CN112492029A - Comprehensive pipe gallery on-site multi-source comprehensive on-site positioning system and method - Google Patents
Comprehensive pipe gallery on-site multi-source comprehensive on-site positioning system and method Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/13—Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/14—Session management
- H04L67/141—Setup of application sessions
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
Abstract
The invention relates to a comprehensive pipe gallery on-site multi-source comprehensive on-site positioning system which comprises a cloud server, a remote control terminal, an on-site positioning navigation terminal, an on-site positioning node device and an Internet of things communication service network, wherein the cloud server is respectively connected with the remote control terminal, the on-site positioning navigation terminal and the on-site positioning node device through the Internet of things communication service network, the on-site positioning node devices are uniformly distributed in a pipe gallery system, and the on-site positioning navigation terminals are connected in series and parallel through the Internet of things communication service network. The using method comprises four steps of basic data acquisition, three-dimensional modeling, positioning assignment, bidirectional positioning navigation and the like. On one hand, the invention can effectively meet the requirements of comprehensively and accurately positioning and identifying the corridor system and can realize the positioning monitoring and navigation communication of workers and equipment; on the other hand, the defects of poor positioning data and communication data signal quality, poor stability and positioning accuracy caused by equipment failure, geographic environment factor interference and the like can be effectively overcome.
Description
Technical Field
The invention relates to a pipe gallery positioning management system and a method, in particular to an underground comprehensive pipe gallery on-site multi-source comprehensive on-site positioning system and a method.
Background
The city comprehensive pipe gallery system bears a great amount of city equipment facilities installation, operation, management and maintenance works such as power systems of city electric power, gas and the like, communication network systems, water supply and drainage systems and the like, plays an increasingly important role in current city construction and planning, and simultaneously causes the equipment layout position, channel distribution structure and function of the current city pipe gallery system to be more and more complex, so that the situation that the positions of workers and equipment cannot be accurately positioned and monitored during the daily management and maintenance works of the city pipe gallery system and the field work and patrol of the workers is easily caused, the situation that the workers and the equipment are lost in the pipe gallery and cannot work within a preset working path range is easily caused, and the city pipe gallery system is often in a deep closed underground environment, so that the satellite signal of the satellite navigation system penetrates the underground structure to perform navigation work, the existing traditional positioning system for positioning through a communication base station has the defects of complex system composition and poor positioning precision, cannot realize accurate positioning, has poor capability of transmitting and forming positioning data information, lacks of effective protection capability, causes low positioning efficiency, easily causes information leakage of the urban pipe gallery system, and affects the safety and reliability of the operation of the urban pipe gallery system.
Therefore, aiming at the current situation, a brand-new urban pipe gallery positioning system is urgently needed to be developed so as to meet the requirement of actual operation, maintenance and management operation of the pipe gallery system.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a comprehensive pipe gallery on-site multi-source comprehensive on-site positioning system and method, which are used for overcoming the defects of the traditional equipment in operation and improving the stability, safety and reliability of the equipment in operation. In order to achieve the purpose, the invention is realized by the following technical scheme:
the utility model provides a comprehensive pipe gallery on-spot multisource comprehensive on-spot positioning system, including the cloud ware, remote control terminal, on-spot location navigation terminal, on-spot location node means, thing networking communication service network, wherein the cloud ware passes through thing networking communication service network and connects with remote control terminal, on-spot location navigation terminal, on-spot location node means respectively, wherein on-spot location node means a plurality of and parallelly connected each other, the equipartition is in the pipe gallery system and along the internal surface of pipe gallery system of pipe gallery axis equipartition, on-spot location navigation terminal is a plurality of, through thing networking communication service network series-parallel connection between each on-spot location navigation terminal, and every on-spot location navigation terminal sets up data connection through thing networking communication service network and remote control terminal in addition.
Furthermore, a main program system based on an SOA system is arranged in the cloud server, a three-dimensional information display subsystem based on BIM and GIS, an image recognition processing system platform subsystem, a virtual reality display platform subsystem based on AR/VR and a high-definition video signal transmission subsystem are additionally arranged on the cloud server, a data link is established between the three-dimensional information display subsystem based on BIM and GIS, the image recognition processing system platform subsystem, the virtual reality display platform subsystem based on AR/VR and the high-definition video signal transmission subsystem and the main program system based on the SOA system, and the cloud server is additionally connected with an external third-party service platform through a communication network.
