CN112414393B - Boundary pile state monitoring method and device based on multi-element sensor - Google Patents
Boundary pile state monitoring method and device based on multi-element sensor Download PDFInfo
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Abstract
The invention relates to the technical field of Internet of things, and provides a boundary pile state monitoring method based on a multi-element sensor x 、a y 、a z According to a x 、a y 、a z Calculating to obtain alpha 0 、β 0 、γ 0 (ii) a Acquiring acceleration sensor XYZ triaxial acceleration a in the state of the boundary pile at time t x 、a y 、a z Calculating alpha, beta and gamma; the boundary pile is judged not to be abnormal, the GPS module acquires the longitude and latitude coordinate data T of the boundary pile body in the boundary pile for matching calculation, the boundary pile is judged to be displaced, the position deviation or the posture change of the boundary pile can be rapidly monitored in real time at a system terminal, the efficiency is high, the whole monitoring system can acquire the displacement, the posture and the abnormal state of the environmental state data of the boundary pile in real time, the position and the posture of the boundary pile can be effectively and accurately adjusted, and the target area perimeter can be reliably identified and protected.
Description
Technical Field
The invention relates to the technical field of Internet of things, in particular to a boundary pile state monitoring method and device based on a multi-sensor.
Background
The boundary pile is mainly used for perimeter calibration in the fields of water conservancy, traffic and the like, for example, in the water conservancy field, a river course shoreline needs to be clear and cannot be illegally occupied; in the surveying and mapping field, a surveying and mapping point or a surveying and mapping area needs to be calibrated by using a marker; in the traffic field, the two sides of a road need to be calibrated by using road boundary piles, so that the road is prevented from being invaded; the intelligent boundary pile is one of the important fields concerned in the fields of water conservancy, traffic, natural protection, ecological protection, land ownership protection and the like at present by means of the technology of the Internet of things to realize the intelligent management of the boundary pile.
CN111188292A discloses an intelligent boundary pile for ecological protection red line exploration calibration, and discloses an intelligent boundary pile for ecological protection red line exploration calibration, which comprises a foundation pile and a boundary pile body, wherein the foundation pile is positioned below the boundary pile body, and the boundary pile body is connected with the foundation pile in a sliding manner; the foundation pile comprises an installation platform, two folded plates which are symmetrically arranged are arranged at the bottom of the installation platform, two parallel sliding grooves are formed in the installation platform, a sliding block is arranged at the bottom of the boundary pile body, and the sliding block at the bottom of the boundary pile body is matched with the inner shape of the sliding groove.
Because cement or metal boundary piles are adopted to calibrate key position points or perimeters in the prior art, the boundary piles are only used for manual inspection, and the boundary piles are particularly used in special occasions such as rivers which cannot enter, if the boundary piles have position deviation or posture change, the boundary piles cannot be monitored quickly in real time, so that the efficiency is low, the data acquired by the whole monitoring system has deviation, and the perimeters of target areas cannot be effectively identified and protected.
Disclosure of Invention
The long-term practice shows that the traditional boundary piles cannot be monitored in time whether the boundary piles are illegally moved or whether the boundary piles are artificially damaged, so that the target area boundary cannot be effectively identified and protected.
