CN112523262A - Intelligent well lid system based on differential positioning - Google Patents
Intelligent well lid system based on differential positioning Download PDFInfo
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- CN112523262A CN112523262A CN202011430388.0A CN202011430388A CN112523262A CN 112523262 A CN112523262 A CN 112523262A CN 202011430388 A CN202011430388 A CN 202011430388A CN 112523262 A CN112523262 A CN 112523262A
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- 238000012806 monitoring device Methods 0.000 claims abstract description 43
- 238000005516 engineering process Methods 0.000 claims abstract description 12
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- 238000004891 communication Methods 0.000 claims description 18
- 238000006073 displacement reaction Methods 0.000 claims description 13
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- 230000002159 abnormal effect Effects 0.000 abstract description 3
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- 230000005484 gravity Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D29/00—Independent underground or underwater structures; Retaining walls
- E02D29/12—Manhole shafts; Other inspection or access chambers; Accessories therefor
- E02D29/14—Covers for manholes or the like; Frames for covers
- E02D29/1481—Security devices, e.g. indicating unauthorised opening
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D29/00—Independent underground or underwater structures; Retaining walls
- E02D29/12—Manhole shafts; Other inspection or access chambers; Accessories therefor
- E02D29/14—Covers for manholes or the like; Frames for covers
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/02—Mechanical actuation
- G08B13/14—Mechanical actuation by lifting or attempted removal of hand-portable articles
- G08B13/1436—Mechanical actuation by lifting or attempted removal of hand-portable articles with motion detection
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D2600/00—Miscellaneous
- E02D2600/10—Miscellaneous comprising sensor means
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Abstract
The invention discloses an intelligent well lid system based on differential positioning, which comprises an intelligent well lid, a server and a management terminal, wherein the intelligent well lid comprises a well lid body and a state monitoring device arranged on the well lid body; the state monitoring device and the management terminal of the intelligent well lid are in signal connection with the server; the management terminal is used for sending the characteristic information of the state monitoring device to the server, receiving a positioning allowing instruction fed back by the server, determining the geographic coordinate of the state monitoring device by using a real-time dynamic differential positioning technology, and sending the geographic coordinate to the server; the server receives the geographic coordinate and binds the geographic coordinate with the state monitoring device; and the server receives the alarm signal sent by the state monitoring device and forwards the alarm signal to the management terminal. The real-time dynamic differential positioning technology is utilized to accurately position the well lid body with high precision, automatic alarm of abnormal state of the well lid is realized, and workload and work efficiency of supervision personnel and departments can be greatly reduced.
Description
Technical Field
The invention relates to the technical field of well lids, in particular to an intelligent well lid system based on differential positioning.
Background
The well lid for cover the sewer well head, prevent that people or object from falling. The material can be divided into a metal well cover, a high-strength fiber cement concrete well cover, a resin well cover and the like. Generally adopts a round shape, and can be used for green belts, sidewalks, motor vehicle lanes, wharfs, alleys and the like.
The in-process of current well lid using for a long time often can appear becoming flexible, fall, slope scheduling problem, makes the well lid can not be fine cover the well head and drop even, well lid and road surface laminating are not tight, and the vehicle presses the time tire can produce the collision with the well lid, and the well lid consequently becomes one of the noise source in city. Moreover, the well cover can be stolen by lawbreakers, so that the well mouth of the sewer is not protected, vehicles and pedestrians are likely to fall off the sewer, and the life risk is caused to people.
However, the well lid is comparatively scattered in arrangement, the existing well lid is simple in function, and has no state alarm function, so that the problem well lid is difficult to deal and process timely, quickly and accurately, and great manpower, material resources and financial resources are consumed when the well lid problem is inspected.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an intelligent well lid system based on differential positioning, which aims to solve the technical problems in the background art.