Furthermore, the remote control terminal comprises a control platform, an intelligent communication gateway system, a display, an electronic sand table and a virtual reality system, wherein the control platform is electrically connected with the intelligent communication gateway system, the display, the electronic sand table and the virtual reality system respectively, and the display, the electronic sand table and the virtual reality system are connected in series and parallel with each other through the control platform.
Furthermore, the control platform is a circuit system based on sharing of any one or two of an internet-of-things controller and a programmable controller.
Further, the on-site positioning node device comprises a loudspeaker, a monitoring camera, a wireless data communication device, a serial port communication device, a GNSS satellite positioning device, a distance measuring device, a display, a bearing base, a workbench and a driving circuit, wherein the bearing base is a closed cavity structure with a rectangular cross section, the wireless data communication device, the serial port communication device, the GNSS satellite positioning device and the driving circuit are all embedded in the bearing base, the upper end surface of the bearing base is hinged with the workbench through a turntable mechanism, an included angle between the upper end surface of the workbench and the upper end surface of the bearing base is 0-60 degrees, the monitoring camera, the distance measuring device and the display are all connected with the upper end surface of the workbench, wherein the axial line of the optical axis of the monitoring camera, the distance measuring device and the display forms an included angle of 0-60 degrees with the horizontal plane, at least one loudspeaker is embedded in the outer side surface of the bearing base, the loudspeaker, the monitoring camera, the wireless data communication device, the serial port communication device, the GNSS satellite positioning device, the distance measuring device, the display and the turntable mechanism are electrically connected with a driving circuit, and the driving circuit establishes data with an Internet of things communication service network through the wireless data communication device and the serial port communication device.
Furthermore, the field positioning navigation terminal is any one or more of an electronic patrol device, a wearable patrol system and a mobile intelligent communication terminal.
A use method of a comprehensive pipe gallery on-site multi-source comprehensive on-site positioning system comprises the following steps:
s1, acquiring basic data, namely, firstly, establishing data connection with a municipal planning database server and a pipe gallery management system server through an Internet of things communication service network by a cloud server, acquiring geographic coordinate information and satellite positioning seat coordinate value information of the current pipe gallery system, and directly bringing the geographic coordinate information and the satellite positioning seat coordinate value information of the pipe gallery system into a pipe gallery system design drawing to acquire the geographic coordinate information and the satellite positioning seat coordinate value information of the current pipe gallery system in a city; finally, setting positioning management nodes for the current pipe gallery system division according to the requirements of pipe gallery system setting, management and maintenance operation based on the geographical coordinate information of the pipe gallery system and the coordinate value information of the satellite positioning seat;
s2, performing three-dimensional modeling, completing the step S1, establishing a basic three-dimensional model information database of the current pipe gallery system by the cloud server according to the pipe gallery system design drawing, the geographical coordinate information of the pipe gallery system and the coordinate value information of the satellite positioning seat obtained in the step S1 through the BIM three-dimensional modeling system, then performing rendering and assignment on each coordinate point in the three-dimensional model information database through the GIS system so as to obtain the three-dimensional model information database of the current pipe gallery system, finally performing marking and positioning on each positioning management node set in the step S1 in the three-dimensional model information database, sending the positioning management node to a remote control terminal through an Internet of things communication service network for output display, and meanwhile setting at least 1 field positioning node device for each positioning management node position according to each set positioning management node position;
s3, positioning and assigning, wherein after the step S2 is completed, the cloud server distributes unified data communication addressing addresses for the remote control terminal, each field positioning navigation terminal and the field positioning node device respectively, and then on one hand, each positioning management node is assigned with the corresponding geographic coordinate information and the coordinate value information of the satellite positioning seat according to the coordinate value information of the corresponding geographic coordinate information and the coordinate value information of the satellite positioning seat; on the other hand, for the structural position information of each positioning management node in the pipe gallery system, compiling corresponding node identification information for each positioning management node, and storing the identification information of each positioning management node in the cloud server; the other party is conveyed to the site positioning node device at each positioning management node position and positioning information is displayed and output through the site positioning node device;
s4, performing bidirectional positioning and navigation, after the step S3 is completed, respectively distributing the field positioning and navigation terminals distributed with the data communication addressing addresses to corresponding workers and inspection equipment in the pipe gallery system, identifying the identity information of the current workers and inspection equipment through the field positioning and navigation terminals, and simultaneously feeding the identified identity information back to the cloud server and the remote control terminal; and then, carrying out daily equipment operation and inspection operation in the pipe gallery system by a worker carrying the site positioning navigation terminal and the inspection equipment, and performing bidirectional data interaction with at least one site positioning node device installed at the position of the positioning management node when the worker approaches the position of each positioning management node in work to achieve the purposes of identification, positioning and navigation.
