the embodiment of the present invention or technical solution in the prior art in order to clearer, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it is clear that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is that the module of the distributed multi-source information co-located system of the embodiment of the present invention forms figure；
Fig. 2 is the circuit design of drive amplification circuit in the distributed multi-source information co-located system of the embodiment of the present invention
Figure；
Fig. 3 is that the module of the distributed multi-source information co-located system of another embodiment of the present invention forms figure；
Fig. 4 is the distributed multi-source information co-located method and step flow chart of the embodiment of the present invention；
Fig. 5 is the distributed multi-source information co-located method and step flow chart of another embodiment of the present invention；
Fig. 6 is the distributed multi-source information co-located method and step flow chart of further embodiment of this invention；
Fig. 7 is the distributed multi-source information co-located method and step flow chart of yet another embodiment of the invention；
Wherein: 10- transmitting module, the first data processing unit of 101-, the first radar cell of 102-, 103- Laser emission list
Member, the first inclination angle 104- measuring unit, 20- feedback module, the second data processing unit of 201-, the second radar cell of 202-,
203- laser acquisition unit, the second inclination angle 204- measuring unit, 30- server.
Specific embodiment
Below in conjunction with the attached drawing in the present invention, technical solution in the embodiment of the present invention carry out it is clear, completely retouch
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, those skilled in the art's all other reality obtained without making creative work
Example is applied, protection scope of the present invention is belonged to.
As shown in Figure 1, being the distributed multi-source information co-located system of the embodiment of the present invention, including it is located at first surface
On transmitting module 10, the feedback module 20 that is located on the second surface opposite with first surface, and with transmitting module 10 and
Feedback module 20 is configured to the server 30 of communication connection, in which: transmitting module 10 includes the first data processing unit 101, the
One radar cell 102 and laser emission element 103, the first radar cell 102 and laser emission element 103 are counted with first
It is connected according to processing unit 101；Feedback module 20 includes that the second data processing unit 201, the second radar cell 202 and laser are visited
Unit 203 is surveyed, the second radar cell 202 and laser acquisition unit 203 are connect with the second data processing unit 201.This reality
The first surface and second surface applied in example are oppositely arranged, and transmitting module 10 and feedback module 20 are to first surface and second surface
Between location parameter detected, by server 30 to detection data be analyzed and processed to calculate first surface with
Positional relationship between second surface.The present embodiment is to the first data processing unit 101, the first radar cell 102, Laser emission
Unit 103, the second data processing unit 201, the second radar cell 202 and laser acquisition unit 203 etc. in first surface or
The specific installation site of person's second surface without limitation, can set relatively the first radar cell 102 and the second radar cell 202
It sets, laser emission element 103 and laser acquisition unit 203 is oppositely arranged, by the first radar cell 102 and laser emission element
The characteristics of 103 distribution settings, realization " distribution " of the invention." multi-source " meaning of the invention is both through the first radar cell
102, the measurement of the second radar cell 202 further includes the measurement of laser emission element 103 and laser acquisition unit 203, server
30 are handled by the analysis to multi-source information, realize the purpose of design of multi-source information co-located.
In one embodiment of the invention, the first radar cell 102 is for issuing distance measurement request signal, and by ranging
Request signal is sent to the first data processing unit 101；Laser emission element 103 is used to emit and what first surface was perpendicular swashs
Light light beam；First data processing unit 101 be configured to 30 communication connection of server, for distance measurement request signal to be sent to clothes
Business device 30.Second radar cell 202 issues ranging answer signal for receiving distance measurement request signal and corresponding to, and for that will survey
The second data processing unit 201 is sent to away from answer signal；Laser acquisition unit 203 is for receiving the hair of laser emission element 103
The laser beam penetrated, and obtain the spot position information and intensity signal of laser beam；The configuration of second data processing unit 201
For with 30 communication connection of server, for ranging answer signal and spot position information, intensity signal to be sent to server
3.Server 30 is used to calculate the first table according to distance measurement request signal, ranging answer signal, spot position information and intensity signal
Positional relationship between face and second surface.
In another embodiment of the invention, the first radar cell 102 is for issuing distance measurement request signal, and by ranging
Request signal is sent to the first data processing unit 101, and receives ranging answer signal and be sent to ranging answer signal
First data processing unit 101, laser emission element 103 is for emitting and the perpendicular laser beam of first surface；First number
According to processing unit 101 be configured to 30 communication connection of server, for distance measurement request signal and ranging answer signal to be sent to
Server 30.Second radar cell 202 is for receiving distance measurement request signal and corresponding sending ranging answer signal；Laser acquisition list
Member 203 obtains the spot position information and light of laser beam for receiving the laser beam of the transmitting of laser emission element 103
Strong information；The configuration of second data processing unit 201 and 30 communication connection of server, are used for spot position information, intensity signal
It is sent to server 30.Server 30 is used to be believed according to distance measurement request signal, ranging answer signal, spot position information and light intensity
Breath calculates the positional relationship between first surface and second surface.
