CN110412908A - A kind of monitoring system of underwater leveling machine - Google Patents
A kind of monitoring system of underwater leveling machine Download PDFInfo
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- CN110412908A CN110412908A CN201910533069.3A CN201910533069A CN110412908A CN 110412908 A CN110412908 A CN 110412908A CN 201910533069 A CN201910533069 A CN 201910533069A CN 110412908 A CN110412908 A CN 110412908A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B19/00—Alarms responsive to two or more different undesired or abnormal conditions, e.g. burglary and fire, abnormal temperature and abnormal rate of flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2612—Data acquisition interface
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Underground Or Underwater Handling Of Building Materials (AREA)
Abstract
The present invention provides a kind of monitoring system of underwater leveling machine, is applied in underwater leveling machine, and underwater leveling machine includes leveling machine frame and hopper, and hopper is movably disposed on leveling machine frame；Monitoring system includes data collection system and processing system；Data collection system includes: two antennas and receiver, and each antenna receives the differential signal of ground base station, and horizontal position and the tower height of underwater leveling machine are calculated according to differential signal for receiver；At least one dipmeter, the gradient of monitoring leveling machine frame；A plurality of pressure sensors, for scattering device on leveling machine frame and hopper, each pressure sensor respectively obtains the first height of position；Processing system includes: computing module, and the third height of hopper is calculated according to the data that data collection system uploads；Display module, the data and third height that display data collection system uploads.The beneficial effects of the present invention are improve the accuracy of monitoring and the leveling effect of underwater leveling machine.
Description
Technical field
The present invention relates to underwater operation field more particularly to a kind of monitoring systems of underwater leveling machine.
Background technique
Traditional underwater foundation construction predominantly leveling of deep water stone dumper and artificial leveling, however what deep water stone dumper flattened
Use cost is high, and screed operation process it is more complex.And artificial leveling usually passes through artificial observation waterborne and water
Lower personal monitoring combines the monitoring for carrying out evener, and is adjusted according to monitoring result, however artificial leveling is by water flow, wind
Wave and effect of depth are larger, and the safety in production that will lead to staff is on the hazard, to increase cost of labor, and artificial water
Lower operation, is limited by water depth pressure, and manual work is difficult, and large labor intensity, and it is fixed effectively cannot accurately to measure
Position, therefore the effect of artificial screed operation is difficult to reach target effect.
Summary of the invention
For the above-mentioned problems in the prior art, a kind of accuracy for being intended to improve monitoring and underwater leveling are now provided
The monitoring system of the underwater leveling machine of the leveling effect of machine.
Specific technical solution is as follows:
A kind of monitoring system of underwater leveling machine is applied in underwater leveling machine, wherein underwater leveling machine includes evener
Frame and hopper, hopper are movably disposed on leveling machine frame；
Monitoring system includes data collection system and processing system, and data collection system and processing system communicate to connect；
Data collection system includes:
Two antennas and receiver, each antenna are connect with receiver, and each antenna is arranged at leveling machine frame
Pylon top, each antenna receive the differential signal of ground base station, and underwater leveling machine is calculated according to differential signal in receiver
Horizontal position and tower height, and horizontal position and tower height are sent to processing system；
At least one dipmeter, setting is on leveling machine frame, for monitoring the gradient of leveling machine frame, and will inclination
Degree is sent to processing system；
A plurality of pressure sensors, on leveling machine frame and hopper, each pressure sensor respectively obtains scattering device
First height of position, and the first height is sent to processing system respectively；
Processing system includes:
The third height of hopper is calculated according to the data that data collection system uploads for computing module；
Display module is connect with computing module, the data and third height uploaded for data collection system.
Preferably, system is monitored, wherein processing system further include:
Operation module provides an operation interface, the data that operator uploads referring to data collection system in operation module
And third height, corresponding operational order is inputted by operation interface, is worked with controlling underwater leveling machine, obtains ideal
Leveling effect.
Preferably, system is monitored, wherein
Computing module is high according to the third that horizontal position, tower height and gradient obtain hopper according to the first preset algorithm
Degree；And/or
Computing module obtains the third height of hopper according to the second preset algorithm according to each first height.
Preferably, system is monitored, wherein the first preset algorithm is difference formula.