An intelligent well lid system based on differential positioning comprises an intelligent well lid, a server and a management terminal, wherein the intelligent well lid comprises a well lid body and a state monitoring device arranged on the well lid body; the state monitoring device and the management terminal of the intelligent well lid are in signal connection with the server;
the management terminal is used for sending the characteristic information of the state monitoring device to the server, receiving a positioning allowing instruction fed back by the server, determining the geographic coordinate of the state monitoring device by using a real-time dynamic differential positioning technology, and sending the geographic coordinate to the server;
the server receives the geographic coordinate and binds the geographic coordinate with the state monitoring device;
and the server receives the alarm signal sent by the state monitoring device and forwards the alarm signal to the management terminal.
Further, the server is further configured to:
and receiving the characteristic information of the state monitoring device, judging whether the state monitoring device is an logged device, and if the state monitoring device is judged to be the logged device, sending the positioning permission instruction to the management terminal.
Further, the state monitoring device comprises a control module, a communication module, a positioning module, a state data acquisition module and a power supply, wherein the communication module, the positioning module, the state data acquisition module and the power supply are electrically connected with the control module; wherein,
the positioning module is used for acquiring positioning data of the well lid body;
the state data acquisition module is used for acquiring the running state data of the well lid body in real time;
the control module is used for receiving the positioning data and the running state data, judging the state of the well lid body according to the running state data and generating an alarm signal;
the communication module is used for sending the positioning data and the alarm signal to a server.
Further, the state data acquisition module is an acceleration sensor;
the operating state data is an acceleration value.
Further, the alarm signal comprises a loosening alarm signal, a falling alarm signal, a tilting alarm signal and a moving alarm signal.
Further, the control module is specifically configured to:
judging whether the acceleration value of the well lid body in the process from static to moving at a certain moment is larger than a preset first acceleration threshold value or not;
if the acceleration is larger than the preset first acceleration threshold, acquiring the accelerations of an X axis, a Y axis and a Z axis of the acceleration sensor, calculating displacement variation through the acceleration variation of the X axis, the Y axis and the Z axis in three directions, judging whether the displacement variation is larger than the preset displacement threshold, and if so, generating the loosening alarm signal.
Further, the control module is specifically configured to:
and when the acceleration value of the well lid body is judged to be greater than or equal to a preset second acceleration threshold value within a preset first time period, the falling alarm signal is generated.
Further, the control module is specifically configured to:
the method comprises the steps of obtaining the acceleration of an X axis, an Y axis and a Z axis of the acceleration sensor, calculating the inclination angle of the well lid body, judging whether the inclination angle is larger than a preset inclination angle threshold value, and generating an inclination alarm signal if the inclination angle is larger than the preset inclination angle threshold value.
Further, the control module is specifically configured to:
and judging that the acceleration value of the well lid body in a preset second time period is greater than zero, and generating the mobile alarm signal.
Further, the state monitoring device comprises a shell, the control module, the communication module, the positioning module, the state data acquisition module and the power supply are all installed in the shell, and the shell is installed on the back of the well lid body through screws.
The invention has the beneficial effects that:
according to the intelligent well lid system based on differential positioning, provided by the invention, the well lid body can be accurately positioned with high precision by utilizing a real-time dynamic differential positioning technology, the automatic alarm of the abnormal state of the well lid is realized, the operation and management of well lid management personnel are facilitated, the maintenance and management are easy, and the workload and the working efficiency of supervision personnel and departments can be greatly reduced.
The intelligent well lid is provided with the state monitoring device, the state monitoring device can monitor the state of the well lid body in real time, and sends out corresponding alarm signals in real time when the well lid body is loosened, dropped, inclined and moved, so that managers are reminded to take treatment measures in time, and the safety of related facilities is guaranteed.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a schematic system structure diagram of an intelligent manhole cover system based on differential positioning according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an intelligent manhole cover system based on differential positioning according to an embodiment of the present invention;
fig. 3 is a schematic system structure diagram of a state monitoring device of an intelligent manhole cover system based on differential positioning according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
As shown in fig. 1, an intelligent manhole cover system based on differential positioning provided in an embodiment of the present invention includes an intelligent manhole cover, a server, and a management terminal. As shown in fig. 2, the intelligent well lid comprises a well lid body 1 and a state monitoring device 2 arranged on the well lid body 1. And the state monitoring device 2 and the management terminal of the intelligent well lid are in signal connection with the server.