The first radar cell 102 and the second radar cell 202 in both the above embodiment is for measuring the first radar
The distance between unit 102 and the second radar cell 202, also are understood as the distance between first surface and second surface；With
Laser emission element 103 and laser acquisition unit 203 in upper two kinds of embodiments is for measuring laser emission element 103 and swashing
The distance between photo detecting unit 203, and position and laser spy for measuring 103 place first surface of laser emission element
Survey the positional relationship of 203 place second surface of unit.The present invention is to the first radar cell 102, the second radar cell 202, laser
Transmitting unit 103, laser acquisition unit 203, the first data processing unit 101 and the second data processing unit 201 it is specific hard
Part product type is without limitation.
The first radar cell 102, the second radar cell 202 in the present embodiment can be millimetre-wave radar, millimetre-wave radar
It is the radar that work is detected in millimeter wave band, the frequency domain of millimeter wave is 30 to 300GHz (wavelength is 1 to 10mm), and wavelength is situated between
Between centimeter wave and light wave, therefore the advantages of millimeter wave has microwave guidance and photoelectric guidance concurrently；Since light wave passes in an atmosphere
Broadcast decaying seriously, and decaying when millimeter wave propagation is small, it is small to be influenced by natural light and infrared source, millimetre-wave radar has thus
The advantages that Anti-amyloid-β antibody, noise jamming and multipath reflection interfere can obtain simultaneously because the working frequency of millimetre-wave radar is high
Big signal bandwidth (such as gigahertz (GHZ) magnitude) and Doppler frequency shift are conducive to the measurement accuracy for improving distance.Work as the embodiment of the present invention
The first radar cell 102 and the second radar cell 202 be millimetre-wave radar when, generate distance measurement request signal and ranging
Answer signal is the electromagnetic wave signal of certain frequency, includes the parameters such as wavelength, frequency, launch time, response time, server
30 calculate electromagnetic wave signal transmission time according to launch time and response time, and calculate electromagnetic transmission according to wavelength parameter
Distance, as the distance between first surface and second surface.
Laser emission element 103 in the present embodiment can be used laser realization, laser launch peak power it is higher,
The lesser pulse type laser light beam of beam divergence angle, photodetection class product can be used in laser acquisition unit 203, in laser beam
When being irradiated on photosurface, convert optical signal into electric signal and be further processed obtain laser beam be radiated on photosurface
The intensity signal of spot position information and laser beam.Under normal conditions, electric signal caused by photodetection process is strong
Spend it is lower, so laser acquisition unit 203 in the present embodiment includes photodetector and drive amplification circuit, photodetector
With drive amplification circuit connection, drive amplification circuit is connect with the second data processing unit 201, in which: photodetector is used for
It receives the laser beam that laser emission element 103 emits and generates spot position information and intensity signal；Drive amplification circuit
For spot position information and intensity signal to be amplified；Second data processing unit 201 is by the spot position information of amplification
And intensity signal is sent to server 30.This implementation designs without limitation, such as Fig. 2 institute the physical circuit of drive amplification circuit
Show, is a kind of implementation of the drive amplification circuit of the present embodiment.Including resistance R1, resistance R2, resistance R3, resistance R4, capacitor
C1, capacitor C2, diode D and operational amplifier, in which: resistance R1With capacitor C1In parallel and one end is grounded, other end access fortune
Calculate the normal phase input end of amplifier；Resistance R2With capacitor C2The inverting input terminal of operational amplifier, the other end are accessed in parallel connection, one end
Access the output end of operational amplifier；Resistance R3One end and diode D anode connection, the other end ground connection；Diode D's is negative
The connection of the inverting input terminal of pole and operational amplifier；Voltage output end VoPass through resistance R4It is connect with the output end of operational amplifier.
