CN110244312B - Distributed multi-source information cooperative positioning system and method - Google Patents
Distributed multi-source information cooperative positioning system and method Download PDFInfo
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- CN110244312B CN110244312B CN201910340933.8A CN201910340933A CN110244312B CN 110244312 B CN110244312 B CN 110244312B CN 201910340933 A CN201910340933 A CN 201910340933A CN 110244312 B CN110244312 B CN 110244312B
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- 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
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Abstract
The invention relates to a distributed multi-source information cooperative positioning system and a distributed multi-source information cooperative positioning method, wherein the system comprises a transmitting module positioned on a first surface, a feedback module positioned on a second surface opposite to the first surface, and a server in communication connection with the transmitting module and the feedback module; the transmitting module comprises a first data processing unit, a first radar unit and a laser transmitting unit, and the feedback module comprises a second data processing unit, a second radar unit and a laser detecting unit. The distributed multi-source information co-location system and the distributed multi-source information co-location method have high accuracy of the measurement result of the position relation between the first surface and the second surface, and are suitable for various scenes of measuring the position relation of the two opposite surfaces.
Description
Technical Field
The invention relates to the technical field of distance measurement and calibration, in particular to a distributed multi-source information cooperative positioning system and method.
Background
When the whole steel platform climbs when the emergence that high-rise building construction used, the steel platform is supported by the hydraulic ejector pin of a plurality of roots, the hydraulic ejector pin bottom is located the reinforced concrete surface course of having accomplished, whole steel platform upwards climbs along the hydraulic guide pillar under the hydro-cylinder effect, because the steel platform is rigid whole, if the hydraulic ejector pin the inconsistent or operating speed of elevation is different, the not circumstances such as traffic direction out of plumb, then can cause whole steel platform to promote the difficulty or cause the potential safety hazard for the construction.
In order to ensure the stability of the steel platform in a lifting operation or static operation state, the position of the hydraulic ejector rod is generally detected in an ultrasonic ranging mode in the prior art, but due to the fact that the environment of a building construction site is severe, rain fog and flying dust greatly interfere with ultrasonic waves, the measuring result is unstable or the deviation of the measured value is large.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a distributed multi-source information cooperative positioning system and a distributed multi-source information cooperative positioning method.
A distributed multi-source information co-location system comprising a transmitter module located on a first surface, a feedback module located on a second surface opposite the first surface, and a server configured to communicatively couple the transmitter module and the feedback module, wherein:
the transmitting module comprises a first data processing unit, a first radar unit and a laser transmitting unit, and the first radar unit and the laser transmitting unit are connected with the first data processing unit; the first radar unit is used for sending a ranging request signal and sending the ranging request signal to the first data processing unit; the laser emitting unit is used for emitting a laser beam vertical to the first surface; the first data processing unit is in communication connection with the server and used for sending the ranging request signal to the server;
the feedback module comprises a second data processing unit, a second radar unit and a laser detection unit, and the second radar unit and the laser detection unit are connected with the second data processing unit; the second radar unit is used for receiving the ranging request signal and correspondingly sending a ranging response signal; the laser detection unit is used for receiving the laser beam emitted by the laser emission unit and acquiring the spot position information and the light intensity information of the laser beam; the second data processing unit is in communication connection with the server and is used for sending the ranging response signal, the light spot position information and the light intensity information to the server;
the first radar unit is also used for receiving the ranging response signal and sending the ranging response signal to the first data processing unit, and the first data processing unit is used for sending the ranging response signal to the server; or the second radar unit is further configured to send the ranging response signal to the second data processing unit, and the second data processing unit is configured to send the ranging response signal to the server;
the server is used for calculating the position relation between the first surface and the second surface according to the ranging request signal, the ranging response signal, the light spot position information and the light intensity information.
Further, the transmitting module further includes a first inclination measuring unit, and the feedback module further includes a second inclination measuring unit, wherein:
the first inclination angle measuring unit is connected with the first data processing unit and used for generating first surface inclination angle information and sending the first surface inclination angle information to the first data processing unit;
the second inclination angle measuring unit is connected with the second data processing unit and used for generating second surface inclination angle information and sending the second surface inclination angle information to the second data processing unit;
the first data processing unit is used for sending the first surface inclination angle information to the server for calculation; and the second data processing unit is used for sending the second surface inclination angle information to the server for calculation.
Further, the laser detection unit comprises a photoelectric detector and a driving amplification circuit, the photoelectric detector is connected with the driving amplification circuit, the driving amplification circuit is connected with the second data processing unit, wherein:
the photoelectric detector is used for receiving the laser beam emitted by the laser emitting unit and generating light spot position information and light intensity information;
the driving amplification circuit is used for amplifying the light spot position information and the light intensity information;
the second data processing unit is used for sending the amplified light spot position information and the light intensity information to the server.
Further, the first data processing unit and the second data processing unit are configured to be in wired communication connection or wireless communication connection with the server.
A distributed multi-source information cooperative positioning method is realized by the distributed multi-source information cooperative positioning system in the following mode:
the transmitting module generates a ranging request signal and sends the ranging request signal to the feedback module, and the transmitting module sends the ranging request signal to the server; the transmitting module transmits laser beams to the feedback module;
the feedback module receives and responds to the ranging request signal to generate a ranging response signal, and the feedback module sends the ranging response signal to the server; the feedback module receives the laser beam, acquires the light spot position information and the light intensity information of the laser beam, and then sends the light spot position information and the light intensity information to the server;
the server receives the ranging request signal sent by the transmitting module and the ranging response signal, the light spot position information and the light intensity information sent by the feedback module, and calculates the position relation between the first surface and the second surface.