In view of this, the present invention aims to provide a boundary pile state monitoring method based on a multivariate sensor, and the technical scheme of the present invention is realized as follows: the boundary pile state monitoring method based on the multi-element sensor comprises the following steps:
step S1, acquiring acceleration a of an acceleration sensor XYZ three-axis in an initial static state of a boundary pillar x 、a y 、a z Wherein, in the step (A),
g is the acceleration of gravity;
step S2, according to a x 、a y 、a z Calculating to obtain an included angle alpha between the X axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile 0 The included angle beta between the Y axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile 0 And an initial angle gamma of the Z-axis of the acceleration sensor to the direction of gravity 0 Wherein:
step S3, acquiring acceleration sensor XYZ triaxial acceleration a of the boundary pillar in the state of time t x 、a y 、a z The angle alpha between the X axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile at the moment t, the angle beta between the Y axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile, and the angle gamma between the Z axis of the acceleration sensor and the gravity direction are calculated and obtained;
step S4, calculating alpha, beta and gamma, when alpha is epsilon [ alpha ∈ [ [ alpha ] 0 -Δα,α 0 +Δα]，β∈[β 0 -Δβ,β 0 +Δβ]，γ∈[γ 0 -Δγ,γ 0 +Δγ]If the three conditions are met simultaneously, judging that the boundary pile is not abnormal, if the three conditions are not met, judging that the boundary pile is abnormal, and sending attitude abnormality information to a control unit, wherein delta alpha, delta beta and delta gamma are respectively allowable threshold values of alpha, beta and gamma;
step S5, when the boundary pile is judged to be abnormal, the GPS module in the boundary pile acquires the longitude and latitude coordinate data T of the boundary pile body and the longitude and latitude original coordinate data T of the boundary pile body 0 Matching calculation, namely judging that the boundary pile displaces if the longitude and latitude coordinate data T of the boundary pile is not in the range, and sending displacement information to the control unit;
and step S6, when the boundary pile is displaced, acquiring boundary pile environment data, sending the boundary pile environment data to the control unit, and outputting the data to the display unit.
Preferably, the perimeter pile comprises at least one triaxial cell type acceleration sensor.
Preferably, in step S3, the sensitivity of the boundary pile acceleration sensor is acquired to be 10-100 mV/g.
Preferably, the sampling frequency of the boundary pile acceleration sensor is 0.1-10 Hz.
Preferably, in step S1, the obtained XYZ triaxial acceleration a of the acceleration sensor x 、a y 、a z Respectively to the control unit.
Preferably, the acquired perimeter pile environment data includes multiple sets of environment temperature data, humidity data and video data from different sources.
The invention also provides a device for executing the pile boundary condition monitoring method based on the multi-element sensor, which comprises the following steps:
the device comprises a first acquisition unit and a second acquisition unit, wherein the first acquisition unit comprises a plurality of groups of acceleration sensors, and the acceleration sensors are used for acquiring acceleration sensor XYZ triaxial acceleration a in an initial static state of a boundary pile x 、a y 、a z Wherein, in the step (A),
g is the acceleration of gravity;
the control unit is used for receiving and processing the data transmitted by the second acquisition unit, the calculation judgment unit, the GPS module and the third acquisition unit; and sending the processed data to a display unit;
the control unit comprises a first calculation module and a second calculation module, wherein the first calculation module is used for calculating according to a x 、a y 、a z Calculating to obtain an included angle alpha between the X axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile 0 The included angle beta between the Y axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile 0 And an initial angle gamma of the Z-axis of the acceleration sensor to the direction of gravity 0 Wherein:
the second calculation module is used for calculating the acceleration a of the acceleration sensor XYZ three axes obtained by the control unit x 、a y 、a z Calculating to obtain an included angle alpha between an X axis of the acceleration sensor of the boundary pile at the time t and a horizontal plane xy of the boundary pile, an included angle beta between a Y axis of the acceleration sensor and the horizontal plane xy of the boundary pile, and an angle gamma between a Z axis of the acceleration sensor and the gravity direction;
a second acquisition unit for acquiring the acceleration a of the acceleration sensor XYZ in three axes in the state of the boundary pillar at time t x 、a y 、a z The angle alpha between the X axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile at the moment t, the angle beta between the Y axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile, and the angle gamma between the Z axis of the acceleration sensor and the gravity direction are calculated and obtained;
a calculation judging unit for calculating α, β, γ when α ∈ [ α ] 0 -Δα,α 0 +Δα]，β∈[β 0 -Δβ,β 0 +Δβ]，γ∈[γ 0 -Δγ,γ 0 +Δγ]If the three conditions are met simultaneously, judging that the boundary pile is not abnormal, if the three conditions are not met, judging that the boundary pile is abnormal, and sending attitude abnormality information to a control unit, wherein delta alpha, delta beta and delta gamma are respectively allowable threshold values of alpha, beta and gamma;
a GPS module used for acquiring the boundary pile longitude and latitude coordinate data T of the boundary pile body and the original boundary pile longitude and latitude coordinate data T of the boundary pile body when the boundary pile is judged to be abnormal 0 Matching calculation, namely judging that the boundary pile displaces if the longitude and latitude coordinate data T of the boundary pile is not in the range, and sending displacement information to the control unit;
the third acquisition unit is used for acquiring boundary pile environment data and sending the boundary pile environment data to the control unit when the boundary pile is displaced, and outputting the data to the display unit;
and the display unit is used for receiving and displaying the data sent by the third acquisition unit and the data processed by the control unit.