Without limitation to the parameter of above each electronic device, those skilled in the art match the present embodiment according to specifically used requirement
It sets.When laser irradiation is on the photosurface of photodetector, there are positional relationship between laser spot and entire photosurface,
When different location of the laser irradiation in photosurface, illustrate first surface and second surface there are face or non-face relationship,
Such as set when laser spot is located at A point that first surface and second surface is face relationships on photosurface, if laser light point
Position other than A point then can be derived that first surface is non-with second surface by calculating the distance between laser spot and A point
The specific location relationship of face；It will appear decaying when propagating in the environment due to laser beam, understanding laser attenuation rate and biography
In the case where broadcasting environmental concerns, the intensity signal generated according to photodetector is it can be concluded that laser attenuation situation, and then basis
Communication environments calculate the distance between first surface and second surface.The present embodiment swashs using interference is strong, measurement accuracy is high
Light is as measuring medium, and the spot position information and intensity signal for obtaining laser acquisition unit 203 are to first surface, the second table
The characterization of face positional relationship is more accurate, improves the accuracy of the present embodiment measuring results.
First data processing unit 101 of the present embodiment and the second data processing unit 201 are realized between server 30
Information communication, in transmitting module 10 and feedback module 20, the first data processing unit 101 and the second data processing unit
201 are respectively configured as connecting with server 30 by wireless telecommunications connection or wire communication.At the first data in the present embodiment
The transmission of data between chip microcontroller and server 30 can be used in reason unit 101 and the second data processing unit 201, works as monolithic
Machine realizes that the information between single-chip microcontroller and server 30 passes with 30 wire communication of server, through data line
Defeated, in single-chip microcontroller and server 30 in the case where wireless telecommunications, microcontroller unit radio communication product is implemented as the present invention
The first data processing unit 101 or the second data processing unit 201 in example realize the transmission of data.
On the other hand, first data processing unit 101 and the first radar cell 102, laser emission element of the present embodiment
103 connections can obtain the distance measurement request signal of the first radar cell 102 sending, the received ranging of the first radar cell 102 is answered
Answer the signal parameter for the laser beam that signal and laser emission element 103 emit, such as distance measurement request signal and ranging response
It include signal strength, timestamp information etc. in signal, the parameter of laser beam includes laser intensity, pulsewidth, laser energy, hair
Dissipate the information such as angle.Similarly, second data processing unit 201 and the second radar cell 202, laser acquisition unit of the present embodiment
203 connections, what the ranging answer signal and laser acquisition unit 203 that can obtain the sending of the second radar cell 202 obtained swashs
The spot position information and intensity signal of light light beam.First data processing unit 101 or the second data processing unit 201 to
Upper signal parameter carries out basic conversion or arrangement, and conversion process includes being converted into digital signal to analog signal, arranges
Journey may include being timed summarize, screen, encoding, being packaged to the metrical information of each unit transmission, retransmit to server
30 carry out calculating analysis；First data processing unit 101 or the second data processing unit 201 can also first carry out primary Calculation and again will
Calculated result transmits to server 30 and further calculates analysis, such as in a measurement period, at the first data
It manages unit 101 or the first radar cell 102 and first surface and second is calculated according to distance measurement request signal and ranging answer signal
The distance between surface value, the position pair of first surface and second surface is calculated according to spot position information and intensity signal
It should be related to and distance value, information above is aggregated into a data packet and is sent to server 30 after adding timestamp information.
Server 30 in the present embodiment is receiving the first data processing unit 101 and the second data processing unit 201
After the distance measurement request signal of transmission, ranging answer signal, spot position information and intensity signal, according to distance measurement request signal,
Ranging answer signal calculates the distance between first surface and second surface, according to spot position information and intensity signal meter
Calculate the position corresponding relationship and distance value of first surface and second surface；After calculating the above measurement parameter, it can pass through
Display carries out visualization display, or is carried out the spatial relation of first surface and second surface directly by software modeling
Sightization is shown, is observed convenient for operating personnel and is carried out position adjustment to first surface or second surface according to display result
Deng.Server 30 in the present embodiment can also send distance measurement request signal or laser light to the first data processing unit 101
The signal parameter of beam realizes the signal strength adjustment to distance measurement request signal, or to the intensity, pulsewidth, diverging of laser beam
The adjustment of the parameters such as angle；Server 30 can also send the signal parameter of ranging answer signal to the second data processing unit 201,
Realization is adjusted the parameters such as the signal strength of ranging answer signal；Server 30 can also be to the second data processing unit
201 send the parameter setting information to laser acquisition unit 203, such as the detection area size and spy of setting photodetector
Survey region position etc..
The distributed multi-source information co-located system of the embodiment of the present invention is suitable for two apparent surface positions of a variety of measurements
The scene of relationship is set, and corresponding first surface and second surface can be plane or curved surface.The distributed multi-source of the present embodiment
Information synergism positioning system can also design multiple transmitting modules 10 and feedback module 20 in Same Scene, right by server 30
The calculating analysis of all metrical informations obtains more accurate measurement result.