A distributed multi-source information cooperative positioning method is realized by the distributed multi-source information cooperative positioning system in the following mode:
the transmitting module generates a ranging request signal and sends the ranging request signal to the feedback module, and the transmitting module sends the ranging request signal to the server; the transmitting module transmits laser beams to the feedback module;
the feedback module receives and responds to the ranging request signal, generates a ranging response signal and sends the ranging response signal to the transmitting module; the feedback module receives the laser beam, acquires the light spot position information and the light intensity information of the laser beam, and then sends the light spot position information and the light intensity information to the server;
the transmitting module receives the ranging response signal and transmits the ranging response signal to the server;
the server receives the ranging request signal and the ranging response signal sent by the transmitting module and the light spot position information and the light intensity information sent by the feedback module, and calculates the position relation between the first surface and the second surface.
Further, the method further comprises the following steps:
the transmitting module measures the inclination angle of the first surface, generates first surface inclination angle information and sends the first surface inclination angle information to the server;
the feedback module measures the inclination angle of the second surface, generates second surface inclination angle information and sends the second surface inclination angle information to the server;
and the server receives the first surface inclination angle information sent by the transmitting module and the second surface inclination angle information sent by the feedback module, and calculates the inclination angle pair of the first surface and the second surface.
Furthermore, the first radar unit generates a ranging request signal and sends the ranging request signal to the second radar unit, and the first radar unit sends the ranging request signal to the server through the first data processing unit; the laser emitting unit emits laser beams to the laser detecting unit;
the second radar unit receives and responds to the ranging request signal to generate a ranging response signal, and the second radar unit sends the ranging response signal to the server through the second data processing unit; the laser detection unit receives the laser beam, acquires the light spot position information and the light intensity information of the laser beam, and sends the light spot position information and the light intensity information to the server through the second data processing unit;
the server receives the ranging request signal sent by the first data processing unit and the ranging response signal, the light point position information and the light intensity information sent by the second data processing unit, and calculates the position relation between the first surface and the second surface.
Furthermore, the first radar unit generates a ranging request signal and sends the ranging request signal to the second radar unit, and the first radar unit sends the ranging request signal to the server through the first data processing unit; the laser emitting unit emits laser beams to the laser detecting unit;
the second radar unit receives and responds to the ranging request signal, generates a ranging response signal and sends the ranging response signal to the first radar unit; the laser detection unit receives the laser beam, acquires the light spot position information and the light intensity information of the laser beam, and sends the light spot position information and the light intensity information to the server through the second data processing unit;
the first radar unit receives the ranging response signal and sends the ranging response signal to the server through the first data processing unit;
the server receives the ranging request signal and the ranging response signal sent by the first data processing unit and the light spot position information and the light intensity information sent by the second data processing unit, and calculates the position relation between the first surface and the second surface.
Furthermore, the first inclination angle measuring unit measures the inclination angle of the first surface and generates first surface inclination angle information, and the first data processing unit sends the first surface inclination angle information to the server;
the second inclination angle measuring unit measures the inclination angle of the second surface, generates second surface inclination angle information and sends the second surface inclination angle information to the server through the second data processing unit;
and the server receives the first surface inclination angle information sent by the first data processing unit and the second surface inclination angle information sent by the second data processing unit, and calculates the inclination angle between the first surface and the second surface.
The distributed multi-source information cooperative positioning system and method of the embodiment have the following beneficial effects:
1. according to the embodiment of the invention, the ranging request signal generated by the first radar unit and the ranging response signal generated by the second radar unit are used for calculating the distance between the first surface and the second surface, and the radar measurement signals with anti-interference characteristics generated by the first radar unit and the second radar unit can still meet the high-accuracy detection requirement in a severe environment. 2. The laser beam emitted by the laser emitting unit, the light spot position information and the light intensity information of the laser beam acquired by the laser detecting unit are used for calculating the position relation between the first surface and the second surface, and the laser obtains a more accurate measuring signal due to the characteristics of strong anti-interference performance and high measuring precision, so that the measuring precision of the system is improved.
3. According to the embodiment of the invention, the first surface inclination angle information generated by the first inclination angle measuring unit and the second surface inclination angle information generated by the second inclination angle measuring unit are used for calculating the inclination angles of the first surface and the second surface, and the server can calculate the position relation of the first surface and the second surface more accurately by combining other measurement data.
4. The embodiment of the invention can be suitable for determining the position relation between the first surface and the second surface in various scenes, and has the advantages of wide application range and accurate measurement result.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a block diagram of a distributed multi-source information co-location system according to an embodiment of the present invention;
FIG. 2 is a circuit diagram of a driver amplifier circuit in a distributed multi-source information co-location system according to an embodiment of the present invention;
FIG. 3 is a block diagram of a distributed multi-source information co-location system according to another embodiment of the invention;
FIG. 4 is a flowchart of the steps of a distributed multi-source information co-location method according to an embodiment of the present invention;
FIG. 5 is a flowchart of the steps of a distributed multi-source information co-location method according to another embodiment of the present invention;
FIG. 6 is a flowchart of the steps of a distributed multi-source information co-location method according to yet another embodiment of the present invention;
FIG. 7 is a flowchart illustrating the steps of a distributed multi-source information co-location method according to yet another embodiment of the present invention;
wherein: 10-transmitting module, 101-first data processing unit, 102-first radar unit, 103-laser transmitting unit, 104-first inclination measuring unit, 20-feedback module, 201-second data processing unit, 202-second radar unit, 203-laser detecting unit, 204-second inclination measuring unit and 30-server.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the distributed multi-source information co-location system according to the embodiment of the present invention includes a transmitting module 10 located on a first surface, a feedback module 20 located on a second surface opposite to the first surface, and a server 30 configured to be communicatively connected to the transmitting module 10 and the feedback module 20, wherein: the transmitting module 10 includes a first data processing unit 101, a first radar unit 102 and a laser transmitting unit 103, wherein the first radar unit 102 and the laser transmitting unit 103 are connected to the first data processing unit 101; the feedback module 20 includes a second data processing unit 201, a second radar unit 202, and a laser detection unit 203, and the second radar unit 202 and the laser detection unit 203 are connected to the second data processing unit 201. In this embodiment, the first surface and the second surface are disposed opposite to each other, the transmitting module 10 and the feedback module 20 detect a position parameter between the first surface and the second surface, and the server 30 analyzes and processes the detected data to calculate a position relationship between the first surface and the second surface. In this embodiment, specific installation positions of the first data processing unit 101, the first radar unit 102, the laser emission unit 103, the second data processing unit 201, the second radar unit 202, the laser detection unit 203, and the like on the first surface or the second surface are not limited, the first radar unit 102 and the second radar unit 202 may be arranged oppositely, the laser emission unit 103 and the laser detection unit 203 may be arranged oppositely, and the first radar unit 102 and the laser emission unit 103 are arranged in a distributed manner, so as to implement the characteristic of "distributed" in the present invention. The meaning of "multi-source" in the present invention is that the design purpose of multi-source information co-location is realized by the server 30 through the analysis and processing of multi-source information, not only through the measurement of the first radar unit 102 and the second radar unit 202, but also through the measurement of the laser emitting unit 103 and the laser detecting unit 203.