Preferably, system is monitored, wherein the second preset algorithm is by the first height combination sea level altitude according to ordered series of numbers public affairs
Formula obtains third height.
Preferably, system is monitored, wherein data collection system further include:
Underwater acquisition sensor group, underwater acquire includes multiple underwater acquisition sensors in sensor group, and scattering device exists
It flattens on machine frame, underwater acquisition sensor group needs to be achieved whole for real-time monitoring underwater leveling machine and this flattening operation
Real-time range between flat target, and real-time range is sent to processing system；
The display module of processing system is also used to show real-time range.
Preferably, system is monitored, wherein display module includes:
Coordinate setting unit for establishing a coordinate interface on the display interface of display module, and data is acquired and are
The data uploaded of uniting and third height are shown on coordinate interface.
Preferably, system is monitored, wherein processing system further include:
Memory module is connect with computing module and display module, for storing data acquisition system upload data and
Third height.
Preferably, system is monitored, wherein further include:
Alarm system is connect with processing system, in alarm system, is divided for every class data that data collection system uploads
Not She Zhi threshold value, and to third height be arranged threshold value；
Alarm system Real-time Monitoring Data acquisition system is uploaded to the Various types of data and third height of processing system；
When at least a kind of data that data collection system uploads exceed corresponding threshold value, alarm system is alarmed；With
And
When third height exceeds corresponding threshold value, alarm system is alarmed.
Preferably, system is monitored, wherein all antennas pylon top arranged in parallel in leveling machine frame, two
There are a pre-determined distances between adjacent antenna.
Above-mentioned technical proposal has the following advantages that or the utility model has the advantages that passes through horizontal position and the pylon of acquisition underwater leveling machine
Highly, the gradient of machine frame and the first height of each pressure sensor position, the above-mentioned data meter of processing system are flattened
Calculation obtains the third height of hopper, thus realize the flattening course of real time monitoring underwater leveling machine, to improve the accuracy of monitoring,
And then the leveling effect of underwater leveling machine is improved, and facilitate the operation of subsequent operation personnel, to obtain preferably flattening effect.
Detailed description of the invention
With reference to appended attached drawing, more fully to describe the embodiment of the present invention.However, appended attached drawing be merely to illustrate and
It illustrates, and is not meant to limit the scope of the invention.
Fig. 1 is the module diagram of present invention monitoring system embodiment；
Fig. 2 is the module diagram of the processing system of present invention monitoring system embodiment；
Fig. 3 is the side view of the underwater leveling machine of present invention monitoring system embodiment；
Fig. 4 is the top view of the underwater leveling machine of present invention monitoring system embodiment.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
The present invention includes a kind of monitoring system of underwater leveling machine, is applied in underwater leveling machine, underwater whole such as Fig. 3-4
Flat machine includes leveling machine frame 5 and hopper 6, and hopper 6 is movably disposed on leveling machine frame 5；
As shown in Figure 1, monitoring system includes data collection system 1 and processing system 2, data collection system 1 and processing system
2 communication connection of system；
Data collection system 1 includes:
Two antennas 3 and receiver 4, each antenna 3 are connect with receiver 4, and each antenna 3 is arranged at leveling machine frame
The pylon top of frame 5, each antenna 3 receive the differential signal of ground base station, and receiver 4 is calculated under water according to differential signal
The horizontal position of evener and tower height, and horizontal position and tower height are sent to processing system 2；
At least one dipmeter 7, setting is on leveling machine frame 5, for monitoring the gradient of leveling machine frame 5, and will
Gradient is sent to processing system 2；
A plurality of pressure sensors 8, scattering device on leveling machine frame 5 and hopper 6, distinguish by each pressure sensor 8
The first height of position is obtained, and the first height is sent to processing system 2 respectively；
As shown in Fig. 2, processing system 2 includes:
The third height of hopper 6 is calculated according to the data that data collection system 1 uploads for computing module 21；
Display module 22 is connect with computing module 21, the data and third height uploaded for data collection system 1.