Further, in the step S2, when the field positioning node devices are installed and equipped for positioning the management node positions, and when 1 field positioning node device is provided, the deviation between the installation position coordinate value of the field positioning node device and the position coordinate value of the positioning management node is 0-30 cm; when the number of the on-site positioning node devices is two or more, the on-site positioning node devices are uniformly distributed around the positioning management node positions, the distance between the on-site positioning node devices and the positioning management node positions is 0.3-1.5 m, the axes of the on-site positioning node devices are intersected, and the angle is positioned at the positioning management node positions.
Further, in the step S3, the positioning information displayed and output by the on-site positioning node device is any one or any combination of several of an electronic map, a barcode, and a two-dimensional code that includes the position information of the positioning management node corresponding to the on-site positioning node device.
Further, in the step S4, during the positioning operation, two working modes, namely, passive positioning and active positioning, are adopted for the positioning operation, wherein:
when passive positioning is adopted, when the field positioning navigation terminal positions the management node along with the way of the worker and the inspection equipment, at least one field positioning node device arranged at the position of the positioning management node actively sends positioning identification information to the field positioning navigation terminal, and the field positioning navigation terminal replies and corresponds according to the positioning identification information under the condition that the worker and the inspection equipment do not participate after receiving the positioning identification information, so that passive positioning operation is completed;
when active positioning is adopted, when the field positioning navigation terminal positions the management node along with a worker and the inspection equipment, the worker and the inspection equipment send a positioning request from one of the field positioning navigation terminals at the current positioning management node position through the carried field positioning navigation terminal, and then the field positioning navigation terminal directly displays the position information of the current positioning management node and directly sends the position information to the field positioning navigation terminal for displaying, so that the active positioning operation is completed.
On one hand, the system has simple structure and strong data communication processing capacity, can effectively meet the requirements of comprehensively and accurately positioning and identifying the pipe gallery system and can realize the requirements of positioning monitoring and navigation communication operation on daily staff and equipment, thereby improving the working efficiency and precision of operation and management of the pipe gallery system; on the other hand, the invention has high positioning precision during operation and flexible positioning means, can effectively overcome the defects of positioning data, poor communication data signal quality, poor stability and positioning precision caused by equipment failure, interference of geographic environmental factors and the like, has convenient acquisition of positioning information data and high safety, and can effectively prevent the occurrence of data leakage.
Drawings
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic diagram of the structural principle of the system of the present invention;
FIG. 2 is a schematic diagram of the system of the present invention;
FIG. 3 is a schematic diagram of a cloud server operating system;
fig. 4 is a schematic structural diagram of a remote control terminal;
FIG. 5 is a schematic diagram of a site locating node device;
FIG. 6 is a flow chart illustrating a method of using the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained by taking hydrogen as an example in combination with the specific implementation mode.
As shown in fig. 1-5, a comprehensive pipe gallery on-site multi-source comprehensive on-site positioning system comprises a cloud server 1, a remote control terminal 2, on-site positioning navigation terminals 3, on-site positioning node devices 4 and an internet of things communication service network 5, wherein the cloud server 1 is respectively connected with the remote control terminal 2, the on-site positioning navigation terminals 3 and the on-site positioning node devices 4 through the internet of things communication service network 5, the on-site positioning node devices 4 are connected in parallel, are uniformly distributed in a pipe gallery system and are uniformly distributed on the inner surface of the pipe gallery system along the axis of the pipe gallery, the on-site positioning navigation terminals 3 are distributed in series through the internet of things communication service network 5, and each on-site positioning navigation terminal 3 is additionally connected with the remote control terminal 2 through the internet of things communication service network 5 in a data mode.
