CN110412908B - Monitoring system of underwater leveling machine - Google Patents

Monitoring system of underwater leveling machine Download PDF

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Publication number
CN110412908B
CN110412908B CN201910533069.3A CN201910533069A CN110412908B CN 110412908 B CN110412908 B CN 110412908B CN 201910533069 A CN201910533069 A CN 201910533069A CN 110412908 B CN110412908 B CN 110412908B
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height
underwater
leveling machine
data acquisition
processing system
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CN110412908A (en
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黎斌
吴军
田春和
陈文龙
高申
尉志源
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Shanghai Cssc Shipbuilding Design Technology National Engineering Research Center Co ltd
Tianjin Research Institute for Water Transport Engineering MOT
Guangzhou Salvage Bureau
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Shanghai Cssc Shipbuilding Design Technology National Engineering Research Center Co ltd
Tianjin Research Institute for Water Transport Engineering MOT
Guangzhou Salvage Bureau
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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
    • 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
    • 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
    • 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
    • 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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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Underground Or Underwater Handling Of Building Materials (AREA)

Abstract

The invention provides a monitoring system of an underwater leveling machine, which is applied to the underwater leveling machine, wherein the underwater leveling machine comprises a leveling machine frame and a hopper, and the hopper is movably arranged on the leveling machine frame; the monitoring system comprises a data acquisition system and a processing system; the data acquisition system includes: each antenna receives a differential signal of the ground base station, and the receiver calculates the horizontal position and the tower height of the underwater leveling machine according to the differential signal; at least one inclinometer monitoring the inclination of the screed frame; the pressure sensors are dispersedly arranged on the leveling machine frame and the hopper, and each pressure sensor respectively obtains a first height of the position where the pressure sensor is located; the processing system comprises: the calculation module is used for calculating the third height of the hopper according to the data uploaded by the data acquisition system; and the display module is used for displaying the data uploaded by the data acquisition system and the third height. The invention has the beneficial effects of improving the monitoring accuracy and the leveling effect of the underwater leveling machine.

Description

Monitoring system of underwater leveling machine
Technical Field
The invention relates to the field of underwater operation, in particular to a monitoring system of an underwater leveling machine.
Background
The traditional underwater infrastructure mainly comprises deep water riprap leveling and manual leveling, but the use cost of the deep water riprap leveling is extremely high, and the leveling operation process is complex. And artifical flattening combines together through artifical observation on water and artifical monitoring under water and carries out the monitoring of evener usually, and adjust according to the monitoring result, however artifical flattening receives rivers, stormy waves and degree of depth influence great, can lead to staff's safety in production to receive the threat, thereby increase the cost of labor, and artifical underwater operation, receive the restriction of depth of water pressure, the manual work difficulty, and intensity of labour is big, can not be effective accurate measure the location, therefore the effect of artifical flattening operation is difficult to reach the target effect.
Disclosure of Invention
To address the above-mentioned problems in the prior art, a monitoring system for an underwater screed is now provided that aims to improve the accuracy of monitoring and the leveling effect of the underwater screed.
The specific technical scheme is as follows:
a monitoring system of an underwater leveling machine is applied to the underwater leveling machine, wherein the underwater leveling machine comprises a leveling machine frame and a hopper, and the hopper is movably arranged on the leveling machine frame;
the monitoring system comprises a data acquisition system and a processing system, and the data acquisition system is in communication connection with the processing system;
the data acquisition system includes:
the system comprises two antennas and a receiver, wherein each antenna is connected with the receiver, each antenna is arranged at the top end of a tower of a leveling machine frame, each antenna receives a differential signal of a ground base station, the receiver calculates the horizontal position and the tower height of the underwater leveling machine according to the differential signal and sends the horizontal position and the tower height to a processing system;
at least one inclinometer, disposed on the screed frame, for monitoring an inclination of the screed frame and transmitting the inclination to the processing system;
the pressure sensors are dispersedly arranged on the leveling machine frame and the hopper, and each pressure sensor respectively obtains a first height of the position where the pressure sensor is located and respectively sends the first height to the processing system;
the processing system comprises:
the calculation module is used for calculating the third height of the hopper according to the data uploaded by the data acquisition system;
and the display module is connected with the calculation module and is used for acquiring the data uploaded by the system and the third height.