Distributed multi-source information co-located system of the invention, by the first radar cell, the second radar cell to
Measurement is realized on the distance between one surface and second surface, and by laser emission element and laser acquisition unit to it the
One surface, second surface position positional relationship measure, then the above metrical information is calculated by server
Processing finally obtains the positional relationship of first surface and second surface.The present embodiment thunder high by strong interference immunity, stability
Up to laser measurement mode, ensure that this system to the Accurate Determining of the positional relationship of first surface and second surface, meanwhile, this
Positioning system is suitable for a variety of scenes for needing to measure positional relationship between two surfaces, has wide range of applications.
Specifically, as shown in figure 3, the transmitting module 10 in the present embodiment further includes the first inclination angle measuring unit 104, feedback
Module 20 further includes the second inclination angle measuring unit 204, in which: the first inclination angle measuring unit 104 and the first data processing unit 101
Connection, for generating first surface obliquity information and being sent to the first data processing unit 101；Second inclination angle measuring unit 204
It is connect with the second data processing unit 201, for generating second surface obliquity information and being sent to the second data processing unit
201；First data processing unit 101 is calculated for first surface obliquity information to be sent to server 30；Second data
Processing unit 201 is calculated for second surface obliquity information to be sent to server 30.
The present embodiment does not limit the specific product signal of the first inclination angle measuring unit 104 and the second inclination angle measuring unit 204,
It only needs to realize the measurement to first surface, second surface tilt angle.Preferably, the first inclination angle in the present embodiment is surveyed
It measures unit 104 and the second inclination angle measuring unit 204 is gyroscopic horizon；Alternatively, the first inclination angle measuring unit in the present invention
104, the second inclination angle measuring unit 204 is realized using nine axle sensors, and existing nine axle sensor refers generally to three-axis gyroscope, three
Axis accelerometer, the combination of three axis magnetometers or the combination of six-axis accelerometer and three-axis gyroscope, can also be six axis tops
Spiral shell instrument and the combination of three axis accelerometer etc..The present embodiment does not limit the specific factory of gyroscopic horizon or nine axle sensors
Family and production model, those skilled in the art voluntarily select.
The present embodiment is inclined by the first surface obliquity information and second that server is generated according to the first inclination angle measuring unit
The second surface obliquity information that angle measurement unit generates calculates the tilt angle of first surface and second surface, improves this system
The accuracy that positional relationship between first surface and second surface is detected.
As shown in figure 4, the embodiment of the present invention also provides a kind of distributed multi-source information co-located method, by above-mentioned implementation
The distributed multi-source information co-located system of example is accomplished by the following way:
Step S101: transmitting module 10 generate distance measurement request signal and to feedback module 20 send and transmitting module 10
Distance measurement request signal is sent to server 30；Transmitting module 10 emits laser beam to feedback module 20.
Specifically, this step specifically includes: the first radar cell 102 generates distance measurement request signal and to the second radar cell
202 transmissions and the first radar cell 102 are sent out distance measurement request signal to server 30 by the first data processing unit 101
It send；Laser emission element 103 emits laser beam to laser acquisition unit 203.
Step S102: feedback module 20 receives and responds distance measurement request signal, generates ranging answer signal, and feedback mould
Block 20 sends ranging answer signal to server 30；Feedback module 20 receives laser beam, and obtains the luminous point of laser beam
Location information and intensity signal, then spot position information and intensity signal are sent to server 30.
Specifically, this step specifically includes: the second radar cell 202 receives and responds distance measurement request signal, generation ranging
Answer signal and the second radar cell 202 are sent out ranging answer signal to server 30 by the second data processing unit 201
It send；Laser acquisition unit 203 receives laser beam, and obtains the spot position information and intensity signal of laser beam, and
Spot position information and intensity signal are sent by the second data processing unit 201 to server 30.
Step S103: what the distance measurement request signal and feedback module 20 that the reception transmitting module 10 of server 30 is sent were sent
Ranging answer signal, spot position information and intensity signal, and the positional relationship between first surface and second surface is carried out
It calculates.
Specifically, this step specifically includes: server 30 receives the distance measurement request letter that the first data processing unit 101 is sent
Number and the second data processing unit 201 the ranging answer signal, spot position information and the intensity signal that send, and to the first table
Positional relationship between face and second surface is calculated.