Preferably, the device further comprises a boundary pile body which comprises a hollow shell structure, and the acceleration sensor, the control unit, the GPS module, the calculation and judgment unit and the third acquisition unit are detachably and fixedly arranged in the inner space of the shell structure of the boundary pile body.
Preferably, the third acquiring unit at least comprises an ambient temperature data acquiring module, a humidity data acquiring module and a video data acquiring module, wherein the ambient temperature data acquiring module is used for acquiring ambient temperature data; the humidity data acquisition module is used for acquiring environmental humidity data; the video data acquisition module is used for acquiring environmental video data.
According to another aspect of the embodiments of the present invention, there is provided a storage medium, the storage medium including a stored program, wherein when the program runs, a device in which the storage medium is located is controlled to execute the above method.
Compared with the prior art, the boundary pile state monitoring method based on the multi-element sensor, provided by the invention, obtains the acceleration sensor XYZ three-axis acceleration a in the initial static state of the boundary pile x 、a y 、a z According to a x 、a y 、a z Calculating to obtain an included angle alpha between the X axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile 0 The included angle beta between the Y axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile 0 And an initial angle gamma of the Z axis of the acceleration sensor to the direction of gravity 0 (ii) a Acquiring acceleration sensor XYZ triaxial acceleration a in the state of the boundary pile at time t x 、a y 、a z The angle alpha between the acceleration sensor of the boundary pile at the time t and the xy plane of the horizontal plane of the boundary pile, the angle beta between the Y axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile, and the initial angle gamma between the Z axis of the acceleration sensor and the gravity direction are calculated and obtained; calculating alpha, beta and gamma, when alpha is epsilon [ alpha ] 0 -Δα,α 0 +Δα]，β∈[β 0 -Δβ,β 0 +Δβ]，γ∈[γ 0 -Δγ,γ 0 +Δγ]If the three conditions are met simultaneously, judging that the boundary pile is not abnormal, if the three conditions are not met, judging that the boundary pile is abnormal, and sending attitude abnormal information to the control unit; when the boundary pile is judged to be abnormal, the GPS module in the boundary pile acquires the boundary pile longitude and latitude coordinate data T of the boundary pile body and the original boundary pile longitude and latitude coordinate data T of the boundary pile body 0 Matching calculation, namely judging that the boundary pile displaces if the longitude and latitude coordinate data T of the boundary pile is not in the range, and sending displacement information to the control unit; and when the boundary pile is displaced, acquiring boundary pile environment data, sending the boundary pile environment data to the control unit, and outputting the data to the display unit. The invention also provides a device for executing the boundary pile state monitoring method based on the multi-element sensor, which can quickly monitor the position deviation or posture change of the boundary pile in real time at a system terminal, has high efficiency, can acquire abnormal state of the displacement, posture and environmental state data of the boundary pile in real time by the whole monitoring system, can respond to the monitoring system in real time and output the abnormal state to a display unit to an executive, so that the boundary pile can effectively and accurately adjust the position and posture, and can reliably identify and protect the perimeter of a target area.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram of an apparatus for performing a multi-sensor based boundary pile state monitoring method according to an embodiment of the present invention.