In one embodiment of the present invention, the first radar unit 102 is configured to send a ranging request signal and send the ranging request signal to the first data processing unit 101; the laser emitting unit 103 is used for emitting a laser beam perpendicular to the first surface; the first data processing unit 101 is configured to be in communication connection with the server 30 for sending a ranging request signal to the server 30. The second radar unit 202 is configured to receive the ranging request signal and correspondingly send a ranging response signal, and is configured to send the ranging response signal to the second data processing unit 201; the laser detection unit 203 is configured to receive the laser beam emitted by the laser emission unit 103, and obtain spot position information and light intensity information of the laser beam; the second data processing unit 201 is configured to be in communication connection with the server 30, and is used for sending the ranging response signal and the light spot position information and the light intensity information to the server 3. The server 30 is configured to calculate a positional relationship between the first surface and the second surface based on the ranging request signal, the ranging response signal, the spot position information, and the light intensity information.
In another embodiment of the present invention, the first radar unit 102 is configured to send a ranging request signal and send the ranging request signal to the first data processing unit 101, and receive a ranging response signal and send the ranging response signal to the first data processing unit 101, and the laser emitting unit 103 is configured to emit a laser beam perpendicular to the first surface; the first data processing unit 101 is configured to be in communication connection with the server 30 for transmitting the ranging request signal and the ranging response signal to the server 30. The second radar unit 202 is configured to receive a ranging request signal and correspondingly send a ranging response signal; the laser detection unit 203 is configured to receive the laser beam emitted by the laser emission unit 103, and obtain spot position information and light intensity information of the laser beam; the second data processing unit 201 is configured to be in communication connection with the server 30, and is configured to send the spot position information and the light intensity information to the server 30. The server 30 is configured to calculate a positional relationship between the first surface and the second surface based on the ranging request signal, the ranging response signal, the spot position information, and the light intensity information.
The first radar unit 102 and the second radar unit 202 in the above two embodiments are used for measuring the distance between the first radar unit 102 and the second radar unit 202, which can also be understood as the distance between the first surface and the second surface; the laser emitting unit 103 and the laser detecting unit 203 in the above two embodiments are used for measuring the distance between the laser emitting unit 103 and the laser detecting unit 203, and for measuring the position relationship between the position of the first surface where the laser emitting unit 103 is located and the position of the second surface where the laser detecting unit 203 is located. The specific hardware product models of the first radar unit 102, the second radar unit 202, the laser emitting unit 103, the laser detecting unit 203, the first data processing unit 101 and the second data processing unit 201 are not limited in the present invention.
In this embodiment, the first radar unit 102 and the second radar unit 202 may be millimeter-wave radars, which are radars operating in millimeter-wave bands for detection, and the frequency domain of the millimeter-wave is 30 to 300GHz (wavelength is 1 to 10mm), and the wavelength is between centimeter-wave and light-wave, so that the millimeter-wave has the advantages of microwave guidance and photoelectric guidance; because the light wave is seriously transmitted and attenuated in the atmosphere, the attenuation of the millimeter wave during transmission is reduced, and the influence of natural light and a heat radiation source is small, the millimeter wave radar has the advantages of resisting electronic interference, clutter interference, multipath reflection interference and the like. When the first radar unit 102 and the second radar unit 202 of the embodiment of the present invention are millimeter-wave radars, the generated ranging request signal and the ranging response signal are electromagnetic wave signals with a certain frequency, which include parameters such as wavelength, frequency, transmission time, and response time, the server 30 calculates the transmission time of the electromagnetic wave signals according to the transmission time and the response time, and calculates the transmission distance of the electromagnetic wave, that is, the distance between the first surface and the second surface according to the wavelength parameter.