The management terminal is used for sending the characteristic information of the state monitoring device 2 to the server, receiving a positioning allowing instruction fed back by the server, determining the geographic coordinate of the state monitoring device 2 by using a real-time dynamic differential positioning technology, and sending the geographic coordinate to the server.
The server receives the geographic coordinate and binds the geographic coordinate with the state monitoring device 2; the server receives the alarm signal sent by the state monitoring device 2 and forwards the alarm signal to the management terminal.
The real-time dynamic differential positioning technology, RTKreal time kinematic, is a real-time differential precise relative positioning technology based on carrier phase observed quantity, can obtain centimeter-level positioning precision, and has important application in agriculture, building and engineering surveying and mapping.
The RTK can be divided into a single-base station RTK conventional RTK and a multi-base station RTK network RTK according to the number of the base stations and a data processing mode. In the RTK mode of operation, the reference station transmits its observations to the rover station along with the coordinate information of the rover station via the communication data link. The mobile station receives differential data from the reference station through the communication data link, receives and collects satellite signal observation data, forms differential observation values in the system for real-time processing, and simultaneously provides centimeter-level and even submillimeter-level positioning results.
The network RTK is also called a multi-base station RTK, and is a new real-time dynamic positioning technology developed on the basis of conventional RTK, computer technology, network communication technology and the like in recent years. The network RTK system consists of a reference station network, a data processing and broadcasting center, a data communication link and a user part. A plurality of satellite navigation reference stations are established in a certain area to form mesh coverage for the area, a reference station receiver continuously observes visible satellites, observation data are transmitted to a data processing broadcasting center in real time through a data communication link, the data processing broadcasting center preprocesses and analyzes the quality of data information of each station, then the data of the whole reference station network are subjected to uniform settlement, correction items of various system errors in the network are estimated in real time, and error correction information is provided for high-precision real-time positioning of satellite navigation users in the area. Compared with the conventional RTK, the network RTK enlarges the operation range, reduces the operation cost, improves the positioning precision and reduces the time for positioning initialization of a user.
Further, the server is further configured to: receiving the characteristic information of the state monitoring device 2, judging whether the state monitoring device 2 is a recorded device, and if the state monitoring device 2 is judged to be the recorded device, sending a positioning permission instruction to the management terminal.
Specifically, the state monitoring device 2 includes a housing, a control module, a communication module, a positioning module, a state data acquisition module, and a power supply. As shown in fig. 3, the communication module, the positioning module, the state data acquisition module and the power supply are electrically connected with the control module, the communication module, the positioning module, the state data acquisition module and the power supply are all installed in the shell, and the shell is installed on the back of the well lid body 1 through screws.
Wherein, orientation module is used for acquireing the location data of well lid body 1, and orientation module can adopt big dipper orientation module or GPS orientation module for acquire the location data of well lid body 1 in real time, fix a position the position of well lid body 1.
The state data acquisition module is used for acquiring the running state data of the well lid body 1 in real time. The state data acquisition module is an acceleration sensor, the model is ADXL345, and the running state data is the acceleration value of the well lid body acquired by the acceleration sensor.
The control module is used for receiving the positioning data and the operating state data, judging the state of the well lid body 1 according to the operating state data and generating an alarm signal. The control module is a single chip microcomputer, and the model is STM32L053R8T 6T. Corresponding to the problems of the well lid in the using process, specifically, the alarm signals comprise a loosening alarm signal, a falling alarm signal, an inclination alarm signal and a moving alarm signal.