Detailed Description
The following describes in detail embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
In order to make the technical solutions of the present invention better understood, 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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The method aims to solve the problems that in the prior art, position deviation or posture change occurs in a boundary pile, rapid real-time monitoring cannot be achieved, efficiency is low, deviation exists in data acquired by a whole monitoring system, and the perimeter of a target area cannot be effectively identified and protected. The invention provides a boundary pile state monitoring method based on a multi-element sensor, which comprises the following steps:
step S1, acquiring acceleration a of an acceleration sensor XYZ three-axis in an initial static state of a boundary pillar x 、a y 、a z Wherein, in the step (A),
g is the acceleration of gravity;
step S2, according to a x 、a y 、a z Calculating to obtain the X axis of the acceleration sensor and the horizontal plane xy of the boundary pileAngle alpha between the faces 0 The included angle beta between the Y axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile 0 And an initial angle gamma of the Z-axis of the acceleration sensor to the direction of gravity 0 Wherein:
step S3, acquiring acceleration sensor XYZ triaxial acceleration a of the boundary pillar in the state of time t x 、a y 、a z The angle alpha between the X axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile at the moment t, the angle beta between the Y axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile, and the angle gamma between the Z axis of the acceleration sensor and the gravity direction are obtained through calculation;
step S4, calculating alpha, beta and gamma, when alpha is epsilon [ alpha ∈ [ [ alpha ] 0 -Δα,α 0 +Δα]，β∈[β 0 -Δβ,β 0 +Δβ]，γ∈[γ 0 -Δγ,γ 0 +Δγ]If the three conditions are met simultaneously, judging that the boundary pile is not abnormal, if the three conditions are not met, judging that the boundary pile is abnormal, and sending attitude abnormality information to a control unit, wherein delta alpha, delta beta and delta gamma are respectively allowable threshold values of alpha, beta and gamma;
step S5, when the boundary pile is judged to be abnormal, the GPS module in the boundary pile acquires the longitude and latitude coordinate data T of the boundary pile body and the longitude and latitude original coordinate data T of the boundary pile body 0 Matching calculation, namely judging that the boundary pile displaces if the longitude and latitude coordinate data T of the boundary pile is not in the range, and sending displacement information to the control unit;
and step S6, when the boundary pile is displaced, acquiring boundary pile environment data, sending the boundary pile environment data to the control unit, and outputting the data to the display unit.
The boundary pile state monitoring method based on the multi-element sensor obtains the acceleration sensor XYZ three-axis acceleration a in the initial static state of the boundary pile x 、a y 、a z According to a x 、a y 、a z Calculating to obtain an included angle alpha between the X axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile 0 The included angle beta between the Y axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile 0 And an initial angle gamma of the Z-axis of the acceleration sensor to the direction of gravity 0 (ii) a Acquiring acceleration sensor XYZ triaxial acceleration a in the state of the boundary pile at time t x 、a y 、a z The angle alpha between the acceleration sensor of the boundary pile at the time t and the xy plane of the horizontal plane of the boundary pile, the angle beta between the Y axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile, and the initial angle gamma between the Z axis of the acceleration sensor and the gravity direction are calculated and obtained; calculating alpha, beta and gamma, when alpha is epsilon [ alpha ] 0 -Δα,α 0 +Δα]，β∈[β 0 -Δβ,β 0 +Δβ]，γ∈[γ 0 -Δγ,γ 0 +Δγ]If the three conditions are met simultaneously, judging that the boundary pile is not abnormal, if the three conditions are not met, judging that the boundary pile is abnormal, and sending attitude abnormal information to the control unit; when the boundary pile is judged to be abnormal, the GPS module in the boundary pile acquires the boundary pile longitude and latitude coordinate data T of the boundary pile body and the original boundary pile longitude and latitude coordinate data T of the boundary pile body 0 Matching calculation, namely judging that the boundary pile displaces if the longitude and latitude coordinate data T of the boundary pile is not in the range, and sending displacement information to the control unit; and when the boundary pile is displaced, acquiring boundary pile environment data, sending the boundary pile environment data to the control unit, and outputting the data to the display unit. Not only can be in real time at system terminal can quick real-time supervision boundary pile appear offset or the gesture changes, it is efficient, and whole monitoring system can acquire boundary pile displacement, gesture, environmental state data in real time and appear abnormal state moreover, and can respond to for monitoring system in real time, export to display element and give executive personnel for the boundary pile can effectively accurate adjustment position and gesture, can mark reliably and protect the meshThe area perimeter is marked.