In the above-described embodiments, by data collection system 1 collect underwater leveling machine horizontal position and tower height,
The first height of 8 position of gradient and each pressure sensor of machine frame 5 is flattened, processing system 2 is acquired according to data
The third height of hopper 6 is calculated in the data that system 1 uploads, thus realize the flattening course of real time monitoring underwater leveling machine,
To improve the accuracy of monitoring, and then the leveling effect of underwater leveling machine is improved, and facilitate the operation of subsequent operation personnel, with
It obtains preferably flattening effect.
In the above-described embodiments, antenna 3, receiver 4 and dipmeter 7 can connect with processing system 2 by wireless communication
It connects, to reduce monitoring cost.
Further, in a preferred embodiment, data collection system 1 may include at least two altimeters 9, respectively
It is arranged on hopper 6；
When the quantity of altimeter 9 is 2, two altimeters 9 can be oppositely arranged, and be used for real-time monitoring underwater leveling machine
The second height flattened, and the second height is sent to processing system 2.
In the above-described embodiments, pressure sensor 8 and altimeter 9 can be connect by wire cable with processing system 2, example
As the wire cable of each pressure sensor 8 and each altimeter 9 is passed through building stones umbilical cables are connected to underwater leveling machine
It flattens on machine frame 5, is accessed in processing system 2 after all building stones umbilical cables are summarized, to improve underwater leveling machine
Safety, wherein processing system 2 can be set in the operation command room of evener under water, facilitate operator to underwater
Evener is operated.
Further, in the above-described embodiments, as shown in Fig. 2, processing system 2 further include:
Operation module 23 is connect with computing module 21 and display module 22 respectively, and an operation circle is provided in operation module 23
Face, the data and third height that operator uploads referring to data collection system 1, inputs corresponding operation by operation interface
Instruction, is worked with controlling underwater leveling machine, obtains preferably flattening effect.
In the above-described embodiments, it can be manually entered corresponding operational order by operator, may be implemented to exception
State carries out timely executing action protection strategy, to improve the safety of underwater leveling machine.
Further, in the above-described embodiments, the gradient between the monitoring of dipmeter 7 leveling machine frame 5 and horizontal plane.It can
Accurately to reflect the posture deforming of underwater leveling machine, thus facilitate it is subsequent underwater leveling machine is controlled, and then realize obtain it is accurate
Leveling effect.
Further, in the above-described embodiments, computing module 21 is according to horizontal position, tower height and gradient according to
One preset algorithm obtains the third height of hopper 6；And/or
Computing module 21 obtains the third height of hopper 6 according to the second preset algorithm according to each first height.
Further, in the above-described embodiments, the first preset algorithm is difference formula, and passes through following formula (1), (2)
It realizes:
D2=L2-(LsinP)2-(LsinR)2； (1)
LD=H-D； (2)
Wherein, D is used for tower height when indicating underwater operation and the difference between third height；
H is for indicating tower height, i.e. the obtained elevation of GPS antenna measurement；
L is for indicating tower height when not carrying out underwater operation and the initial difference between third height；
LD is used to indicate the third height of hopper 6；
(P, R) is for indicating that gradient, gradient can indicate that dipmeter 7 measures obtained angle value.
For example, can set up a GPS ground base station on bank, above-mentioned GPS ground base station can be believed with real-time broadcasting difference
Breath, the every antenna 3 that the pylon top of leveling machine frame 5 is arranged in receive the differential signal of ground base station, and receiver 4 is according to difference
Horizontal position and the tower height of underwater leveling machine is calculated in sub-signal, and the dipmeter 7 being arranged on leveling machine frame 5 monitors
Flatten the gradient of machine frame 5, horizontal position and tower height of the computing module 21 according to underwater leveling machine, and leveling machine frame
The third height of hopper 6 is calculated in the gradient of frame 5, and wherein receiver 4 can be GPS rover station.
Further, in the above-described embodiments, the second preset algorithm is by the first height combination sea level altitude according to number
Column formula obtains third height.