The laser emitting unit 103 in this embodiment may be implemented by a laser, and the laser emits a laser beam with a high peak power and a small beam divergence angleThe laser detection unit 203 can adopt a photoelectric detection product, and when the laser beam irradiates the photosensitive surface, the optical signal is converted into an electric signal and further processed to obtain the light spot position information of the laser beam irradiating the photosensitive surface and the light intensity information of the laser beam. In general, the strength of the electrical signal generated in the photodetection process is low, so the laser detection unit 203 in this embodiment includes a photodetector and a driving amplification circuit, the photodetector is connected to the driving amplification circuit, and the driving amplification circuit is connected to the second data processing unit 201, where: the photoelectric detector is used for receiving the laser beam emitted by the laser emission unit 103 and generating spot position information and light intensity information; the driving amplification circuit is used for amplifying the light spot position information and the light intensity information; the second data processing unit 201 transmits the amplified spot position information and the light intensity information to the server 30. The present embodiment does not limit the specific circuit design of the driving amplifier circuit, and is an implementation manner of the driving amplifier circuit of the present embodiment, as shown in fig. 2. Comprising a resistor R1Resistance R2Resistance R3Resistance R4Capacitor C1Capacitor C2Diode D and operational amplifier, wherein: resistance R1And a capacitor C1One end of the parallel connection is grounded, and the other end is connected to the positive phase input end of the operational amplifier; resistance R2And a capacitor C2Parallel connection, one end is connected to the inverting input end of the operational amplifier, and the other end is connected to the output end of the operational amplifier; resistance R3One end of the diode D is connected with the anode of the diode D, and the other end of the diode D is grounded; the cathode of the diode D is connected with the inverting input end of the operational amplifier; voltage output terminal VoThrough a resistance R4Connected with the output end of the operational amplifier. In this embodiment, the parameters of each electronic device are not limited, and those skilled in the art can configure the electronic device according to specific use requirements. When laser irradiates on the photosensitive surface of the photoelectric detector, a position relation exists between a laser spot and the whole photosensitive surface, when the laser irradiates on different positions of the photosensitive surface, the fact that the first surface and the second surface are in a direct or non-direct relation is shown, for example, the laser spot is set to be positioned at a point A on the photosensitive surfaceIf the laser light spot is positioned at a position outside the point A, the non-direct-alignment specific position relationship between the first surface and the second surface can be obtained by calculating the distance between the laser light spot and the point A; because the laser beam can be attenuated when propagating in the environment, under the condition of knowing the relation between the laser attenuation rate and the propagation environment, the laser attenuation condition can be obtained according to the light intensity information generated by the photoelectric detector, and then the distance between the first surface and the second surface is calculated according to the propagation environment. In the embodiment, laser with strong interference and high measurement precision is used as a measurement medium, so that the representation of the position relationship between the first surface and the second surface by the light spot position information and the light intensity information acquired by the laser detection unit 203 is more accurate, and the accuracy of the measurement result of the system of the embodiment is improved.
The first data processing unit 101 and the second data processing unit 201 of the present embodiment implement information communication with the server 30, and in the transmitting module 10 and the feedback module 20, the first data processing unit 101 and the second data processing unit 201 are respectively configured to be connected with the server 30 through wireless communication or wired communication. The first data processing unit 101 and the second data processing unit 201 in this embodiment may adopt a single chip to realize data transmission with the server 30, when the single chip is in wired communication with the server 30, the single chip realizes information transmission with the server 30 through a data transmission line, and when the single chip is in wireless communication with the server 30, the single chip combines a wireless communication product as the first data processing unit 101 or the second data processing unit 201 in this embodiment of the present invention to realize data transmission.
On the other hand, the first data processing unit 101 of the present embodiment is connected to the first radar unit 102 and the laser emitting unit 103, and can acquire the ranging request signal sent by the first radar unit 102, the ranging response signal received by the first radar unit 102, and the signal parameters of the laser beam emitted by the laser emitting unit 103, for example, the ranging request signal and the ranging response signal include signal intensity, timestamp information, and the like, and the parameters of the laser beam include information such as laser intensity, pulse width, laser energy, divergence angle, and the like. Similarly, the second data processing unit 201 of the present embodiment is connected to the second radar unit 202 and the laser detection unit 203, and can acquire the ranging response signal sent by the second radar unit 202 and the spot position information and the light intensity information of the laser beam acquired by the laser detection unit 203. The first data processing unit 101 or the second data processing unit 201 performs basic conversion or sorting on the above signal parameters, the conversion process includes converting analog signals into digital signals, and the sorting process may include performing timing summarization, screening, encoding, packaging and the like on the measurement information sent by each unit, and then sending the measurement information to the server 30 for computational analysis; the first data processing unit 101 or the second data processing unit 201 may further perform a preliminary calculation, and then package and send the calculation result to the server 30 for further calculation and analysis, for example, in a measurement period, the first data processing unit 101 or the first radar unit 102 calculates a distance value between the first surface and the second surface according to the ranging request signal and the ranging response signal, calculates a position correspondence relationship and a distance value between the first surface and the second surface according to the light point position information and the light intensity information, assembles the above information into a data packet, adds timestamp information, and sends the data packet to the server 30.
The server 30 in this embodiment, after receiving the ranging request signal, the ranging response signal, the light spot position information, and the light intensity information sent by the first data processing unit 101 and the second data processing unit 201, calculates the distance between the first surface and the second surface according to the ranging request signal and the ranging response signal, and calculates the position correspondence and the distance value between the first surface and the second surface according to the light spot position information and the light intensity information; after the measurement parameters are calculated, visual display can be carried out through a display, or the spatial position relation of the first surface and the second surface is visually displayed through software modeling, so that an operator can conveniently observe and carry out position adjustment and the like on the first surface or the second surface according to a display result. The server 30 in this embodiment can also send a ranging request signal or a signal parameter of a laser beam to the first data processing unit 101, so as to adjust the signal intensity of the ranging request signal or adjust parameters such as the intensity, pulse width, and divergence angle of the laser beam; the server 30 can also send the signal parameters of the ranging response signal to the second data processing unit 201, so as to adjust the parameters such as the signal strength of the ranging response signal; the server 30 can also send parameter setting information for the laser detection unit 203, such as setting the size of the detection area of the photodetector and the position of the detection area, to the second data processing unit 201.
The distributed multi-source information co-location system is suitable for various scenes for measuring the position relation of two opposite surfaces, and the corresponding first surface and the second surface can be planes or curved surfaces. The distributed multi-source information co-location system of the embodiment may further design a plurality of transmitting modules 10 and feedback modules 20 in the same scene, and obtain a more accurate measurement result through calculation and analysis of all measurement information by the server 30.