In order to better fix one or more acceleration sensors in the perimeter pile body, it is necessary to monitor the deflection of the perimeter pile body in three XYZ dimensions, in a preferred aspect of the invention, the perimeter pile comprises at least one acceleration sensor of the three-axis direct current type. In order to better provide a direct-current power supply for the acceleration sensor, under a more preferable condition of the invention, the current adopted by the boundary pile is a 5V or 12V power supply system, the energy storage system adopts a lithium battery and is assisted to acquire energy by a solar panel to supplement electric energy for the energy storage system, and the acceleration sensor adopts a 5V or 12V triaxial direct-current type acceleration sensor.
In order to obtain the boundary pile attitude data with high real-time precision, in a preferred case of the invention, in step S3, the sensitivity of the boundary pile acceleration sensor is acquired to be 10-100 mV/g.
In order to quickly obtain the attitude data of the boundary pile in real time, under the preferable condition of the invention, the sampling frequency of the boundary pile acceleration sensor is obtained to be 0.1-10 Hz.
In order to calculate the acceleration values in X, Y, Z in three directions and to perform calculation processing on the acceleration values to obtain the values of α, β, and γ, in a preferred embodiment of the present invention, in step S1, the obtained XYZ triaxial acceleration a of the acceleration sensor is x 、a y 、a z Respectively to the control unit.
In order to acquire comprehensive environment data of the boundary pile under the condition that the boundary pile is abnormal, the acquired boundary pile environment data comprises a plurality of groups of environment temperature data, humidity data and video data of different sources under the preferable condition of the invention.
In order to better perform the above-mentioned boundary pile state monitoring method based on multiple sensors, the present invention further provides an apparatus for performing the above-mentioned boundary pile state monitoring method based on multiple sensors, as shown in fig. 1, the apparatus includes:
the device comprises a first acquisition unit and a second acquisition unit, wherein the first acquisition unit comprises a plurality of groups of acceleration sensors, and the acceleration sensors are used for acquiring acceleration sensor XYZ triaxial acceleration a in an initial static state of a boundary pile x 、a y 、a z Wherein, in the step (A),
g is the acceleration of gravity;
the control unit is used for receiving and processing the data transmitted by the second acquisition unit, the calculation judgment unit, the GPS module and the third acquisition unit; and sending the processed data to a display unit;
the control unit comprises a first calculation module and a second calculation module, wherein the first calculation module is used for calculating according to a x 、a y 、a z Calculating to obtain an included angle alpha between the X axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile 0 The included angle beta between the Y axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile 0 And an initial angle gamma of the Z-axis of the acceleration sensor to the direction of gravity 0 Wherein:
the second calculation module is used for calculating the acceleration a of the acceleration sensor XYZ three axes obtained by the control unit x 、a y 、a z Calculating to obtain an included angle alpha between an X axis of the acceleration sensor of the boundary pile at the time t and a horizontal plane xy of the boundary pile, an included angle beta between a Y axis of the acceleration sensor and the horizontal plane xy of the boundary pile, and an angle gamma between a Z axis of the acceleration sensor and the gravity direction;
a second acquisition unit for acquiring the acceleration a of the acceleration sensor XYZ in three axes in the state of the boundary pillar at time t x 、a y 、a z And sending the data to a control unit, and calculating to obtain the time of the boundary pile at tAn included angle alpha between an X axis of the carved acceleration sensor and a horizontal plane xy plane of the boundary pile, an included angle beta between a Y axis of the acceleration sensor and the horizontal plane xy plane of the boundary pile, and an angle gamma between a Z axis of the acceleration sensor and the gravity direction;
a calculation determination unit for calculating α, β, γ when α ∈ [ α [ ] 0 -Δα,α 0 +Δα]，β∈[β 0 -Δβ,β 0 +Δβ]，γ∈[γ 0 -Δγ,γ 0 +Δγ]If the three conditions are met simultaneously, judging that the boundary pile is not abnormal, if the three conditions are not met, judging that the boundary pile is abnormal, and sending attitude abnormality information to a control unit, wherein delta alpha, delta beta and delta gamma are respectively allowable threshold values of alpha, beta and gamma;
a GPS module used for acquiring the boundary pile longitude and latitude coordinate data T of the boundary pile body and the original boundary pile longitude and latitude coordinate data T of the boundary pile body when the boundary pile is judged to be abnormal 0 Matching calculation, namely judging that the boundary pile displaces if the longitude and latitude coordinate data T of the boundary pile is not in the range, and sending displacement information to the control unit;
the third acquisition unit is used for acquiring boundary pile environment data and sending the boundary pile environment data to the control unit when the boundary pile is displaced, and outputting the data to the display unit;
and the display unit is used for receiving and displaying the data sent by the third acquisition unit and the data processed by the control unit.