As shown in figure 5, the embodiment of the present invention also provides another distributed multi-source information co-located method, by above-mentioned reality
The distributed multi-source information co-located system for applying example is accomplished by the following way:
Step S201: transmitting module 10 generate distance measurement request signal and to feedback module 20 send and transmitting module 10
Distance measurement request signal is sent to server 30；Transmitting module 10 emits laser beam to feedback module 20.
The specific implementation procedure of this step is identical as the step S101 in a upper embodiment, is not repeated herein.
Step S202: feedback module 20, which receives, simultaneously responds distance measurement request signal, generates ranging answer signal and to transmitting mould
Block 10 is sent；Feedback module 20 receives laser beam, and obtains the spot position information and intensity signal of laser beam, then will
Spot position information and intensity signal are sent to server 30.
Specifically, this step specifically includes: the second radar cell 202 receives and responds distance measurement request signal, generation ranging
Answer signal is simultaneously sent to the first radar cell 102；Laser acquisition unit 203 receives laser beam, and obtains laser beam
Spot position information and intensity signal, and spot position information and intensity signal are passed through into the second data processing unit
201 send to server 30.
Step S203: transmitting module 10 receives ranging answer signal, and ranging answer signal is sent to server 30；
Specifically, and ranging response is believed this step specifically includes: the first radar cell 102 receives ranging answer signal
Number by the first data processing unit 101 to server 30 send；
Step S204: server 30 receives the distance measurement request signal that transmitting module 10 sends, ranging answer signal and anti-
Spot position information and intensity signal that module 20 is sent are presented, and the positional relationship between first surface and second surface is carried out
It calculates.
Specifically, this step specifically includes: server 30 receives the distance measurement request letter that the first data processing unit 101 is sent
Number, ranging answer signal and the second data processing unit 201 spot position information and intensity signal that send, calculate the first table
Positional relationship between face and second surface.
As shown in Figures 6 and 7, the present embodiment is on the basis of the above embodiments, further includes:
Step S101 further include: transmitting module 10 measures the tilt angle of first surface and generates first surface inclination angle letter
Breath, and first surface obliquity information is sent to server 30.
This step specifically includes: first inclination angle measuring unit 104 measures tilt angle and the production of the first surface
The raw first surface obliquity information, and pass through first data processing unit 101 for the first surface obliquity information
It is sent to the server 30.
Step S102 further include: feedback module 20 measures the tilt angle of second surface and generates second surface inclination angle letter
Breath, and second surface obliquity information is sent to server 30.
This step specifically includes: second inclination angle measuring unit 204 measures tilt angle and the production of the second surface
The raw second surface obliquity information, and pass through second data processing unit 201 for the second surface obliquity information
It is sent to the server 30.
Step S103 further include: server 30 receives the first surface obliquity information and feedback module that transmitting module 10 is sent
The 20 second surface obliquity informations sent, to the tilt angle of first surface and second surface to calculating.
This step specifically includes: the server 30 receives described first that first data processing unit 101 is sent
The second surface obliquity information that surface angle information and second data processing unit 201 are sent calculates described the
The tilt angle on one surface and the second surface.
Alternatively, step S201 further include: transmitting module 10, which measures the tilt angle of first surface and generates first surface, to incline
Angle information, and first surface obliquity information is sent to server 30.
This step specifically includes: first inclination angle measuring unit 104 measures tilt angle and the production of the first surface
The raw first surface obliquity information, and pass through first data processing unit 101 for the first surface obliquity information
It is sent to the server 30.
Step S202 further include: feedback module 20 measures the tilt angle of second surface and generates second surface inclination angle letter
Breath, and second surface obliquity information is sent to server 30.
This step specifically includes: second inclination angle measuring unit 204 measures tilt angle and the production of the second surface
The raw second surface obliquity information, and pass through second data processing unit 201 for the second surface obliquity information
It is sent to the server 30.
Step S204 further include: server 30 receives the first surface obliquity information and feedback module that transmitting module 10 is sent
The 20 second surface obliquity informations sent, to the tilt angle of first surface and second surface to calculating.
This step specifically includes: the server 30 receives described first that first data processing unit 101 is sent
The second surface obliquity information that surface angle information and second data processing unit 201 are sent calculates described the
The tilt angle on one surface and the second surface.
It is equal particularly for treatment process of data etc. in the distributed multi-source information co-located method of the embodiment of the present invention
It can refer to the full content in aforementioned distributed multi-source information co-located system, details are not described herein again.
If Fig. 4 is into Fig. 7, distributed multi-source information co-located method of the invention is further comprising the steps of:
Step S104: server 30 generates alarm signal after first surface and second surface positional relationship is beyond setting range
Breath.