According to the distributed multi-source information cooperative positioning system, the distance between the first surface and the second surface is measured through the first radar unit and the second radar unit, the position relation of the first surface and the second surface is measured through the laser emitting unit and the laser detecting unit, and the position relation of the first surface and the second surface is finally obtained through calculation processing of the measured information through the server. This embodiment has guaranteed the accurate survey of this system to the positional relationship of first surface and second surface through strong, the high radar of stability of interference immunity and laser measurement mode, and simultaneously, this positioning system is applicable to multiple scene that need survey positional relationship between two surfaces, and the range of application is extensive.
Specifically, as shown in fig. 3, the transmitting module 10 in this embodiment further includes a first inclination measuring unit 104, and the feedback module 20 further includes a second inclination measuring unit 204, where: the first inclination angle measuring unit 104 is connected with the first data processing unit 101, and is used for generating first surface inclination angle information and sending the first surface inclination angle information to the first data processing unit 101; the second inclination angle measuring unit 204 is connected with the second data processing unit 201, and is used for generating second surface inclination angle information and sending the second surface inclination angle information to the second data processing unit 201; the first data processing unit 101 is configured to send the first surface inclination information to the server 30 for calculation; the second data processing unit 201 is configured to send the second surface inclination information to the server 30 for calculation.
In this embodiment, specific product signals of the first inclination angle measurement unit 104 and the second inclination angle measurement unit 204 are not limited, and only the measurement of the inclination angles of the first surface and the second surface needs to be implemented. Preferably, the first inclination measuring unit 104 and the second inclination measuring unit 204 in this embodiment are gyroscope levels; alternatively, the first inclination measuring unit 104 and the second inclination measuring unit 204 in the present invention are implemented by nine-axis sensors, and the existing nine-axis sensors generally refer to a combination of a three-axis gyroscope, a three-axis accelerometer, and a three-axis geomagnetism meter, or a combination of a six-axis accelerometer and a three-axis gyroscope, or a combination of a six-axis gyroscope and a three-axis accelerometer, and the like. The specific manufacturer and model of the gyro level or the nine-axis sensor are not limited in this embodiment, and can be selected by those skilled in the art.
In this embodiment, the server calculates the inclination angles of the first surface and the second surface according to the first surface inclination angle information generated by the first inclination angle measurement unit and the second surface inclination angle information generated by the second inclination angle measurement unit, so as to improve the accuracy of the system in detecting the position relationship between the first surface and the second surface.
As shown in fig. 4, an embodiment of the present invention further provides a distributed multi-source information cooperative positioning method, which is implemented by the distributed multi-source information cooperative positioning system of the foregoing embodiment in the following manner:
step S101: the transmitting module 10 generates a ranging request signal and transmits the ranging request signal to the feedback module 20, and the transmitting module 10 transmits the ranging request signal to the server 30; the transmitting module 10 transmits a laser beam to the feedback module 20.
Specifically, the method specifically comprises the following steps: the first radar unit 102 generates and transmits a ranging request signal to the second radar unit 202, and the first radar unit 102 transmits the ranging request signal to the server 30 through the first data processing unit 101; the laser emitting unit 103 emits a laser beam to the laser detecting unit 203.
Step S102: the feedback module 20 receives and responds to the ranging request signal to generate a ranging response signal, and the feedback module 20 sends the ranging response signal to the server 30; the feedback module 20 receives the laser beam, obtains the spot position information and the light intensity information of the laser beam, and sends the spot position information and the light intensity information to the server 30.
Specifically, the method specifically comprises the following steps: the second radar unit 202 receives and responds to the ranging request signal to generate a ranging response signal, and the second radar unit 202 transmits the ranging response signal to the server 30 through the second data processing unit 201; the laser detection unit 203 receives the laser beam, acquires the spot position information and the light intensity information of the laser beam, and sends the spot position information and the light intensity information to the server 30 through the second data processing unit 201.
Step S103: the server 30 receives the ranging request signal sent by the transmitting module 10 and the ranging response signal, the light spot position information and the light intensity information sent by the feedback module 20, and calculates the position relationship between the first surface and the second surface.
Specifically, the method specifically comprises the following steps: the server 30 receives the ranging request signal transmitted from the first data processing unit 101 and the ranging response signal, the spot position information, and the light intensity information transmitted from the second data processing unit 201, and calculates the positional relationship between the first surface and the second surface.
As shown in fig. 5, an embodiment of the present invention further provides another distributed multi-source information co-location method, which is implemented by the distributed multi-source information co-location system of the foregoing embodiment in the following manner:
step S201: the transmitting module 10 generates a ranging request signal and transmits the ranging request signal to the feedback module 20, and the transmitting module 10 transmits the ranging request signal to the server 30; the transmitting module 10 transmits a laser beam to the feedback module 20.
The specific execution process of this step is the same as step S101 in the previous embodiment, and details are not described here.
Step S202: the feedback module 20 receives and responds to the ranging request signal, generates a ranging response signal and sends the ranging response signal to the transmitting module 10; the feedback module 20 receives the laser beam, obtains the spot position information and the light intensity information of the laser beam, and sends the spot position information and the light intensity information to the server 30.
Specifically, the method specifically comprises the following steps: the second radar unit 202 receives and responds to the ranging request signal, generates a ranging response signal and sends the ranging response signal to the first radar unit 102; the laser detection unit 203 receives the laser beam, acquires the spot position information and the light intensity information of the laser beam, and sends the spot position information and the light intensity information to the server 30 through the second data processing unit 201.