The device obtains acceleration sensor XYZ triaxial acceleration a in the initial static state of a boundary pile through a plurality of groups of acceleration sensors in a first obtaining unit x 、a y 、a z (ii) a The first calculation module in the control unit is based on a x 、a y 、a z Calculating to obtain an included angle alpha between the X axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile 0 The included angle beta between the Y axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile 0 And an initial angle gamma of the Z axis of the acceleration sensor to the direction of gravity 0 (ii) a The second acquisition unit acquires acceleration sensor XYZ triaxial acceleration a in the state of the boundary pillar at the time t x 、a y 、a z And sending the acceleration to a control unit to calculate the acceleration of the boundary pile at the time tAn included angle alpha between the degree sensor and a boundary pile horizontal plane xy plane, an included angle beta between a Y axis of the acceleration sensor and the boundary pile horizontal plane xy plane, and an initial angle gamma between a Z axis of the acceleration sensor and the gravity direction; the calculation judging unit calculates alpha, beta and gamma, when alpha belongs to [ alpha ] 0 -Δα,α 0 +Δα]，β∈[β 0 -Δβ,β 0 +Δβ]，γ∈[γ 0 -Δγ,γ 0 +Δγ]If the three conditions are met simultaneously, judging that the boundary pile is not abnormal, if the three conditions are not met, judging that the boundary pile is abnormal, and sending attitude abnormal information to the control unit; when the boundary pile is judged to be abnormal, the GPS module in the boundary pile acquires the boundary pile longitude and latitude coordinate data T of the boundary pile body and the original boundary pile longitude and latitude coordinate data T of the boundary pile body 0 Matching calculation, namely judging that the boundary pile displaces if the longitude and latitude coordinate data T of the boundary pile is not in the range, and sending displacement information to the control unit; under the displacement circumstances takes place for the boundary pile, the third acquires that unit acquisition boundary pile environmental data sends to the control unit, export data to the display element, not only can be in real time at system terminal can quick real-time supervision boundary pile position offset or the gesture changes appear, high efficiency, and whole monitoring system can acquire boundary pile displacement in real time, the gesture, abnormal state appears in environmental state data, and can respond in real time for monitoring system, export to the display element and give executive personnel, make the boundary pile can effectively accurate adjustment position and gesture, can mark reliably and protect the regional perimeter of target.
The display unit comprises a display unit of the cloud service platform, each control unit transmits data to the cloud server through 4G or 5G communication, and the cloud server displays and warns the data processed by the control units.
In order to better fix the acceleration sensor, the control unit, the GPS module, the calculation and determination unit and the third acquisition unit, in a preferred case of the present invention, the apparatus further includes a boundary pile body including a hollow shell structure, and the acceleration sensor, the control unit, the GPS module, the calculation and determination unit and the third acquisition unit are detachably and fixedly disposed in an inner space of the shell structure of the boundary pile body.
In order to better integrate environmental data of the boundary pile under the condition that the boundary pile is abnormal, under the preferable condition of the invention, the third acquisition unit at least comprises an environmental temperature data acquisition module, a humidity data acquisition module and a video data acquisition module, wherein the environmental temperature data acquisition module is used for acquiring environmental temperature data; the humidity data acquisition module is used for acquiring environmental humidity data; the video data acquisition module is used for acquiring environmental video data.