The cloud server 1 is internally provided with a main program system based on an SOA system, the cloud server 1 is additionally provided with a three-dimensional information display subsystem based on BIM and GIS, an image recognition processing system platform subsystem, a virtual reality display platform subsystem based on AR/VR and a high-definition video signal transmission subsystem, the three-dimensional information display subsystem based on BIM and GIS, the image recognition processing system platform subsystem, the virtual reality display platform subsystem based on AR/VR and the high-definition video signal transmission subsystem are all in data link with the main program system based on the SOA system, and the cloud server 1 is additionally in data link with an external third-party service platform through a communication network.
Meanwhile, the remote control terminal 2 comprises a control platform 21, an intelligent communication gateway system 22, a display 23, an electronic sand table 24 and a virtual reality implementation system 25, the control platform 21 is electrically connected with the intelligent communication gateway system 22, the display 23, the electronic sand table 24 and the virtual reality implementation system 25 respectively, and the display 23, the electronic sand table 24 and the virtual reality implementation system 25 are connected in series and parallel with each other through the control platform 21.
Preferably, the control platform 21 is a circuit system based on sharing of any one or two of an internet-of-things controller and a programmable controller.
It is emphasized that the on-site positioning node device 4 includes a speaker 41, a monitoring camera 42, a wireless data communication device 43, a serial communication device 44, a GNSS satellite positioning device 45, a distance measuring device 46, a display 23, a bearing base 47, a workbench 48 and a driving circuit 49, wherein the bearing base 47 is a closed cavity structure with a rectangular cross section, the wireless data communication device 43, the serial communication device 44, the GNSS satellite positioning device 45 and the driving circuit 49 are all embedded in the bearing base 47, the upper end surface of the bearing base 47 is hinged to the workbench 48 through a turntable mechanism 6, an included angle between the upper end surface of the workbench 48 and the upper end surface of the bearing base 47 is 0-60 degrees, the monitoring camera 42, the distance measuring device 46 and the display 23 are all connected to the upper end surface of the workbench 48, wherein an optical axis of the monitoring camera 42, the distance measuring device 46 and the display 23 forms an included angle of 0-60 degrees with a horizontal plane, at least one loudspeaker 41 is embedded on the outer side surface of the bearing base 47, the loudspeaker 41, the monitoring camera 42, the wireless data communication device 43, the serial port communication device 44, the GNSS satellite positioning device 45, the distance measuring device 46, the display 23 and the turntable mechanism 6 are electrically connected with a driving circuit 49, and the driving circuit 49 further establishes data with the Internet of things communication service network 5 through the wireless data communication device 43 and the serial port communication device 44.
Further optimized, the field positioning navigation terminal 3 is any one or more of an electronic patrol device, a wearable patrol system and a mobile intelligent communication terminal.
As shown in fig. 6, a method for using a multi-source comprehensive field positioning system on a comprehensive pipe gallery site includes the following steps:
s1, acquiring basic data, namely, firstly, establishing data connection with a municipal planning database server and a pipe gallery management system server through an Internet of things communication service network by a cloud server, acquiring geographic coordinate information and satellite positioning seat coordinate value information of the current pipe gallery system, and directly bringing the geographic coordinate information and the satellite positioning seat coordinate value information of the pipe gallery system into a pipe gallery system design drawing to acquire the geographic coordinate information and the satellite positioning seat coordinate value information of the current pipe gallery system in a city; finally, setting positioning management nodes for the current pipe gallery system division according to the requirements of pipe gallery system setting, management and maintenance operation based on the geographical coordinate information of the pipe gallery system and the coordinate value information of the satellite positioning seat;
s2, performing three-dimensional modeling, completing the step S1, establishing a basic three-dimensional model information database of the current pipe gallery system by the cloud server according to the pipe gallery system design drawing, the geographical coordinate information of the pipe gallery system and the coordinate value information of the satellite positioning seat obtained in the step S1 through the BIM three-dimensional modeling system, then performing rendering and assignment on each coordinate point in the three-dimensional model information database through the GIS system so as to obtain the three-dimensional model information database of the current pipe gallery system, finally performing marking and positioning on each positioning management node set in the step S1 in the three-dimensional model information database, sending the positioning management node to a remote control terminal through an Internet of things communication service network for output display, and meanwhile setting at least 1 field positioning node device for each positioning management node position according to each set positioning management node position;
s3, positioning and assigning, wherein after the step S2 is completed, the cloud server distributes unified data communication addressing addresses for the remote control terminal, each field positioning navigation terminal and the field positioning node device respectively, and then on one hand, each positioning management node is assigned with the corresponding geographic coordinate information and the coordinate value information of the satellite positioning seat according to the coordinate value information of the corresponding geographic coordinate information and the coordinate value information of the satellite positioning seat; on the other hand, for the structural position information of each positioning management node in the pipe gallery system, compiling corresponding node identification information for each positioning management node, and storing the identification information of each positioning management node in the cloud server; the other party is conveyed to the site positioning node device at each positioning management node position and positioning information is displayed and output through the site positioning node device;