Step S203: the transmitting module 10 receives the ranging response signal and transmits the ranging response signal to the server 30;
specifically, the method specifically comprises the following steps: the first radar unit 102 receives the ranging response signal and transmits the ranging response signal to the server 30 through the first data processing unit 101;
step S204: the server 30 receives the ranging request signal and the ranging response signal sent by the transmitting module 10 and the spot position information and the light intensity information sent by the feedback module 20, and calculates the position relationship between the first surface and the second surface.
Specifically, the method specifically comprises the following steps: the server 30 receives the ranging request signal and the ranging response signal transmitted from the first data processing unit 101 and the light spot position information and the light intensity information transmitted from the second data processing unit 201, and calculates the position relationship between the first surface and the second surface.
As shown in fig. 6 and 7, the present embodiment further includes, on the basis of the above embodiments:
step S101 further includes: the transmission module 10 measures the inclination angle of the first surface and generates first surface inclination angle information, and transmits the first surface inclination angle information to the server 30.
The method specifically comprises the following steps: the first inclination measuring unit 104 measures the inclination angle of the first surface and generates the first surface inclination information, and transmits the first surface inclination information to the server 30 through the first data processing unit 101.
Step S102 further includes: the feedback module 20 measures the tilt angle of the second surface and generates second surface tilt angle information, and sends the second surface tilt angle information to the server 30.
The method specifically comprises the following steps: the second inclination measuring unit 204 measures the inclination angle of the second surface and generates the second surface inclination information, and transmits the second surface inclination information to the server 30 through the second data processing unit 201.
Step S103 further includes: the server 30 receives the first surface inclination angle information sent by the transmitting module 10 and the second surface inclination angle information sent by the feedback module 20, and calculates the inclination angle pair of the first surface and the second surface.
The method specifically comprises the following steps: the server 30 receives the first surface inclination angle information sent by the first data processing unit 101 and the second surface inclination angle information sent by the second data processing unit 201, and calculates the inclination angle between the first surface and the second surface.
Alternatively, step S201 further includes: the transmission module 10 measures the inclination angle of the first surface and generates first surface inclination angle information, and transmits the first surface inclination angle information to the server 30.
The method specifically comprises the following steps: the first inclination measuring unit 104 measures the inclination angle of the first surface and generates the first surface inclination information, and transmits the first surface inclination information to the server 30 through the first data processing unit 101.
Step S202 further includes: the feedback module 20 measures the tilt angle of the second surface and generates second surface tilt angle information, and sends the second surface tilt angle information to the server 30.
The method specifically comprises the following steps: the second inclination measuring unit 204 measures the inclination angle of the second surface and generates the second surface inclination information, and transmits the second surface inclination information to the server 30 through the second data processing unit 201.
Step S204 further includes: the server 30 receives the first surface inclination angle information sent by the transmitting module 10 and the second surface inclination angle information sent by the feedback module 20, and calculates the inclination angle pair of the first surface and the second surface.
The method specifically comprises the following steps: the server 30 receives the first surface inclination angle information sent by the first data processing unit 101 and the second surface inclination angle information sent by the second data processing unit 201, and calculates the inclination angle between the first surface and the second surface.
In the distributed multi-source information co-location method according to the embodiment of the present invention, all contents of the distributed multi-source information co-location system may be referred to for data processing, and the like, and details are not described here.
As shown in fig. 4 to 7, the distributed multi-source information co-location method of the present invention further includes the following steps:
step S104: the server 30 generates alarm information after the positional relationship between the first surface and the second surface exceeds a set range.
Alternatively, step S205: the server 30 generates alarm information after the positional relationship between the first surface and the second surface exceeds a set range.
In this embodiment, there is no limitation on the setting range of the positional relationship between the first surface and the second surface, for example, in some scenarios, it is required that both the first surface and the second surface are horizontal surfaces and the first surface and the second surface correspond to each other at a certain distance in the vertical direction, if the calculation result of the server 30 finds that the distance between the first surface and the second surface does not satisfy the setting, or the position point at which the second surface receives the laser beam does not satisfy the setting, or the first surface inclination angle and the second surface inclination angle do not satisfy the setting, it indicates that the positional relationship between the first surface and the second surface exceeds the setting range, and the aforementioned limitation is satisfied by adjusting the position of the first surface or the position of the second surface. When the position relationship between the first surface and the second surface exceeds the set range, the alarm information generated by the server 30 can be prompted by various alarm devices, such as a flashing alarm lamp, a sound alarm, a pop-up alarm on a display screen, and the like, and can be implemented by other methods, which are not listed here.
Specifically, the distributed multi-source information co-location method of this embodiment further includes:
the server 30 generates working parameters of the first radar unit 102, the laser emission unit 103 and the first inclination angle measurement unit 104 and sends the working parameters to the first radar unit 102, the laser emission unit 103 and the first inclination angle measurement unit 104 through the first data processing unit 101; the server 30 generates the working parameters of the second radar unit 202, the laser detection unit 203 and the second inclination angle side measurement unit 204, and sends the working parameters to the second radar unit 202, the laser detection unit 203 and the second inclination angle measurement unit 204 through the second data processing unit 201. The operating parameters in this embodiment may include the intensity, pulse width, divergence angle of the laser beam, signal intensity, frequency domain, wavelength, etc. of the radar signal, or the measurement time period of the first and second tilt angle measurement units 104 and 204. The specific working parameters are set manually by those skilled in the art in actual implementation, and are not specifically limited herein.