Preferably, the monitoring system, wherein the processing system further comprises:
and the operation module is internally provided with an operation interface, and an operator inputs a corresponding operation instruction through the operation interface according to the data uploaded by the data acquisition system and the third height so as to control the underwater leveling machine to work and obtain an ideal leveling effect.
Preferably, the system is monitored, wherein,
the calculation module obtains a third height of the hopper according to the horizontal position, the tower height and the inclination degree and a first preset algorithm; and/or
And the calculation module obtains a third height of the hopper according to each first height and a second preset algorithm.
Preferably, the system is monitored, wherein the first predetermined algorithm is a differential formula.
Preferably, the system is monitored, wherein the second preset algorithm is to combine the first altitude and the sea level altitude to obtain the third altitude according to a numerical formula.
Preferably, the monitoring system, wherein the data acquisition system further comprises:
the underwater leveling device comprises an underwater acquisition sensor group, a processing system and a control system, wherein the underwater acquisition sensor group comprises a plurality of underwater acquisition sensors which are dispersedly arranged on a frame of a leveling machine and is used for monitoring the real-time distance between the underwater leveling machine and a leveling target required to be achieved by the leveling operation in real time and sending the real-time distance to the processing system;
the display module of the processing system is further configured to display the real-time distance.
Preferably, the monitoring system, wherein the display module comprises:
and the coordinate setting unit is used for establishing a coordinate interface on the display interface of the display module and respectively displaying the data uploaded by the data acquisition system and the third height on the coordinate interface.
Preferably, the monitoring system, wherein the processing system further comprises:
and the storage module is connected with the calculation module and the display module and is used for storing the data uploaded by the data acquisition system and the third height.
Preferably, the monitoring system further includes:
the alarm system is connected with the processing system, and is used for setting a threshold value for each type of data uploaded by the data acquisition system and setting a threshold value for the third height;
the alarm system monitors various data uploaded to the processing system by the data acquisition system and the third height in real time;
when at least one type of data uploaded by the data acquisition system exceeds a corresponding threshold value, the alarm system gives an alarm; and
and when the third height exceeds the corresponding threshold value, the alarm system gives an alarm.
Preferably, the monitoring system wherein all of the antennas are arranged parallel to each other at the top of the tower of the screed frame, a predetermined distance being left between two adjacent antennas.
The technical scheme has the following advantages or beneficial effects: through the horizontal position and the pylon height of gathering underwater leveling machine, the gradient of leveling machine frame and the first height of every pressure sensor position, the third height that obtains the hopper is calculated to the above-mentioned data of processing system to realize the flattening process of real time monitoring underwater leveling machine, with the accuracy that improves the monitoring, and then improve underwater leveling machine's flattening effect, and make things convenient for follow-up operating personnel's operation, in order to obtain ideal flattening effect.
Drawings
Embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings. The drawings are, however, to be regarded as illustrative and explanatory only and are not restrictive of the scope of the invention.