Further, as preferred embodiment, the quantity of pressure sensor 8 is 4, and 4 pressure sensors 8
Four corners of leveling machine frame 5 are separately positioned on, the position of 4 pressure sensors 8 can form a rectangle, then pass through
The second preset algorithm is realized in following formula (3), (4)；
D2 2=S2 2-(S2sin(arctan(ABS(DQ1-DQ2)/L12)))2-(S2sin(arctan(ABS(DQ3-DQ2)/
L23)))2；
(3)
SD=DQ2-D2；
(4)
Wherein, DQ1 is used to indicate the measured value of first pressure sensor；
DQ2 is used to indicate the measured value of second pressure sensor；
DQ3 is used to indicate the measured value of third pressure sensor；
DQ4 is used to indicate the measured value of the 4th pressure sensor；
L12For indicating the distance between first pressure sensor and second pressure sensor；
L23For indicating the distance between second pressure sensor and third pressure sensor；
S2The first height and third height of second pressure sensor when for indicating not carry out underwater operation it
Between initial difference；
D2For indicating between the first height of second pressure sensor when carrying out underwater operation and third height
Initial difference；
SD is used to indicate the third height of hopper 6.
For example, a tidal station can be set up on bank, a pressure sensor 8 is provided in tidal station, for acquiring
The pressure data of 8 position of pressure sensor in tidal station is obtained, and then Hai Ping is calculated by above-mentioned pressure data
Face height, and by the way that a plurality of pressure sensors 8 are arranged on leveling machine frame 5 and hopper 6 to obtain corresponding pressure sensing
First height of 8 position of device, so that hopper 6 be calculated according to ordered series of numbers formula by the first height combination sea level altitude
Third height；Wherein, in order to reduce the influence surged, smothing filtering is carried out to the data of pressure sensor 8.
It should be noted that method of the pressure data that the pressure sensor 8 in tidal station is obtained according to the measurement of the level
Obtain the elevation of pressure sensor 8, at the same pressure sensor 8 can obtain that pressure data obtains itself according to measurement enter the depth of water
Degree；Then sea level altitude can be obtained by following formula (5)；
MSL=YQ+DQ； (5)
Wherein, MSL is for indicating sea level altitude；
YQ is used to indicate the elevation of pressure sensor 8；
DQ is used to indicate the underwater penetration of pressure sensor 8.
Further, in the above-described embodiments, data collection system 1 further include:
Underwater acquisition sensor group, underwater acquire includes multiple underwater acquisition sensors in sensor group, and scattering device exists
It flattens on machine frame 5, underwater acquisition sensor group needs to be achieved for real-time monitoring underwater leveling machine and this flattening operation
The real-time range between target is flattened, and real-time range is sent to processing system 2；
The display module 22 of processing system 2 is also used to show real-time range.
Further, as preferred embodiment, the underwater sensor that acquires can acquire sensor 10 for stroke, under water
Proximity sensor 11 and underwater rotary encoder 12；
Wherein, the quantity of stroke acquisition sensor 10 is 4, and each stroke acquisition sensor 10 can be set in evener
On a movable stand on frame 5, for acquiring the moving distance and move angle of underwater leveling machine；
Wherein, the quantity of underwater proximity sensor 11 is 6, has 4 underwater proximity sensors 11 that can exist with scattering device
On four apex angles for flattening machine frame 5, other two underwater proximity sensor 11 is arranged on the two of them apex angle of hopper 6,
The real-time range to be achieved flattened between target is needed for acquiring underwater leveling machine and this flattening operation；
Wherein, the quantity of underwater rotary encoder 12 is 4, and each underwater rotary encoder 12 can be with scattering device whole
On four apex angles of flat machine frame 5, for acquiring the traveling angle of underwater leveling machine.
Further, in the above-described embodiments, display module 22 includes:
Coordinate setting unit for establishing a coordinate interface on the display interface of display module 22, and data is acquired
The data and third height that system 1 uploads are shown on coordinate interface.User be can be convenient according to positioning subsystem
The corresponding operational order of the data acquisition of acquisition, and operated according to operational order, to obtain preset leveling effect.
Further, in the above-described embodiments, processing system 2 further include:
Memory module is connect with computing module 21 and display module 22, the data that acquisition system 1 uploads for storing data
And third height.
Further, in the above-described embodiments, further includes:
Alarm system is connect with processing system 2, in alarm system, for every class data of the upload of data collection system 1
Threshold value is respectively set, and threshold value is arranged to third height；
Alarm system Real-time Monitoring Data acquisition system 1 is uploaded to the Various types of data and third height of processing system 2；
When at least a kind of data that data collection system 1 uploads exceed corresponding threshold value, alarm system is alarmed；With
And
When third height exceeds corresponding threshold value, alarm system is alarmed.