s4, performing bidirectional positioning and navigation, after the step S3 is completed, respectively distributing the field positioning and navigation terminals distributed with the data communication addressing addresses to corresponding workers and inspection equipment in the pipe gallery system, identifying the identity information of the current workers and inspection equipment through the field positioning and navigation terminals, and simultaneously feeding the identified identity information back to the cloud server and the remote control terminal; and then, carrying out daily equipment operation and inspection operation in the pipe gallery system by a worker carrying the site positioning navigation terminal and the inspection equipment, and performing bidirectional data interaction with at least one site positioning node device installed at the position of the positioning management node when the worker approaches the position of each positioning management node in work to achieve the purposes of identification, positioning and navigation.
In this embodiment, in the step S2, when the field positioning node devices are installed and equipped for positioning the management node positions, and when 1 field positioning node device is installed, the deviation between the installation position coordinate value of the field positioning node device and the position coordinate value of the positioning management node is 0 to 30 cm; when the number of the on-site positioning node devices is two or more, the on-site positioning node devices are uniformly distributed around the positioning management node positions, the distance between the on-site positioning node devices and the positioning management node positions is 0.3-1.5 m, the axes of the on-site positioning node devices are intersected, and the angle is positioned at the positioning management node positions.
It should be noted that in the step S3, the positioning information displayed and output by the on-site positioning node device is any one or any combination of an electronic map, a barcode, and a two-dimensional code that includes the position information of the positioning management node corresponding to the on-site positioning node device.
It is to be noted that in the step S4, during the positioning operation, two working modes, namely, passive positioning and active positioning, are adopted for the positioning operation, wherein:
when passive positioning is adopted, when the field positioning navigation terminal positions the management node along with the way of the worker and the inspection equipment, at least one field positioning node device arranged at the position of the positioning management node actively sends positioning identification information to the field positioning navigation terminal, and the field positioning navigation terminal replies and corresponds according to the positioning identification information under the condition that the worker and the inspection equipment do not participate after receiving the positioning identification information, so that passive positioning operation is completed;
when active positioning is adopted, when the field positioning navigation terminal positions the management node along with a worker and the inspection equipment, the worker and the inspection equipment send a positioning request from one of the field positioning navigation terminals at the current positioning management node position through the carried field positioning navigation terminal, and then the field positioning navigation terminal directly displays the position information of the current positioning management node and directly sends the position information to the field positioning navigation terminal for displaying, so that the active positioning operation is completed.
On one hand, the system has simple structure and strong data communication processing capacity, can effectively meet the requirements of comprehensively and accurately positioning and identifying the pipe gallery system and can realize the requirements of positioning monitoring and navigation communication operation on daily staff and equipment, thereby improving the working efficiency and precision of operation and management of the pipe gallery system; on the other hand, the invention has high positioning precision during operation and flexible positioning means, can effectively overcome the defects of positioning data, poor communication data signal quality, poor stability and positioning precision caused by equipment failure, interference of geographic environmental factors and the like, has convenient acquisition of positioning information data and high safety, and can effectively prevent the occurrence of data leakage.
It will be appreciated by persons skilled in the art that the present invention is not limited by the embodiments described above. The foregoing embodiments and description have been presented only to illustrate the principles of the invention. Various changes and modifications can be made without departing from the spirit and scope of the invention. Such variations and modifications are intended to be within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides an on-spot multisource of utility tunnel synthesizes on-the-spot positioning system which characterized in that: the on-site multi-source comprehensive on-site positioning system of the comprehensive pipe rack comprises a cloud server, a remote control terminal, an on-site positioning navigation terminal, an on-site positioning node device and an Internet of things communication service network, wherein the cloud server is respectively connected with the remote control terminal, the on-site positioning navigation terminal and the on-site positioning node device through the Internet of things communication service network, the on-site positioning node devices are connected in parallel, are uniformly distributed in the pipe rack system and are uniformly distributed on the inner surface of the pipe rack system along the axis of the pipe rack, the on-site positioning navigation terminal is multiple, the on-site positioning navigation terminals are connected in series and parallel through the Internet of things communication service network, and each on-site positioning navigation terminal is additionally connected with the remote control terminal through the Internet.