FIG. 1 is a block diagram of an embodiment of a monitoring system according to the present invention;
FIG. 2 is a block diagram of a processing system according to an embodiment of the monitoring system of the present invention;
FIG. 3 is a side view of an underwater screed according to an embodiment of the monitoring system of the present invention;
fig. 4 is a top view of an underwater screed according to an embodiment of the monitoring system of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of 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.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
The present invention comprises a monitoring system for an underwater screed, for use in an underwater screed, as shown in fig. 3-4, the underwater screed comprising a screed frame 5 and a hopper 6, the hopper 6 being movably disposed on the screed frame 5;
as shown in fig. 1, the monitoring system includes a data acquisition system 1 and a processing system 2, the data acquisition system 1 is in communication connection with the processing system 2;
the data acquisition system 1 includes:
the underwater leveling machine comprises two antennas 3 and a receiver 4, wherein each antenna 3 is connected with the receiver 4, each antenna 3 is arranged at the top end of a tower of a leveling machine frame 5, each antenna 3 receives a differential signal of a ground base station, the receiver 4 calculates the horizontal position and the height of the tower of the underwater leveling machine according to the differential signal, and sends the horizontal position and the height of the tower to the processing system 2;
at least one inclinometer 7, provided on the screed frame 5, for monitoring the inclination of the screed frame 5 and sending the inclination to the processing system 2;
the pressure sensors 8 are dispersedly arranged on the leveling machine frame 5 and the hopper 6, and each pressure sensor 8 respectively obtains a first height of the position where the pressure sensor is located and respectively sends the first height to the processing system 2;
as shown in fig. 2, the processing system 2 includes:
the calculation module 21 calculates the third height of the hopper 6 according to the data uploaded by the data acquisition system 1;
and the display module 22 is connected with the calculation module 21 and is used for acquiring the data uploaded by the data acquisition system 1 and the third height.
In the above embodiment, the horizontal position and the tower height of the underwater leveling machine, the inclination of the leveling machine frame 5 and the first height of the position of each pressure sensor 8 are acquired through the data acquisition system 1, and the processing system 2 calculates the third height of the hopper 6 according to the data uploaded by the data acquisition system 1, so that the leveling process of the underwater leveling machine is monitored in real time, the monitoring accuracy is improved, the leveling effect of the underwater leveling machine is improved, and the operation of subsequent operators is facilitated, so that an ideal leveling effect is obtained.
In the above embodiment, the antenna 3, the receiver 4 and the inclinometer 7 may all be connected with the processing system 2 through wireless communication to reduce the monitoring cost.
Further, in a preferred embodiment, the data acquisition system 1 may comprise at least two altimeters 9, each provided on the hopper 6;
when the quantity of altimeter 9 is 2, two altimeters 9 can set up relatively for real-time supervision underwater leveling machine carries out the second height of flattening, and sends the second height to processing system 2.
In the above embodiment, the pressure sensors 8 and the altimeters 9 may be connected to the processing system 2 through a wired cable, for example, the wired cable of each pressure sensor 8 and each altimeter 9 is connected to the leveling machine frame 5 of the underwater leveling machine through a stone umbilical cable, and all the stone umbilicals are gathered and then connected to the processing system 2, so as to improve the safety of the underwater leveling machine, wherein the processing system 2 may be disposed in a work command room of the underwater leveling machine, which is convenient for an operator to operate the underwater leveling machine.
Further, in the above embodiment, as shown in fig. 2, the processing system 2 further includes:
the operation module 23 is respectively connected with the calculation module 21 and the display module 22, an operation interface is provided in the operation module 23, and an operator inputs a corresponding operation instruction through the operation interface according to the data uploaded by the data acquisition system 1 and the third height so as to control the underwater leveling machine to work, so that an ideal leveling effect is obtained.
In the embodiment, the corresponding operation instruction can be manually input by an operator, so that the action protection strategy can be timely executed on the abnormal state, and the safety of the underwater leveling machine is improved.
Further, in the above embodiment, inclinometer 7 monitors the inclination between screed frame 5 and the horizontal plane. The posture deformation of the underwater leveling machine can be accurately reflected, so that the underwater leveling machine can be conveniently and subsequently controlled, and an accurate leveling effect can be achieved.
Further, in the above embodiment, the calculation module 21 obtains the third height of the hopper 6 according to the horizontal position, the tower height and the inclination according to the first preset algorithm; and/or
The calculation module 21 derives from each first height a third height of the hopper 6 according to a second preset algorithm.
