CN114046984B - Gate fault troubleshooting device based on phase method laser ranging - Google Patents
Gate fault troubleshooting device based on phase method laser ranging Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B7/00—Barrages or weirs; Layout, construction, methods of, or devices for, making same
- E02B7/20—Movable barrages; Lock or dry-dock gates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
Abstract
According to the gate troubleshooting device based on the phase method laser ranging, the time is calibrated by the timer for the laser emitting device and the laser receiving device, demodulation is carried out by a secondary modulation method, amplification of optical signals is achieved under the condition that the phase is not changed, the gate opening and closing distance is measured by a multi-angle fusion method, the commonly adopted single phase method ranging scheme is replaced, the accuracy of the phase method laser ranging is guaranteed, the high frequency measurement characteristic and the high precision characteristic are achieved, and the accuracy of troubleshooting is improved.
Description
Technical Field
The invention relates to the field of gate fault detection, in particular to a gate fault troubleshooting device based on phase method laser ranging.
Background
Scientific management of water resources shows more and more importance and necessity, and optimal scheduling of water resources is realized by controlling a gate. Most river course gate is after using for a long time, has the gate and puts down the back, and the bottom of gate fails with ground contact, leads to the gate can not effectually close the river course, probably leads to the gate to damage, consequently needs in time to investigate the gate trouble.
Chinese patent application No.: CN202110780495, published: 2021.10.22, discloses a dimmable traffic technology monitoring imaging light supplement device based on laser ranging, which is characterized by comprising a main logic processing unit, an illuminance detection unit, a monitoring signal input unit, a laser ranging unit, a vehicle type judgment logic unit, an LED driving unit and a network communication unit; the invention has the beneficial effects that: through laser rangefinder unit and motorcycle type judgement logic unit rapid calculation and discernment motorcycle type, the light filling device is according to motorcycle type automatic adjustment light filling parameter, improves the light utilization ratio of light filling device and reduces under the prerequisite of light pollution, has satisfied supervisory equipment's snapshot effect simultaneously.
However, in the process of implementing the technical solution of the invention in the embodiments of the present application, the inventors of the present application find that the above-mentioned technology has at least the following technical problems: in the traditional laser ranging technology based on the phase method, because the ranging value period is uncertain, a plurality of different phases are required to be used for measurement and comparison, the calculation complexity is increased, the contradiction that the measurement frequency and the measurement precision cannot be obtained simultaneously is generated, and in the gate opening and closing process, because of the influence of factors such as water level and water flow, the influence of redundancy factors is large, and the calculation precision is low.
Disclosure of Invention
The embodiment of the application provides a gate troubleshooting device based on phase method laser ranging, solves the problems that in the prior art, the laser ranging technology based on the phase method needs to use a plurality of different phases for measurement and comparison due to the fact that the ranging value period is uncertain, the calculation complexity is increased, the contradiction that the measurement frequency and the precision cannot be obtained simultaneously is generated, the gate is opened and closed under the influence of factors such as water level and water flow, the influence of redundancy factors is large, and the calculation precision is low. The method and the device have the advantages that the accuracy of laser ranging by a phase method is ensured, the high frequency measurement characteristic and the high precision characteristic are achieved, and the accuracy of troubleshooting is improved.
The technical scheme of the invention is as follows:
gate troubleshooting device based on phase place method laser rangefinder includes following part:
the system comprises gate equipment and a cloud computing center;
the gate equipment comprises a gate hoist, a gate plate and a laser ranging sensor;
the laser ranging sensor comprises a laser emitting device, a laser receiving device, a timer and a signal transmission device, wherein the timer is used for carrying out time calibration on the laser emitting device and the laser receiving device and sending laser ranging starting time to the laser emitting device and the laser receiving device;
the cloud computing center comprises a frequency-increasing phase measurement unit, a distance measurement unit, a data processing unit, an intelligent fusion unit, a troubleshooting unit and an alarm unit; the distance measuring unit calculates real-time distance information according to the wavelength of the modulated light and sends the distance information to the data processing unit and the intelligent fusion unit; the intelligent fusion unit intelligently fuses the residual distance information and sends the fused real-time distance measurement information to the troubleshooting unit; and the troubleshooting unit judges whether the opening and closing of the gate is in failure or not according to the real-time change condition of the distance information in the opening and closing process of the gate and determines the type of the failure.