Alternatively, step S205: server 30 generates after first surface and second surface positional relationship is beyond setting range
Warning message.
The present embodiment of positional relationship setting range in to(for) first surface and second surface does not make restriction, such as
In some scenes, it is desirable that first surface and second surface are horizontal plane, and first surface and second surface are in vertical direction
It is corresponding at a certain distance, if the distance of the calculated result discovery first surface and second surface of server 30 is unsatisfactory for setting
The location point that fixed perhaps second surface receives laser beam is unsatisfactory for setting or first surface tilt angle and second surface
Tilt angle is unsatisfactory for setting, then illustrates first surface and second surface positional relationship beyond setting range, by adjusting first
The position on surface or the position of second surface are to meet aforementioned definition.It is set when first surface exceeds with second surface positional relationship
After determining range, warning message caused by server 30 can carry out warning reminding by a variety of warning devices, such as alarm lamp dodges
Bright, audible alarm, display screen pop-up warning reminding etc., can also realize, the present embodiment is not another here by other means
One enumerates.
Specifically, the distributed multi-source information co-located method of the present embodiment further include:
The work of server 30 generation the first radar cell 102, laser emission element 103, the first inclination angle measuring unit 104
Parameter is simultaneously respectively sent to the first radar cell 102 by the first data processing unit 101, laser emission element 103, first inclines
Angle measurement unit 104；Server 30 generates the second radar cell 202, laser acquisition unit 203, the second angled side amount unit 204
Running parameter and by the second data processing unit 201 be respectively sent to the second radar cell 202, laser acquisition unit 203,
Second inclination angle measuring unit 204.Running parameter in the present embodiment may include the intensity, pulsewidth, the angle of divergence of laser beam, radar
The measurement of signal strength, frequency domain, wavelength of signal etc. or the first inclination angle measuring unit 104, the second inclination angle measuring unit 204
Time cycle.Specific running parameter is manually set in actual implementation in those skilled in the art, is not specifically limited herein.
A kind of distributed multi-source information co-located method of the embodiment of the present invention, passes through the first radar cell, the second thunder
The distance between first surface and second surface are realized up to unit and are measured, and pass through laser emission element and laser acquisition list
Member measures its positional relationship in first surface, second surface position, passes through the first inclination angle measuring unit and
Two inclination angle measuring units respectively measure the tilt angle of first surface and second surface, then are surveyed by server to above
Amount information carries out the positional relationship that calculation processing finally obtains first surface and second surface.The present embodiment passes through anti-interference
By force, the high radar of stability and laser measurement mode ensure that this system to the positional relationships of first surface and second surface
Accurate Determining, meanwhile, in conjunction with the tilt angle measurement to first surface, second surface, further improve to first surface and
The accuracy of the positional relationship measurement of second surface；On the other hand, this localization method can be adapted for a variety of needing to measure two
The scene of positional relationship, application range are very extensive between surface.
The embodiment of the present invention also provides a kind of distributed multi-source information co-located system in climbing type integral steel platform
Application.In high-building construction in used climbing type integral steel platform scene, steel platform is by several hydraulic mandrils
Support, hydraulic mandril bottom are located at completed armored concrete plane, steel platform from hydraulic mandril under the action of oil cylinder to
On climb, since steel platform is that rigidity is whole, if the calibrated altitude of each hydraulic mandril is inconsistent or the speed of service is different,
Direction out of plumb will cause steel platform and tilt and brings security risk to construction.It is the present embodiment by armored concrete plane sets
In first surface, the lower surface of steel platform is set as the second surface in the present embodiment (or by any perpendicular to hydraulic
The plane sets of mandril are second surface), by transmitting module 10 and feedback module 20 according to distributed multi-source information co-located
The requirement of system is installed, and after server 30 carries out calculating analysis to metrical information, can determine whether out whether steel platform inclines
Tiltedly (or judging that some hydraulic mandril height does not meet setting value, some hydraulic mandril tilts), convenient for operating personnel and
When adjust.The server 30 of the present embodiment can also be connect with for hydraulic mandril, occur tilting in steel platform or its position exceeds
After the position range of operating personnel's setting, control hydraulic mandril is risen or is declined, until transmitting module 10, feedback module
After 20 metrical information show that steel platform position meets the requirements after calculating by server 30, the survey to steel platform position is realized
Amount and adjustment.