Further, in the above embodiment, the first preset algorithm is a difference formula, and is implemented by the following formulas (1), (2):
D 2 ＝L 2 -(LsinP) 2 -(LsinR) 2 ； (1)
LD＝H-D； (2)
wherein D is used for representing the difference between the tower height and the third height during underwater operation;
h is used for representing the height of the tower, namely the elevation measured by the GPS antenna;
l is used to represent the initial difference between the tower height and the third height when no subsea operation is being performed;
LD is used to indicate the third height of the hopper 6;
(P, R) is used to indicate the inclination, which may represent the angle value measured by the inclinometer 7.
For example, a GPS ground base station may be set up on the shore, which broadcasts differential information in real time, each antenna 3 provided at the top of the tower of the screed frame 5 receives the differential signal of the ground base station, the receiver 4 calculates the horizontal position and the tower height of the underwater screed according to the differential signal, the inclinometer 7 provided on the screed frame 5 monitors the inclination of the screed frame 5, and the calculation module 21 calculates the third height of the hopper 6 according to the horizontal position and the tower height of the underwater screed and the inclination of the screed frame 5, wherein the receiver 4 may be a GPS rover.
Further, in the above embodiment, the second preset algorithm is to combine the first height with the sea level height to obtain the third height according to a numerical formula.
Further, as a preferred embodiment, the number of the pressure sensors 8 is 4, and 4 pressure sensors 8 are respectively disposed at four corners of the screed frame 5, the positions of the 4 pressure sensors 8 may form a rectangle, and then the second preset algorithm is implemented by the following formulas (3), (4);
D 2 2 ＝S 2 2 -(S 2 sin(arctan(ABS(DQ1-DQ2)/L 12 ))) 2 -(S 2 sin(arctan(ABS(DQ3-DQ2)/L 23 ))) 2 ； (3)
SD＝DQ2-D 2 ； (4)
wherein DQ1 is used to represent the measurement from the first pressure sensor;
DQ2 is used to represent the measurement of the second pressure sensor;
DQ3 is used to represent the measurement from the third pressure transducer;
DQ4 is used to represent the measurement from the fourth pressure transducer;
L 12 for indicating the distance between the first pressure sensor and the second pressure sensor;
L 23 for indicating the distance between the second pressure sensor and the third pressure sensor;
S 2 for indicating an initial difference between the first height and the third height of the second pressure sensor when no subsea operation is being performed;
D 2 for indicating an initial difference between the first height and the third height of the second pressure sensor while performing the subsea operation;
SD is used to indicate the third height of the hopper 6.
For example, a tide checking station can be set on the shore, a pressure sensor 8 is arranged in the tide checking station and is used for acquiring pressure data of the position of the pressure sensor 8 on the tide checking station, sea level height is calculated through the pressure data, a plurality of pressure sensors 8 arranged on the leveling machine frame 5 and the hopper 6 are used for obtaining a first height of the position of the corresponding pressure sensor 8, and therefore a third height of the hopper 6 is calculated according to a number sequence formula by combining the first height with the sea level height; wherein the data of the pressure sensor 8 is smoothed in order to reduce the influence of swell.
It should be noted that the elevation of the pressure sensor 8 is obtained from the pressure data obtained by the pressure sensor 8 in the tide station according to a leveling method, and meanwhile, the pressure sensor 8 can obtain the self water entry depth according to the pressure data obtained by measurement; the sea level height can then be obtained by the following formula (5);
MSL＝YQ+DQ； (5)
wherein MSL is used for representing sea level height;
YQ is used to represent the elevation of pressure sensor 8;
DQ is used to indicate the depth of penetration of the pressure sensor 8.
Further, in the above embodiment, the data acquisition system 1 further includes:
the underwater leveling system comprises an underwater acquisition sensor group, a processing system and a control system, wherein the underwater acquisition sensor group comprises a plurality of underwater acquisition sensors which are dispersedly arranged on a leveling machine frame 5 and used for monitoring the real-time distance between an underwater leveling machine and a leveling target required to be achieved by the leveling operation in real time and sending the real-time distance to the processing system 2;
the display module 22 of the processing system 2 is also used to display the real-time distance.