The embodiment of the invention provides a storage medium, which comprises a stored program, wherein when the program runs, a device where the storage medium is located is controlled to execute the method.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus can be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be an electric or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a mobile terminal, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A boundary pile state monitoring method based on a multi-element sensor is characterized by comprising the following steps:
step S1, acquiring acceleration a of an acceleration sensor XYZ three-axis in an initial static state of a boundary pillar x 、a y 、a z Wherein, in the step (A),
g is gravity acceleration;
step S2, according to a x 、a y 、a z Calculating to obtain an included angle alpha between the X axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile 0 The included angle beta between the Y axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile 0 And an initial angle gamma of the Z-axis of the acceleration sensor to the direction of gravity 0 Wherein:
step S3, acquiring acceleration sensor XYZ triaxial acceleration a of the boundary pillar in the state of time t x 、a y 、a z The angle alpha between the X axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile at the moment t, the angle beta between the Y axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile, and the angle gamma between the Z axis of the acceleration sensor and the gravity direction are calculated and obtained;
step S4, calculating alpha, beta and gamma, when alpha is epsilon [ alpha ∈ [ alpha ] 0 -Δα,α 0 +Δα]，β∈[β 0 -Δβ,β 0 +Δβ]，γ∈[γ 0 -Δγ,γ 0 +Δγ]If the three conditions are met simultaneously, judging that no abnormity occurs in the boundary pile, and if the three conditions are not met, judging that the boundary pile is abnormalJudging that the boundary pile is abnormal, and sending attitude abnormal information to a control unit, wherein delta alpha, delta beta and delta gamma are respectively allowable threshold values of alpha, beta and gamma;
step S5, when the boundary pile is judged to be abnormal, the GPS module in the boundary pile acquires the longitude and latitude coordinate data T of the boundary pile body and the longitude and latitude original coordinate data T of the boundary pile body 0 Matching calculation, namely judging that the boundary pile displaces if the longitude and latitude coordinate data T of the boundary pile is not in the range, and sending displacement information to the control unit;
and step S6, when the boundary pile is displaced, acquiring boundary pile environment data, sending the boundary pile environment data to the control unit, and outputting the data to the display unit.
2. The multi-sensor-based boundary pile state monitoring method according to claim 1, wherein the boundary pile comprises at least one triaxial direct current type acceleration sensor.
3. The pile boundary condition monitoring method based on the multi-sensor according to claim 2, wherein in step S3, the sensitivity of the pile boundary acceleration sensor is acquired to be 10-100 mV/g.
4. The multi-sensor-based boundary pile state monitoring method according to claim 3, wherein the sampling frequency of the boundary pile acceleration sensor is 0.1-10 Hz.
5. The boundary pillar state monitoring method based on multiple sensors according to claim 1, wherein in step S1, the obtained acceleration sensor XYZ triaxial acceleration a x 、a y 、a z Respectively to the control unit.
6. The multi-sensor-based boundary pillar state monitoring method according to any one of claims 1 to 5, wherein the boundary pillar environment data acquisition includes multiple sets of environment temperature data, humidity data and video data from different sources.