The distributed multi-source information co-location method of the embodiment of the invention is characterized in that the distance between the first surface and the second surface is measured through the first radar unit and the second radar unit, the position relation of the laser emission unit and the laser detection unit at the positions of the first surface and the second surface is measured through the laser emission unit and the laser detection unit, the inclination angles of the first surface and the second surface are measured through the first inclination angle measurement unit and the second inclination angle measurement unit respectively, and the server is used for calculating and processing the measurement information to finally obtain the position relation of the first surface and the second surface. In the embodiment, the accurate determination of the position relationship between the first surface and the second surface by the system is ensured by the radar and laser measurement mode with strong anti-interference performance and high stability, and meanwhile, the accuracy of the determination of the position relationship between the first surface and the second surface is further improved by combining the determination of the inclination angles of the first surface and the second surface; on the other hand, the positioning method can be suitable for various scenes needing to measure the position relation between two surfaces, and has a very wide application range.
The embodiment of the invention also provides application of the distributed multi-source information cooperative positioning system in a climbing type integral steel platform. In the climbing type integral steel platform scene used during the construction of a high-rise building, a steel platform is supported by a plurality of hydraulic ejector rods, the bottoms of the hydraulic ejector rods are positioned on a finished reinforced concrete plane, the steel platform climbs upwards under the action of oil cylinders by the hydraulic ejector rods, and if the calibration heights of the hydraulic ejector rods are not consistent or the operation speeds are different and the directions are not vertical, the steel platform is caused to incline to bring potential safety hazards to the construction because the steel platform is a rigid whole. The reinforced concrete plane is set as the first surface in the embodiment, the lower surface of the steel platform is set as the second surface in the embodiment (or any plane perpendicular to the hydraulic ejector pins is set as the second surface), the transmitting module 10 and the feedback module 20 are installed according to the requirements of the distributed multi-source information cooperative positioning system, and after the server 30 calculates and analyzes the measurement information, whether the steel platform is inclined or not (or whether the height of a certain hydraulic ejector pin is not in accordance with a set value or whether a certain hydraulic ejector pin is inclined) can be judged, so that the operation personnel can adjust the steel platform in time. The server 30 of this embodiment may also be connected to a hydraulic jack, and after the steel platform is inclined or the position of the steel platform exceeds the position range set by the operator, the hydraulic jack is controlled to ascend or descend until the measurement information of the transmitting module 10 and the feedback module 20 is calculated by the server 30 to obtain that the position of the steel platform meets the requirement, so that the measurement and adjustment of the position of the steel platform are achieved.
The embodiment of the invention also provides the application of the distributed multi-source information cooperative positioning system in the monitoring scene of an electric lifting platform, the monitoring scene of a movable lifting platform, the monitoring scene of a guide rail type lifter, the monitoring scene of a lifting platform of a three-dimensional parking garage, the monitoring scene of a vertical lifting platform, the monitoring scene of cooperative operation of lifting by a plurality of cranes and the like, wherein the monitoring scene of the electric lifting platform, the monitoring scene of the movable lifting platform, the monitoring scene of the guide rail type lifter, the monitoring scene of the lifting platform of the three-dimensional parking garage, the monitoring scene of the vertical lifting platform and the monitoring scene of the cooperative operation of lifting by a plurality of cranes in the embodiment have the same purpose as that of the climbing type integral, namely, the position relation between the two surfaces is measured, and the position relation between the two surfaces is adjusted through the measurement result so as to achieve the purposes of production safety or equipment operation safety and the like. Various application scenarios of the present embodiment are well known in the prior art, so the specific mechanical mechanism thereof is not described in detail in the present embodiment, and the determination of the position relationship between two surfaces by the distributed multi-source information co-location system of the above embodiment is all within the protection scope of the present invention.
The present invention has been further described with reference to specific embodiments, but it should be understood that the detailed description should not be construed as limiting the spirit and scope of the present invention, and various modifications made to the above-described embodiments by those of ordinary skill in the art after reading this specification are within the scope of the present invention.
Claims (9)
1. A distributed multi-source information co-location system, comprising a transmitter module located on a first surface, a feedback module located on a second surface opposite the first surface, and a server configured to communicatively couple the transmitter module and the feedback module, wherein:
the transmitting module comprises a first data processing unit, a first radar unit and a laser transmitting unit, and the first radar unit and the laser transmitting unit are connected with the first data processing unit; the first radar unit is used for sending a ranging request signal and sending the ranging request signal to the first data processing unit; the laser emitting unit is used for emitting a laser beam vertical to the first surface; the first data processing unit is in communication connection with the server and is used for sending the ranging request signal to the server;
the feedback module comprises a second data processing unit, a second radar unit and a laser detection unit, and the second radar unit and the laser detection unit are connected with the second data processing unit; the second radar unit is used for receiving the ranging request signal and correspondingly sending a ranging response signal; the laser detection unit is used for receiving the laser beam emitted by the laser emission unit and acquiring the spot position information and the light intensity information of the laser beam; the second data processing unit is in communication connection with the server and is used for sending the ranging response signal, the light spot position information and the light intensity information to the server;
the first radar unit is further configured to receive the ranging response signal and send the ranging response signal to the first data processing unit, and the first data processing unit is configured to send the ranging response signal to the server; or the second radar unit is further configured to send the ranging response signal to the second data processing unit, and the second data processing unit is configured to send the ranging response signal to the server;
the server is used for calculating the position relation between the first surface and the second surface according to the ranging request signal, the ranging response signal, the light spot position information and the light intensity information;
the transmitting module further comprises a first inclination measuring unit, the feedback module further comprises a second inclination measuring unit, wherein:
the first inclination angle measuring unit is connected with the first data processing unit and used for generating the first surface inclination angle information and sending the first surface inclination angle information to the first data processing unit;
the second inclination angle measuring unit is connected with the second data processing unit and used for generating the second surface inclination angle information and sending the second surface inclination angle information to the second data processing unit;
the first data processing unit is used for sending the first surface inclination angle information to the server for calculation; and the second data processing unit is used for sending the second surface inclination angle information to the server for calculation.