Further, as a preferred embodiment, the underwater collection sensor may be a stroke collection sensor 10, an underwater proximity sensor 11 and an underwater rotary encoder 12;
the number of the stroke acquisition sensors 10 is 4, and each stroke acquisition sensor 10 can be arranged on one moving frame on the leveling machine frame 5 and is used for acquiring the moving distance and the moving angle of the underwater leveling machine;
the number of the underwater proximity sensors 11 is 6, 4 underwater proximity sensors 11 can be dispersedly arranged on four vertex angles of the leveling machine frame 5, and the other two underwater proximity sensors 11 are arranged on two vertex angles of the hopper 6 and are used for acquiring the real-time distance between the underwater leveling machine and a leveling target required to be achieved by the leveling operation;
wherein, the quantity of rotary encoder 12 under water is 4, and every rotary encoder 12 under water can disperse the setting on four apex angles of flattening machine frame 5 for gather the angle of traveling of underwater flattening machine.
Further, in the above-described embodiment, the display module 22 includes:
and the coordinate setting unit is used for establishing a coordinate interface on the display interface of the display module 22, and respectively displaying the data uploaded by the data acquisition system 1 and the third height on the coordinate interface. The user can conveniently obtain the corresponding operation instruction according to the data obtained by the positioning subsystem, and operate according to the operation instruction to obtain the preset leveling effect.
Further, in the above embodiment, the processing system 2 further includes:
and the storage module is connected with the calculation module 21 and the display module 22 and is used for storing the data uploaded by the data acquisition system 1 and the third height.
Further, in the above embodiment, the method further includes:
the alarm system is connected with the processing system 2, and in the alarm system, a threshold value is respectively set for each type of data uploaded by the data acquisition system 1, and a threshold value is set for the third height;
the alarm system monitors various data uploaded to the processing system 2 by the data acquisition system 1 and the third height in real time;
when at least one type of data uploaded by the data acquisition system 1 exceeds a corresponding threshold value, the alarm system gives an alarm; and
and when the third height exceeds the corresponding threshold value, the alarm system gives an alarm.
Therefore, the underwater leveling machine can be guided to control the underwater leveling machine to carry out correct leveling operation in time, and the safety of the underwater leveling machine is improved.
Further, in the above embodiment, the antenna 3 is the global navigation satellite antenna 3. All antennas 3 are arranged in parallel at the top end of the tower of the leveler frame 5, and a preset distance is reserved between two adjacent antennas 3.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.

Claims (9)

1. A monitoring system of an underwater leveling machine is applied to the underwater leveling machine and is characterized in that the underwater leveling machine comprises a leveling machine frame and a hopper, wherein the hopper is movably arranged on the leveling machine frame;
the monitoring system comprises a data acquisition system and a processing system, and the data acquisition system is in communication connection with the processing system;
the data acquisition system includes:
the underwater leveling machine comprises two antennas and a receiver, wherein each antenna is connected with the receiver, each antenna is arranged at the top end of a tower of a leveling machine frame, each antenna receives a differential signal of a ground base station, the receiver calculates the horizontal position and the height of the tower of the underwater leveling machine according to the differential signal, and sends the horizontal position and the height of the tower to the processing system;
at least one inclinometer disposed on the screed frame for monitoring an inclination of the screed frame and transmitting the inclination to the processing system;
the pressure sensors are dispersedly arranged on the leveling machine frame and the hopper, and each pressure sensor respectively obtains a first height of the position where the pressure sensor is located and respectively sends the first height to the processing system;
the processing system comprises:
the calculation module is used for calculating the third height of the hopper according to the data uploaded by the data acquisition system;
the display module is connected with the calculation module and used for displaying the data uploaded by the data acquisition system and the third height;
the calculation module obtains a third height of the hopper according to each first height and a second preset algorithm;
the second preset algorithm is to obtain the third height by combining the first height with the sea level height according to a numerical array formula;
the number of the pressure sensors is 4, the positions of the 4 pressure sensors can form a rectangle, and then the second preset algorithm is realized through the following formula;
D 2 2 ＝S 2 2 -(S 2 sin(arctan(ABS(DQ1-DQ2)/L 12 ))) 2 -(S 2 sin(arctan(ABS(DQ3-DQ2)/L 23 ))) 2 ；
SD＝DQ2-D 2 ；
wherein DQ1 is used to represent the measurement from the first pressure sensor;
DQ2 is used to represent the measurement of the second pressure sensor;
DQ3 is used to represent the measurement from the third pressure transducer;
DQ4 is used to represent the measurement from the fourth pressure transducer;
L 12 for indicating a distance between said first pressure sensor and said second pressure sensor;
L 23 for indicating the distance between said second pressure sensor and said third pressure sensor;
S 2 for indicating an initial difference between the first height and the third height of the second pressure sensor when no subsea operation is being performed;
D 2 for indicating an initial difference between the first height and the third height of the second pressure sensor while operating underwater;
SD is used to indicate the third height of the hopper.