The gate fault troubleshooting method based on the phase method laser ranging comprises the following steps of:
s1, carrying out laser ranging on the opening and closing distance of a gate plate by a laser ranging sensor through a phase method to obtain the opening and closing real-time measuring distance of the gate;
s2, measuring the opening and closing distance of the gate by a multi-angle fusion method to obtain the opening and closing distance information of the gate after intelligent fusion, and troubleshooting the gate fault according to the opening and closing distance information of the gate.
Preferably, the step S1 specifically includes:
before a timer sends a flashboard opening and closing instruction to a laser emitting device and a laser receiving device, a heartbeat package needs to be sent to the laser emitting device and the laser receiving device to maintain connection, after the laser emitting device and the laser receiving device receive the heartbeat package, a response containing a time stamp is returned, and the timer calibrates the time of the timer according to the time stamp in the response so as to ensure the time consistency of the laser emitting device, the laser receiving device and the timer.
Preferably, the step S2 specifically includes:
the distance measuring unit calculates distance information according to the wavelength of the modulated light
Then, according to the angle information, the gate opening and closing measurement distances corresponding to the distance information of different measurement points are obtained
。
Preferably, the step S2 specifically includes:
obtaining the vertical distance information from the laser ranging sensor to the flashboard from different measuring points
The data processing unit preprocesses the distance information and deletes isolated points in each distance information; and the intelligent fusion unit intelligently fuses the residual distance information.
Preferably, the step S2 specifically includes:
the following conditions exist for the gate opening and closing fault:
(1) determining energy power in the gate opening and closing process according to actual conditions, if the gate is opened and closed to be an electric lifting device, determining a power supply problem, if current and voltage are stable, the electric lifting device breaks down, and if not, an alarm unit sends out an overcurrent or unstable voltage alarm; if the gate is opened and closed to be a hydraulic lifting device, the pressure of a hydraulic cylinder needs to be determined, if the hydraulic lifting device is in a normal pressure range, the electric lifting device breaks down, and otherwise, an alarm unit sends out a hydraulic abnormity warning;
(2) a plurality of target positions are set in the opening and closing process of the gate, and if the gate plate does not reach the target positions within the specified time, the alarm unit sends out abnormal warning of the gate plate; and establishing a target position A from top to bottom, and judging whether the flashboard inclines or is blocked if the flashboard does not reach the position A within a specified time or the distance exceeding the position A within the specified time is greater than a preset threshold range in the descending process of the flashboard, so that the fault reason needs to be further determined.
The invention has the beneficial effects that:
1. the timer carries out time calibration on the laser emitting device and the laser receiving device, and demodulates the laser emitting device and the laser receiving device by a secondary modulation method, so that the amplification of optical signals is realized under the condition of ensuring that the phase is not changed, the signal-to-noise ratio is increased, and the accuracy of phase method laser ranging is ensured.
2. The gate opening and closing distance is measured by a multi-angle fusion method, a single phase method distance measurement scheme which is commonly adopted at present is replaced, the contradiction that the measurement frequency and the measurement precision cannot be obtained is solved, an intelligent fusion algorithm has high frequency measurement characteristics and high precision characteristics, gate opening and closing fault troubleshooting is carried out based on high-precision distance information, and the fault troubleshooting accuracy is improved.