The communication module is used for sending the positioning data and the alarm signal to the server. The specific model of the communication module is M5310-A.
Specifically, the control module is specifically configured to: judging whether the acceleration value of the manhole cover body 1 in the process from static to moving at a certain moment is larger than a preset first acceleration threshold value or not; if the acceleration is larger than the preset first acceleration threshold, the accelerations of the X axis, the Y axis and the Z axis of the acceleration sensor are obtained, the displacement variation is calculated according to the acceleration variation of the X axis, the Y axis and the Z axis, whether the displacement variation is larger than the preset displacement threshold or not is judged, and if the displacement variation is larger than the preset displacement threshold, a loosening alarm signal is generated.
For example, the manhole cover body is arranged on a road, when a vehicle runs over, a tire collides with the manhole cover body, if the manhole cover body 1 is loosened, the manhole cover body 1 is stressed, the state of the manhole cover body is changed from a static state to a motion state and then to the static state, acceleration data of the manhole cover body 1 in three directions of an X axis, a Y axis and a Z axis in the state change process are collected by an acceleration sensor and transmitted to a control module, if the acceleration of the manhole cover body 1 in the state change process, which is collected by the acceleration sensor, is greater than a preset first acceleration threshold value, the control module respectively calculates displacement variation amounts of the manhole cover body 1 in the three directions of the X axis, the Y axis and the Z axis by using a kinematic formula, and judges whether the manhole cover body 1 is loosened according to the magnitude of the displacement variation amounts.
The control module is further specifically configured to: and when the acceleration value of the well lid body 1 is judged to be greater than or equal to a preset second acceleration threshold value in a preset first time period, a falling alarm signal is generated. For example, when the manhole cover 1 falls, the acceleration value of the manhole cover 1 collected by the acceleration sensor should be 9.8m/s theoretically2That is, the acceleration values of the manhole cover body 1 are 9.8m/s within a period of time, for example, within a time range of 0.5 seconds2And the control module judges that the well lid falls.
The control module is further specifically configured to: the method comprises the steps of obtaining the acceleration of an X axis, an Y axis and a Z axis of an acceleration sensor, calculating the inclination angle of a well lid body 1, judging whether the inclination angle is larger than a preset inclination angle threshold value, and generating an inclination alarm signal if the inclination angle is larger than the preset inclination angle threshold value.
Since the acceleration sensor is subjected to gravity when placed at rest, there will be a gravitational acceleration of 1 g. By utilizing the property, the control module can calculate the inclination angle of the manhole cover body 1 by acquiring the components of the gravity acceleration on the X axis, the Y axis and the Z axis of the acceleration sensor. Generating an inclination alarm signal when the calculated inclination angle is greater than the inclination angle threshold.
The control module is further specifically configured to: and judging that the acceleration value of the well lid body 1 in a preset time period is greater than zero, and generating a mobile alarm signal.
If someone steals or carries away well lid 1, well lid 1 can be in continuous motion state for a long time, and the acceleration value of well lid 1 in longer time quantum is greater than zero promptly, and control module judges well lid 1 at this moment and is removed, generates and removes alarm signal.
According to the intelligent well lid system provided by the invention, the real-time dynamic differential positioning technology is utilized to accurately position the well lid body, automatic alarm of abnormal states of the well lid is realized, operation and management of well lid management personnel are facilitated, maintenance and management are easy, and the workload and the working efficiency of supervision personnel and departments can be greatly reduced.