7. An apparatus for performing the multi-sensor based interfacing pile state monitoring method according to any one of claims 1 to 6, wherein the apparatus comprises:
the device comprises a first acquisition unit and a second acquisition unit, wherein the first acquisition unit comprises a plurality of groups of acceleration sensors, and the acceleration sensors are used for acquiring acceleration sensor XYZ triaxial acceleration a in an initial static state of a boundary pile x 、a y 、a z Wherein, in the step (A),
g is the acceleration of gravity;
the control unit is used for receiving and processing the data transmitted by the second acquisition unit, the calculation judgment unit, the GPS module and the third acquisition unit; and sending the processed data to a display unit;
the control unit comprises a first calculation module and a second calculation module, wherein the first calculation module is used for calculating according to a x 、a y 、a z Calculating to obtain an included angle alpha between the X axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile 0 The included angle beta between the Y axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile 0 And an initial angle gamma of the Z-axis of the acceleration sensor to the direction of gravity 0 Wherein:
the second calculation module is used for calculating the acceleration a of the acceleration sensor XYZ three axes obtained by the control unit x 、a y 、a z Calculating to obtain an included angle alpha between an X axis of the acceleration sensor of the boundary pile at the time t and a horizontal plane xy of the boundary pile, an included angle beta between a Y axis of the acceleration sensor and the horizontal plane xy of the boundary pile, and an angle gamma between a Z axis of the acceleration sensor and the gravity direction;
a second acquisition unit for acquiring the acceleration a of the acceleration sensor XYZ in three axes in the state of the boundary pillar at time t x 、a y 、a z The angle alpha between the X axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile at the moment t, the angle beta between the Y axis of the acceleration sensor and the xy plane of the horizontal plane of the boundary pile, and the angle gamma between the Z axis of the acceleration sensor and the gravity direction are calculated and obtained;
a calculation judging unit for calculating α, β, γ when α ∈ [ α ] 0 -Δα,α 0 +Δα]，β∈[β 0 -Δβ,β 0 +Δβ]，γ∈[γ 0 -Δγ,γ 0 +Δγ]If the three conditions are met simultaneously, judging that the boundary pile is not abnormal, if the three conditions are not met, judging that the boundary pile is abnormal, and sending attitude abnormality information to a control unit, wherein delta alpha, delta beta and delta gamma are respectively allowable threshold values of alpha, beta and gamma;
a GPS module used for acquiring the boundary pile longitude and latitude coordinate data T of the boundary pile body and the original boundary pile longitude and latitude coordinate data T of the boundary pile body when the boundary pile is judged to be abnormal 0 Matching calculation, namely judging that the boundary pile displaces if the longitude and latitude coordinate data T of the boundary pile is not in the range, and sending displacement information to the control unit;
the third acquisition unit is used for acquiring boundary pile environment data and sending the boundary pile environment data to the control unit when the boundary pile is displaced, and outputting the data to the display unit;
and the display unit is used for receiving and displaying the data sent by the third acquisition unit and the data processed by the control unit.
8. The device of claim 7, further comprising a boundary pillar body comprising a hollow shell structure, wherein the acceleration sensor, the control unit, the GPS module, the calculation and judgment unit and the third acquisition unit are detachably and fixedly arranged in the inner space of the shell structure of the boundary pillar body.
9. The device according to any one of claims 7 to 8, wherein the third acquiring unit at least comprises an ambient temperature data acquiring module, a humidity data acquiring module and a video data acquiring module, wherein the ambient temperature data acquiring module is used for acquiring ambient temperature data; the humidity data acquisition module is used for acquiring environmental humidity data; the video data acquisition module is used for acquiring environmental video data.
10. A storage medium, comprising a stored program, wherein the program, when executed, controls an apparatus in which the storage medium is located to perform the method of any one of claims 1-6.
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| CN115218860B (en) * | 2022-09-20 | 2022-12-09 | 四川高速公路建设开发集团有限公司 | Road deformation prediction method based on Mems acceleration sensor |
| CN115983827A (en) * | 2022-12-14 | 2023-04-18 | 江苏雅索信息科技有限公司 | Boundary pile boundary stele management method and system |
| CN116564067B (en) * | 2023-07-11 | 2023-09-26 | 西安航空学院 | Highway state early warning system based on wisdom gathers materials technique |
| CN118129836A (en) * | 2024-03-06 | 2024-06-04 | 重庆地质矿产研究院 | Monitoring method suitable for surface mine internet of things electronic boundary pile |
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Effective date of registration: 20231110 Address after: Room 1101, Building 7, Xinghu 101 Square, No. 1101 Xinghu Avenue, Economic and Technological Development Zone, Nantong City, Jiangsu Province, 226000 Patentee after: Nantong Jingxiang Technology Co.,Ltd. Address before: 324000 North China Road No. 78, Quzhou, Quzhou, Zhejiang Patentee before: QUZHOU University |