The embodiment of the present invention also provides distributed multi-source information co-located system in electric lifting platform monitoring scene, shifting
Dynamic formula hoistable platform monitoring scene, guide tracked elevator monitoring scene, three-dimensional parking-garage lifting platform monitoring scene, vertical lifting
Monitoring scene, multiple crane hanging component work compounds monitor the application of scene etc., the electric lifting platform monitoring in the present embodiment
Scene, mobile hoistable platform monitoring scene, guide tracked elevator monitoring scene, three-dimensional parking-garage lifting platform monitoring scene,
Vertical lifting monitoring scene, multiple crane hanging component work compounds monitoring scene are all flat with the climbing type overall steel of above-described embodiment
Platform field has consistent purpose, that is, the measurement to positional relationship between two surfaces is realized, by measurement result again to two tables
Face positional relationship is adjusted, the purpose of to reach production safety or equipment operational safety.Multiple applied fields of the present embodiment
Scape is all more well known in the prior art, so its specific mechanical mechanism is not detailed in the present embodiment, and by above-mentioned
The distributed multi-source information co-located system of embodiment realizes that the measurement of positional relationship between two surfaces belongs to the present invention
Protection scope.
The present invention is further described by specific embodiment above, it should be understood that, here specifically
Description, should not be construed as the restriction for the essence of the present invention with range, and one of ordinary skilled in the art is reading this explanation
The various modifications made after book to above-described embodiment belong to the range that the present invention is protected.
Claims (10)
1. a kind of distribution multi-source information co-located system, which is characterized in that including be located on first surface transmitting module,
Feedback module on the second surface opposite with the first surface, and with the transmitting module and the feedback module
It is configured to the server of communication connection, in which:
The transmitting module includes the first data processing unit, the first radar cell and laser emission element, first thunder
It is connect up to unit and the laser emission element with first data processing unit；First radar cell is for sending out
Distance measurement request signal out, and the distance measurement request signal is sent to first data processing unit；The Laser emission list
Member is for emitting and the perpendicular laser beam of the first surface；First data processing unit and the server communicate
Connection, for the distance measurement request signal to be sent to the server；
The feedback module includes the second data processing unit, the second radar cell and laser acquisition unit, second thunder
It is connect up to unit and the laser acquisition unit with second data processing unit；Second radar cell is for connecing
Receive the distance measurement request signal and corresponding sending ranging answer signal；The laser acquisition unit is for receiving the Laser emission
The laser beam of unit transmitting, and obtain the spot position information and intensity signal of the laser beam；Described second
Data processing unit and the server communication connection, for by the ranging answer signal and the spot position information,
The intensity signal is sent to the server；
First radar cell is also used to receive the ranging answer signal and is sent to the ranging answer signal described
First data processing unit, first data processing unit are used to the ranging answer signal being sent to the server；
Alternatively, second radar cell is also used to the ranging answer signal being sent to second data processing unit, it is described
Second data processing unit is used to the ranging answer signal being sent to the server；
The server is used for according to the distance measurement request signal, the ranging answer signal, the spot position information and institute
It states intensity signal and calculates positional relationship between the first surface and the second surface.
2. a kind of distributed multi-source information co-located system as described in claim 1, which is characterized in that the transmitting module
It further include the first inclination angle measuring unit, the feedback module further includes the second inclination angle measuring unit, in which:
First inclination angle measuring unit is connect with first data processing unit, for generating the first surface inclination angle letter
It ceases and is sent to first data processing unit；
Second inclination angle measuring unit is connect with second data processing unit, for generating the second surface inclination angle letter
It ceases and is sent to second data processing unit；
First data processing unit is calculated for the first surface obliquity information to be sent to the server；Institute
The second data processing unit is stated to calculate for the second surface obliquity information to be sent to the server.
3. a kind of distributed multi-source information co-located system as claimed in claim 2, which is characterized in that the laser acquisition
Unit includes photodetector and drive amplification circuit, the photodetector and the drive amplification circuit connection, the drive
Dynamic amplifying circuit is connect with second data processing unit, in which:
The photodetector is used to receive the laser beam of the laser emission element transmitting and generates the luminous point position
Confidence breath and the intensity signal；
The drive amplification circuit is for amplifying the spot position information and the intensity signal；
Second data processing unit is used to the spot position information of amplification and the intensity signal being sent to institute
State server.
4. a kind of distributed multi-source information co-located system as claimed in claim 3, which is characterized in that first data
Processing unit and second data processing unit are configured to connect with the server wire communication or wireless telecommunications connect.