2. The monitoring system of claim 1, wherein the processing system further comprises:
and the operation module is internally provided with an operation interface, and an operator inputs a corresponding operation instruction through the operation interface according to the data uploaded by the data acquisition system and the third height so as to control the underwater leveling machine to work and obtain an ideal leveling effect.
3. The monitoring system of claim 1,
the calculation module obtains a third height of the hopper according to a first preset algorithm according to the horizontal position, the tower height and the inclination.
4. The monitoring system of claim 3, wherein the first predetermined algorithm is a differential formula.
5. The monitoring system of claim 1, wherein the data acquisition system further comprises:
the underwater leveling system comprises an underwater acquisition sensor group, a processing system and a control system, wherein the underwater acquisition sensor group comprises a plurality of underwater acquisition sensors which are dispersedly arranged on a leveling machine frame and used for monitoring the real-time distance between the underwater leveling machine and a leveling target required to be achieved by the leveling operation in real time and sending the real-time distance to the processing system;
the display module of the processing system is further configured to display the real-time distance.
6. The monitoring system of claim 1, wherein the display module comprises:
and the coordinate setting unit is used for establishing a coordinate interface on the display interface of the display module and respectively displaying the data uploaded by the data acquisition system and the third height on the coordinate interface.
7. The monitoring system of claim 1, wherein the processing system further comprises:
and the storage module is connected with the calculation module and the display module and is used for storing the data uploaded by the data acquisition system and the third height.
8. The monitoring system of claim 1, further comprising:
the alarm system is connected with the processing system, and a threshold value is respectively set for each type of data uploaded by the data acquisition system and a threshold value is set for the third height in the alarm system;
the alarm system monitors various types of data uploaded to the processing system by the data acquisition system and the third height in real time;
when at least one type of data uploaded by the data acquisition system exceeds the corresponding threshold value, the alarm system gives an alarm; and
and when the third height exceeds the corresponding threshold value, the alarm system gives an alarm.
9. The monitoring system of claim 1, wherein all of said antennas are disposed parallel to each other at the top of the tower of said screed frame, with a predetermined distance between two adjacent ones of said antennas.
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CN111678490B (en) * 2020-05-29 2022-02-22 交通运输部天津水运工程科学研究所 Base self-elevating underwater leveling frame monitoring and adjusting system
CN112482474B (en) * 2020-11-12 2022-04-22 交通运输部广州打捞局 Leveling machine control device and underwater leveling machine

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CN201245235Y (en) * 2008-08-12 2009-05-27 中交第一航务工程局有限公司 Deep water jackstone leveling ship
CN201856886U (en) * 2010-11-15 2011-06-08 中交一航局第二工程有限公司 Remote monitoring system for leveling ship
CN102073057B (en) * 2010-11-15 2012-07-25 中交一航局第二工程有限公司 Measuring and positioning system of underwater evener
CN203259190U (en) * 2013-05-08 2013-10-30 中交第三航务工程局有限公司上海分公司 Wireless remote control walking-type underwater levelling machine positioning monitoring system
CN109653275A (en) * 2019-01-16 2019-04-19 中交第二航务工程局有限公司 Underwater rubble base bed flattening machine

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