Correct flattening operation is carried out to guide operator to control underwater leveling machine in time, to improve underwater leveling machine
Safety.
Further, in the above-described embodiments, antenna 3 is global navigation satellite antenna 3.All antennas 3, which are parallel to each other, to be set
It sets on the pylon top of leveling machine frame 5, there are a pre-determined distances between two adjacent antennas 3.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.
Claims (10)
1. a kind of monitoring system of underwater leveling machine is applied in underwater leveling machine, which is characterized in that the underwater leveling machine packet
It includes leveling machine frame and hopper, the hopper is movably disposed on the leveling machine frame；
The monitoring system includes a data collection system and a processing system, the data collection system and the processing system
Communication connection；
The data collection system includes:
Two antennas and a receiver, each antenna are connect with the receiver, and each antenna is arranged at institute
The pylon top of leveling machine frame is stated, each antenna receives the differential signal of ground base station, and the receiver is according to
Differential signal is calculated horizontal position and the tower height of the underwater leveling machine, and by the horizontal position and the pylon
Height is sent to the processing system；
At least one dipmeter is arranged on the leveling machine frame, for monitoring the gradient of the leveling machine frame, and will
The gradient is sent to the processing system；
A plurality of pressure sensors, scattering device is on the leveling machine frame and the hopper, each pressure sensor
The first height of position is respectively obtained, and first height is sent to the processing system respectively；
The processing system includes:
The third height of the hopper is calculated according to the data that the data collection system uploads for computing module；
Display module is connect with the computing module, the data and the third uploaded for showing the data collection system
Highly.
2. monitoring system as described in claim 1, which is characterized in that the processing system further include:
Operation module provides an operation interface in the operation module, and operator uploads referring to the data collection system
Data and the third height input corresponding operational order by the operation interface, to control the underwater leveling machine
It works, obtains preferably flattening effect.
3. monitoring system as described in claim 1, which is characterized in that
The computing module is obtained according to the horizontal position, the tower height and the gradient according to the first preset algorithm
The third height of the hopper；And/or
The computing module obtains the third height of the hopper according to the second preset algorithm according to each first height.
4. monitoring system as claimed in claim 3, which is characterized in that first preset algorithm is difference formula.
5. monitoring system as claimed in claim 3, which is characterized in that second preset algorithm is to tie first height
It closes sea level altitude and the third height is obtained according to ordered series of numbers formula.
6. monitoring system as described in claim 1, which is characterized in that the data collection system further include:
It is underwater to acquire sensor group, it include multiple underwater acquisition sensors in the underwater acquisition sensor group, scattering device exists
On the leveling machine frame, the underwater acquisition sensor group is for underwater leveling machine and this flattening operation described in real-time monitoring
The real-time range between leveling target to be achieved is needed, and the real-time range is sent to the processing system；
The display module of the processing system is also used to show the real-time range.
7. monitoring system as described in claim 1, which is characterized in that the display module includes:
Coordinate setting unit is adopted for establishing a coordinate interface on the display interface of the display module, and by the data
The data and the third height that collecting system uploads are shown on the coordinate interface.
8. monitoring system as described in claim 1, which is characterized in that the processing system further include:
Memory module is connect with the computing module and the display module, for storing the data collection system upload
Data and the third height.
9. monitoring system as described in claim 1, which is characterized in that further include:
Alarm system is connect with the processing system, in Yu Suoshu alarm system, is uploaded for the data collection system every
Threshold value is respectively set in class data, and threshold value is arranged to the third height；
Data collection system described in the alarm system real-time monitoring is uploaded to the Various types of data of the processing system and described
Third height；
When at least a kind of data that the data collection system uploads exceed the corresponding threshold value, the alarm system is carried out
Alarm；And
When the third height exceeds the corresponding threshold value, the alarm system is alarmed.
10. monitoring system as described in claim 1, which is characterized in that all antennas are arranged in parallel described whole
The pylon top of flat machine frame, there are a pre-determined distances between two adjacent antennas.
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| CN110412908B (en) | 2022-08-12 |
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