5. a kind of distribution multi-source information co-located method, which is characterized in that by described in any item points of Claims 1-4
Cloth multi-source information co-located system is accomplished by the following way:
The transmitting module generates the distance measurement request signal and sends to the feedback module and the transmitting module is by institute
Distance measurement request signal is stated to send to the server；The transmitting module emits the laser beam to the feedback module；
The feedback module receives and responds the distance measurement request signal, generates the ranging answer signal and the feedback
Module sends the ranging answer signal to the server；The feedback module receives the laser beam, and obtains institute
The spot position information and the intensity signal of laser beam are stated, then the spot position information and the light intensity are believed
It ceases and is sent to the server；
The server receives the institute that the distance measurement request signal that the transmitting module is sent and the feedback module are sent
Ranging answer signal, the spot position information and the intensity signal are stated, and to the first surface and the second surface
Between positional relationship calculated.
6. a kind of distribution multi-source information co-located method, which is characterized in that by described in any item points of Claims 1-4
Cloth multi-source information co-located system is accomplished by the following way:
The transmitting module generates the distance measurement request signal and sends to the feedback module and the transmitting module is by institute
Distance measurement request signal is stated to send to the server；The transmitting module emits the laser beam to the feedback module；
The feedback module receives and responds the distance measurement request signal, generates the ranging answer signal and to the transmitting mould
Block is sent；The feedback module receives the laser beam, and obtain the laser beam the spot position information and
The intensity signal, then the spot position information and the intensity signal are sent to the server；
The transmitting module receives the ranging answer signal, and the ranging answer signal is sent to the server；
The server receives the distance measurement request signal that the transmitting module sends, the ranging answer signal and described
The spot position information and the intensity signal that feedback module is sent, and to the first surface and the second surface it
Between positional relationship calculated.
7. such as a kind of described in any item distributed multi-source information co-located methods of claim 5 to 6, which is characterized in that also
Include:
The transmitting module measures the tilt angle of the first surface and generates the first surface obliquity information, and by institute
First surface obliquity information is stated to send to the server；
The feedback module measures the tilt angle of the second surface and generates the second surface obliquity information, and by institute
Second surface obliquity information is stated to send to the server；
The server receives the first surface obliquity information that the transmitting module is sent and the feedback module sends
The second surface obliquity information, to the tilt angle of the first surface and the second surface to calculating.
8. a kind of distributed multi-source information co-located method as claimed in claim 5, which is characterized in that
First radar cell generates the distance measurement request signal and sends to second radar cell and described first
Radar cell is sent the distance measurement request signal to the server by first data processing unit；The laser hair
It penetrates unit and emits the laser beam to the laser acquisition unit；
Second radar cell receives and responds the distance measurement request signal, generates the ranging answer signal and described
Second radar cell is sent the ranging answer signal to the server by second data processing unit；It is described to swash
Photo detecting unit receives the laser beam, and obtains the spot position information and light intensity letter of the laser beam
Breath, and the spot position information and the intensity signal are passed through into second data processing unit to the server
It sends；
The server receives the distance measurement request signal and second data that first data processing unit is sent
The ranging answer signal that processing unit is sent, the spot position information and the intensity signal, and to described the
Positional relationship between one surface and the second surface is calculated.
9. a kind of distributed multi-source information co-located method as claimed in claim 6, which is characterized in that
First radar cell generates the distance measurement request signal and sends to second radar cell and described first
Radar cell is sent the distance measurement request signal to the server by first data processing unit；The laser hair
It penetrates unit and emits the laser beam to the laser acquisition unit；
Second radar cell receives and responds the distance measurement request signal, generates the ranging answer signal and to described
One radar cell is sent；The laser acquisition unit receives the laser beam, and obtains the luminous point of the laser beam
Location information and the intensity signal, and the spot position information and the intensity signal are passed through into second number
It is sent according to processing unit to the server；
First radar cell receives the ranging answer signal, and the ranging answer signal is passed through first data
Processing unit is sent to the server；
The server receives the distance measurement request signal, the ranging answer signal that first data processing unit is sent
And the spot position information and the intensity signal that second data processing unit is sent, calculate the first surface
With the positional relationship between the second surface.
10. a kind of distributed multi-source information co-located method as claimed in claim 7, which is characterized in that
First inclination angle measuring unit measures the tilt angle of the first surface and generates the first surface obliquity information,
And the first surface obliquity information is sent to the server by first data processing unit；
Second inclination angle measuring unit measures the tilt angle of the second surface and generates the second surface obliquity information,
And the second surface obliquity information is sent to the server by second data processing unit；
The server receives the first surface obliquity information that first data processing unit is sent and second number
According to the second surface obliquity information that processing unit is sent, the inclination angle of the first surface Yu the second surface is calculated
Degree.
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