The intelligent well lid is provided with the state monitoring device, the state monitoring device can monitor the state of the well lid body in real time, and sends out corresponding alarm signals in real time when the well lid body is loosened, dropped, inclined and moved, so that managers are reminded to take treatment measures in time, and the safety of related facilities is guaranteed.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (10)
1. The utility model provides an intelligence well lid system based on difference location which characterized in that: the intelligent well lid comprises an intelligent well lid body (1) and a state monitoring device (2) arranged on the well lid body (1); the state monitoring device (2) of the intelligent well lid and the management terminal are in signal connection with the server;
the management terminal is used for sending the characteristic information of the state monitoring device (2) to the server, receiving a positioning allowing instruction fed back by the server, determining the geographic coordinate of the state monitoring device (2) by using a real-time dynamic differential positioning technology, and sending the geographic coordinate to the server;
the server receives the geographic coordinates and binds the geographic coordinates with the state monitoring device (2);
and the server receives the alarm signal sent by the state monitoring device (2) and forwards the alarm signal to the management terminal.
2. The intelligent well lid system based on differential positioning of claim 1, wherein: the server is further configured to:
receiving the characteristic information of the state monitoring device (2), judging whether the state monitoring device (2) is a recorded device or not, and if the state monitoring device (2) is judged to be the recorded device, sending the positioning permission instruction to the management terminal.
3. The intelligent well lid system based on differential positioning of claim 1, wherein:
the state monitoring device (2) comprises a control module, a communication module, a positioning module, a state data acquisition module and a power supply, wherein the communication module, the positioning module, the state data acquisition module and the power supply are electrically connected with the control module; wherein,
the positioning module is used for acquiring positioning data of the well lid body (1);
the state data acquisition module is used for acquiring the running state data of the well lid body (1) in real time;
the control module is used for receiving the positioning data and the running state data, judging the state of the well lid body (1) according to the running state data and generating an alarm signal;
the communication module is used for sending the positioning data and the alarm signal to a server.
4. The intelligent well lid system based on differential positioning of claim 3, wherein: the state data acquisition module is an acceleration sensor;
the operating state data is an acceleration value.
5. The intelligent well lid system based on differential positioning of claim 4, wherein: the alarm signals comprise a loosening alarm signal, a falling alarm signal, an inclination alarm signal and a moving alarm signal.
6. The intelligent well lid system based on differential positioning of claim 5, wherein: the control module is specifically configured to:
judging whether the acceleration value of the manhole cover body (1) in the process of moving from rest at a certain moment is larger than a preset first acceleration threshold value or not;
if the acceleration is larger than the preset first acceleration threshold, acquiring the accelerations of an X axis, a Y axis and a Z axis of the acceleration sensor, calculating displacement variation through the acceleration variation of the X axis, the Y axis and the Z axis in three directions, judging whether the displacement variation is larger than the preset displacement threshold, and if so, generating the loosening alarm signal.
7. The intelligent well lid system based on differential positioning of claim 5, wherein: the control module is specifically configured to:
and when the acceleration value of the well lid body (1) is judged to be greater than or equal to a preset second acceleration threshold value within a preset first time period, the falling alarm signal is generated.
8. The intelligent well lid system based on differential positioning of claim 5, wherein: the control module is specifically configured to:
the method comprises the steps of obtaining the acceleration of an X axis, an Y axis and a Z axis of the acceleration sensor, calculating the inclination angle of the well lid body (1), judging whether the inclination angle is larger than a preset inclination angle threshold value or not, and generating an inclination alarm signal if the inclination angle is larger than the inclination angle threshold value.
9. The intelligent well lid system based on differential positioning of claim 5, wherein: the control module is specifically configured to:
and judging that the acceleration value of the well lid body (1) in a preset second time period is greater than zero, and generating the mobile alarm signal.
10. The intelligent well lid system based on differential positioning of claim 3, wherein: the state monitoring device (2) comprises a shell, the control module, the communication module, the positioning module, the state data acquisition module and the power supply are all installed in the shell, and the shell is installed on the back of the well lid body (1) through screws.
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| CN202011430388.0A CN112523262A (en) | 2020-12-09 | 2020-12-09 | Intelligent well lid system based on differential positioning |
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| CN114111670A (en) * | 2022-01-27 | 2022-03-01 | 深圳市发掘科技有限公司 | Manhole cover monitoring method, system, storage medium and server for underground pipe network |
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