2. The on-site multi-source comprehensive on-site positioning system for the comprehensive pipe gallery according to claim 1, characterized in that: the cloud server is internally provided with a main program system based on an SOA system, meanwhile, the cloud server is additionally provided with a three-dimensional information display subsystem based on BIM and GIS, an image recognition processing system platform subsystem, a virtual reality display platform subsystem based on AR/VR and a high-definition video signal transmission subsystem, the three-dimensional information display subsystem based on BIM and GIS, the image recognition processing system platform subsystem, the virtual reality display platform subsystem based on AR/VR and the high-definition video signal transmission subsystem are all in data link with the main program system based on the SOA system, and the cloud server is additionally in data link with an external third-party service platform through a communication network.
3. The on-site multi-source comprehensive on-site positioning system for the comprehensive pipe gallery according to claim 1, characterized in that: the remote control terminal comprises a control platform, an intelligent communication gateway system, a display, an electronic sand table and a virtual reality system, wherein the control platform is electrically connected with the intelligent communication gateway system, the display, the electronic sand table and the virtual reality system respectively, and the display, the electronic sand table and the virtual reality system are connected in series and parallel with each other through the control platform.
4. The on-site multi-source comprehensive on-site positioning system for the comprehensive pipe gallery according to claim 1, characterized in that: the control platform is a circuit system based on the sharing of any one or two of an internet-of-things controller and a programmable controller.
5. The on-site multi-source comprehensive on-site positioning system for the comprehensive pipe gallery according to claim 1, characterized in that: the on-site positioning node device comprises a loudspeaker, a monitoring camera, a wireless data communication device, a serial communication device, a GNSS satellite positioning device, a distance measuring device, a display, a bearing base, a workbench and a driving circuit, wherein the bearing base is a closed cavity structure with a rectangular cross section, the wireless data communication device, the serial communication device, the GNSS satellite positioning device and the driving circuit are all embedded in the bearing base, the upper end surface of the bearing base is hinged with the workbench through a turntable mechanism, an included angle between the upper end surface of the workbench and the upper end surface of the bearing base is 0-60 degrees, the monitoring camera, the distance measuring device and the display are all connected with the upper end surface of the workbench, the axial line of an optical axis of the monitoring camera, the distance measuring device and the display forms an included angle of 0-60 degrees with the horizontal plane, at least one loudspeaker is embedded in the outer side surface of the bearing base, the loudspeaker, the monitoring camera, the wireless data communication device, the serial port communication device, the GNSS satellite positioning device, the distance measuring device, the display and the turntable mechanism are electrically connected with a driving circuit, and the driving circuit establishes data with an Internet of things communication service network through the wireless data communication device and the serial port communication device.
6. The on-site multi-source comprehensive on-site positioning system and method for the comprehensive pipe gallery according to claim 1, characterized in that: the field positioning navigation terminal is any one or more of an electronic patrol device, a wearable patrol system and a mobile intelligent communication terminal.