3. The technical scheme of this application can effectively solve traditional laser rangefinder technique based on the phase method because range finding value periodic uncertainty, need to do measurement and contrast with a plurality of different phases for the calculation complexity increases, has produced the contradiction that measuring frequency and precision can not be got concurrently, and because the influence of factors such as water level, rivers, the redundant factor influence is big at the gate in-process of opening and close, makes the calculation precision not high. Moreover, the system or the method is subjected to a series of effect investigation, and verification is carried out, so that the accuracy of laser ranging by a phase method can be finally ensured, and the system or the method has high frequency measurement characteristic and high precision characteristic, and improves the accuracy of troubleshooting.
Drawings
FIG. 1 is a structural diagram of a gate troubleshooting device based on phase method laser ranging according to the present application;
FIG. 2 is a flowchart of a method for troubleshooting a gate fault based on phase method laser ranging according to the present application;
FIG. 3 is a schematic view of a sluice device according to the present application.
Detailed Description
The embodiment of the application provides a gate troubleshooting device based on phase method laser ranging, solves the problems that in the prior art, the laser ranging technology based on the phase method needs to use a plurality of different phases for measurement and comparison due to the fact that the ranging value period is uncertain, the calculation complexity is increased, the contradiction that the measurement frequency and the precision cannot be obtained simultaneously is generated, the gate is opened and closed under the influence of factors such as water level and water flow, the influence of redundancy factors is large, and the calculation precision is low.
In order to solve the above problems, the technical solution in the embodiment of the present application has the following general idea:
the timer carries out time calibration on the laser transmitting device and the laser receiving device, and demodulates the signals by a secondary modulation method, so that the amplification of optical signals is realized under the condition of ensuring that the phase is not changed, the signal-to-noise ratio is increased, and the accuracy of phase method laser ranging is ensured; the gate opening and closing distance is measured by a multi-angle fusion method, a single phase method distance measurement scheme which is commonly adopted at present is replaced, the contradiction that the measurement frequency and the measurement precision cannot be obtained is solved, an intelligent fusion algorithm has high frequency measurement characteristics and high precision characteristics, gate opening and closing fault troubleshooting is carried out based on high-precision distance information, and the fault troubleshooting accuracy is improved.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Referring to the attached fig. 1, the gate troubleshooting device based on the phase method laser ranging includes the following parts:
a gate device 10 and a cloud computing center 20;
the gate apparatus 10 includes a gate hoist 101, a gate plate 102, and a laser ranging sensor 103, as shown in fig. 3. The gate hoist 101 is used for controlling the lifting of the gate; the laser ranging sensor 103 comprises a laser emitting device 1031, a laser receiving device 1032, a timer 1033 and a signal transmission device 1034, the laser ranging sensor 103 is installed at the bottom of the gate hoist 101, various output modes are supported, visible safe red laser is applied, millimeter-level precision is achieved, and the adaptability to outdoor environment is strong. The laser emission device 1031 is used for emitting a laser beam to a measurement point on the shutter plate 102; the laser receiving device 1032 receives the laser beam reflected by the shutter 102, demodulates the received optical signal by a secondary modulation method, generates a difference frequency signal, converts the difference frequency signal into a corresponding detection signal, and sends the detection signal to the signal transmission device 1034; the timer 1033 time-calibrates the laser emitting device 1031 and the laser receiving device 1032, and sends the laser distance starting time to the laser emitting device 1031 and the laser receiving device 1032; the signal transmission device 1034 is used for information transmission between the laser ranging sensor 103 and the gate hoist 101 and the cloud computing center 20, and the signal transmission device 1034 receives a gate hoist opening and closing instruction of the cloud computing center 20, transmits the gate hoist opening and closing instruction to the timer 1033 and the gate hoist 101, and transmits a detection signal to the cloud computing center 20;
the cloud computing center 20 includes a frequency-increasing phase-measuring unit 201, a distance-measuring unit 202, a data processing unit 203, an intelligent fusion unit 204, a troubleshooting unit 205, and an alarm unit 206. The frequency-increasing phase measurement unit 201 is configured to calculate a phase delay generated when the modulated light performs phase measurement to and from once, and send the phase delay to the distance measurement unit 202; the distance measurement unit 202 calculates real-time distance information according to the wavelength of the modulated light, and sends the distance information to the data processing unit 203 and the intelligent fusion unit 204; the data processing unit 203 preprocesses the distance information, deletes the isolated points in each distance information, and sends the remaining distance information to the intelligent fusion unit 204; the intelligent fusion unit 204 intelligently fuses the remaining distance information and sends the fused real-time distance measurement information to the troubleshooting unit 205; the troubleshooting unit 205 judges whether the gate is opened or closed to have a fault according to the real-time variation condition of the distance information in the opening and closing process of the gate, and determines the type of the fault; the alarm unit 206 is used for issuing a gate fault warning.