2. The distributed multi-source information co-location system of claim 1, wherein the laser detection unit comprises a photodetector and a driving amplification circuit, the photodetector is connected to the driving amplification circuit, and the driving amplification circuit is connected to the second data processing unit, wherein:
the photoelectric detector is used for receiving the laser beam emitted by the laser emitting unit and generating the light spot position information and the light intensity information;
the driving amplification circuit is used for amplifying the light spot position information and the light intensity information;
the second data processing unit is used for sending the amplified light spot position information and the amplified light intensity information to the server.
3. The distributed multi-source information co-location system of claim 2, wherein the first data processing unit and the second data processing unit are configured to be in wired communication connection or wireless communication connection with the server.
4. A distributed multi-source information co-location method, characterized in that the distributed multi-source information co-location system of any one of claims 1 to 3 is implemented by:
the transmitting module generates the ranging request signal and sends the ranging request signal to the feedback module, and the transmitting module sends the ranging request signal to the server; the transmitting module transmits the laser beam to the feedback module;
the feedback module receives and responds to the ranging request signal to generate the ranging response signal, and the feedback module sends the ranging response signal to the server; the feedback module receives the laser beam, acquires the light spot position information and the light intensity information of the laser beam, and then sends the light spot position information and the light intensity information to the server;
the server receives the ranging request signal sent by the transmitting module and the ranging response signal, the light spot position information and the light intensity information sent by the feedback module, and calculates the position relation between the first surface and the second surface;
the transmitting module measures the inclination angle of the first surface, generates the first surface inclination angle information and sends the first surface inclination angle information to the server;
the feedback module measures the inclination angle of the second surface, generates second surface inclination angle information and sends the second surface inclination angle information to the server;
and the server receives the first surface inclination angle information sent by the transmitting module and the second surface inclination angle information sent by the feedback module, and calculates the inclination angle pair of the first surface and the second surface.
5. The distributed multi-source information co-location method of claim 4,
the first radar unit generates the ranging request signal and sends the ranging request signal to the second radar unit, and the first radar unit sends the ranging request signal to the server through the first data processing unit; the laser emitting unit emits the laser beam to the laser detecting unit;
the second radar unit receives and responds to the ranging request signal to generate the ranging response signal, and the second radar unit sends the ranging response signal to the server through the second data processing unit; the laser detection unit receives the laser beam, acquires the light spot position information and the light intensity information of the laser beam, and sends the light spot position information and the light intensity information to the server through the second data processing unit;
and the server receives the ranging request signal sent by the first data processing unit and the ranging response signal, the light spot position information and the light intensity information sent by the second data processing unit, and calculates the position relationship between the first surface and the second surface.
6. The distributed multi-source information co-location method of claim 4,
the first inclination angle measuring unit measures the inclination angle of the first surface, generates first surface inclination angle information, and sends the first surface inclination angle information to the server through the first data processing unit;
the second inclination angle measuring unit measures the inclination angle of the second surface and generates second surface inclination angle information, and the second surface inclination angle information is sent to the server through the second data processing unit;
and the server receives the first surface inclination angle information sent by the first data processing unit and the second surface inclination angle information sent by the second data processing unit, and calculates the inclination angle of the first surface and the second surface.
7. A distributed multi-source information co-location method, characterized in that the distributed multi-source information co-location system of any one of claims 1 to 3 is implemented by:
the transmitting module generates the ranging request signal and sends the ranging request signal to the feedback module, and the transmitting module sends the ranging request signal to the server; the transmitting module transmits the laser beam to the feedback module;
the feedback module receives and responds to the ranging request signal, generates the ranging response signal and sends the ranging response signal to the transmitting module; the feedback module receives the laser beam, acquires the light spot position information and the light intensity information of the laser beam, and then sends the light spot position information and the light intensity information to the server;
the transmitting module receives the ranging response signal and sends the ranging response signal to the server;
the server receives the ranging request signal and the ranging response signal sent by the transmitting module, and the light spot position information and the light intensity information sent by the feedback module, and calculates the position relationship between the first surface and the second surface;
the transmitting module measures the inclination angle of the first surface, generates the first surface inclination angle information and sends the first surface inclination angle information to the server;
the feedback module measures the inclination angle of the second surface, generates second surface inclination angle information and sends the second surface inclination angle information to the server;
and the server receives the first surface inclination angle information sent by the transmitting module and the second surface inclination angle information sent by the feedback module, and calculates the inclination angle pair of the first surface and the second surface.
8. The distributed multi-source information co-location method of claim 7,
the first radar unit generates the ranging request signal and sends the ranging request signal to the second radar unit, and the first radar unit sends the ranging request signal to the server through the first data processing unit; the laser emitting unit emits the laser beam to the laser detecting unit;
the second radar unit receives and responds to the ranging request signal, generates the ranging response signal and sends the ranging response signal to the first radar unit; the laser detection unit receives the laser beam, acquires the light spot position information and the light intensity information of the laser beam, and sends the light spot position information and the light intensity information to the server through the second data processing unit;
the first radar unit receives the ranging response signal and sends the ranging response signal to the server through the first data processing unit;
and the server receives the ranging request signal and the ranging response signal sent by the first data processing unit, and the light spot position information and the light intensity information sent by the second data processing unit, and calculates the position relationship between the first surface and the second surface.
9. The distributed multi-source information co-location method of claim 7,
the first inclination angle measuring unit measures the inclination angle of the first surface, generates first surface inclination angle information, and sends the first surface inclination angle information to the server through the first data processing unit;
the second inclination angle measuring unit measures the inclination angle of the second surface and generates second surface inclination angle information, and the second surface inclination angle information is sent to the server through the second data processing unit;
and the server receives the first surface inclination angle information sent by the first data processing unit and the second surface inclination angle information sent by the second data processing unit, and calculates the inclination angle of the first surface and the second surface.
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