7. The utility model provides a utility tunnel scene multisource synthesizes on-the-spot positioning system's application method which characterized in that: the use method of the comprehensive pipe gallery on-site multi-source comprehensive on-site positioning system comprises the following steps:
s1, acquiring basic data, namely, firstly, establishing data connection with a municipal planning database server and a pipe gallery management system server through an Internet of things communication service network by a cloud server, acquiring geographic coordinate information and satellite positioning seat coordinate value information of the current pipe gallery system, and directly bringing the geographic coordinate information and the satellite positioning seat coordinate value information of the pipe gallery system into a pipe gallery system design drawing to acquire the geographic coordinate information and the satellite positioning seat coordinate value information of the current pipe gallery system in a city; finally, setting positioning management nodes for the current pipe gallery system division according to the requirements of pipe gallery system setting, management and maintenance operation based on the geographical coordinate information of the pipe gallery system and the coordinate value information of the satellite positioning seat;
s2, performing three-dimensional modeling, completing the step S1, establishing a basic three-dimensional model information database of the current pipe gallery system by the cloud server according to the pipe gallery system design drawing, the geographical coordinate information of the pipe gallery system and the coordinate value information of the satellite positioning seat obtained in the step S1 through the BIM three-dimensional modeling system, then performing rendering and assignment on each coordinate point in the three-dimensional model information database through the GIS system so as to obtain the three-dimensional model information database of the current pipe gallery system, finally performing marking and positioning on each positioning management node set in the step S1 in the three-dimensional model information database, sending the positioning management node to a remote control terminal through an Internet of things communication service network for output display, and meanwhile setting at least 1 field positioning node device for each positioning management node position according to each set positioning management node position;
s3, positioning and assigning, wherein after the step S2 is completed, the cloud server distributes unified data communication addressing addresses for the remote control terminal, each field positioning navigation terminal and the field positioning node device respectively, and then on one hand, each positioning management node is assigned with the corresponding geographic coordinate information and the coordinate value information of the satellite positioning seat according to the coordinate value information of the corresponding geographic coordinate information and the coordinate value information of the satellite positioning seat; on the other hand, for the structural position information of each positioning management node in the pipe gallery system, compiling corresponding node identification information for each positioning management node, and storing the identification information of each positioning management node in the cloud server; the other party is conveyed to the site positioning node device at each positioning management node position and positioning information is displayed and output through the site positioning node device;
s4, performing bidirectional positioning and navigation, after the step S3 is completed, respectively distributing the field positioning and navigation terminals distributed with the data communication addressing addresses to corresponding workers and inspection equipment in the pipe gallery system, identifying the identity information of the current workers and inspection equipment through the field positioning and navigation terminals, and simultaneously feeding the identified identity information back to the cloud server and the remote control terminal; and then, carrying out daily equipment operation and inspection operation in the pipe gallery system by a worker carrying the site positioning navigation terminal and the inspection equipment, and performing bidirectional data interaction with at least one site positioning node device installed at the position of the positioning management node when the worker approaches the position of each positioning management node in work to achieve the purposes of identification, positioning and navigation.
8. The use method of the on-site multi-source comprehensive on-site positioning system for the comprehensive pipe gallery according to claim 7, characterized in that: in the step S2, when the field positioning node devices are installed and equipped for positioning the management node positions, and when 1 field positioning node device is provided, the deviation between the installation position coordinate value of the field positioning node device and the position coordinate value of the positioning management node is 0 to 30 cm; when the number of the on-site positioning node devices is two or more, the on-site positioning node devices are uniformly distributed around the positioning management node positions, the distance between the on-site positioning node devices and the positioning management node positions is 0.3-1.5 m, the axes of the on-site positioning node devices are intersected, and the angle is positioned at the positioning management node positions.
9. The use method of the on-site multi-source comprehensive on-site positioning system for the comprehensive pipe gallery according to claim 7, characterized in that: in the step S3, the positioning information displayed and output by the on-site positioning node device is any one or any combination of several of an electronic map, a barcode, and a two-dimensional code that includes the position information of the positioning management node corresponding to the on-site positioning node device.
10. The use method of the on-site multi-source comprehensive on-site positioning system for the comprehensive pipe gallery according to claim 1, is characterized in that: in the step S4, in the positioning operation, two working modes of passive positioning and active positioning are adopted to perform positioning operation, where:
when passive positioning is adopted, when the field positioning navigation terminal positions the management node along with the way of the worker and the inspection equipment, at least one field positioning node device arranged at the position of the positioning management node actively sends positioning identification information to the field positioning navigation terminal, and the field positioning navigation terminal replies and corresponds according to the positioning identification information under the condition that the worker and the inspection equipment do not participate after receiving the positioning identification information, so that passive positioning operation is completed;
when active positioning is adopted, when the field positioning navigation terminal positions the management node along with a worker and the inspection equipment, the worker and the inspection equipment send a positioning request from one of the field positioning navigation terminals at the current positioning management node position through the carried field positioning navigation terminal, and then the field positioning navigation terminal directly displays the position information of the current positioning management node and directly sends the position information to the field positioning navigation terminal for displaying, so that the active positioning operation is completed.
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