The gate hoist 101, the gate plate 102 and the laser ranging sensor 103 in the gate device 10 adopt a wired or wireless transmission mode, the gate device 10 and the cloud computing center 20 adopt a wireless transmission mode, and the frequency-increasing phase measurement unit 201, the distance measurement unit 202, the data processing unit 203, the intelligent fusion unit 204, the troubleshooting unit 205 and the alarm unit 206 of the cloud computing center 20 adopt a data transmission mode.
Referring to the attached figure 2, the gate fault troubleshooting method based on the phase method laser ranging comprises the following steps:
s1, carrying out laser ranging on the opening and closing distance of a gate plate by a laser ranging sensor through a phase method to obtain the opening and closing real-time measuring distance of the gate;
the laser ranging sensor 103 performs laser ranging on the opening and closing distance of the shutter plate 102 by a phase method, and the user sends a shutter plate opening and closing instruction to the signal transmission device 1034 through the cloud computing center 20, wherein the instruction includes: the gate plate is lifted, the gate plate is lowered and the gate plate is stopped. The signal transmission device 1034 sends the opening and closing instruction of the gate to the gate opening and closing machine 101 and the timer 1033, the gate opening and closing machine 101 is used for controlling the rising, falling and stopping of the gate, and the timer 1033 performs time calibration on the laser emitting device 1031 and the laser receiving device 1032 and sends the starting time of the laser distance to the laser emitting device 1031 and the laser receiving device 1032.
Before sending the shutter opening and closing instruction to the laser emitting device 1031 and the laser receiving device 1032, the timer 1033 needs to send a heartbeat packet to the laser emitting device 1031 and the laser receiving device 1032 to maintain connection, after the laser emitting device 1031 and the laser receiving device 1032 receive the heartbeat packet, a response including a time stamp is returned, and the timer 1033 calibrates the time of the timer according to the time stamp in the response to ensure the time consistency of the laser emitting device 1031, the laser receiving device 1032 and the timer 1033. Then, the timer 1033 sends laser start time instructions to the laser emitting device 1031 and the laser receiving device 1032, respectively, and the laser emitting device 1031 and the laser receiving device 1032 enter the operation mode.
The laser emitting device 1031 emits a laser beam to the shutter plate 102 according to the received laser start time instruction, amplitude modulation is performed on the laser beam by using the frequency of a radio wave band, the laser receiving device 1032 receives the laser beam reflected by the shutter plate 102, the laser receiving device 1032 demodulates the received optical signal by a secondary modulation method, a difference frequency signal is generated and then converted into a detection signal, and the detection signal is sent to the signal transmission device 1034, and the signal transmission device 1034 transmits the detection signal to the frequency-increasing phase-measuring unit 201 of the cloud computing center 20.
The frequency-increasing phase-measuring unit 201 calculates the phase delay generated by the modulated light once to and fro phase-measuring, and then the distance-measuring unit 202 calculates the real-time distance information according to the wavelength of the modulated light. The real-time distance from the laser ranging sensor 103 to the gate plate 102, i.e. the gate opening and closing real-time measurement distance, can be expressed as:
where L is the measured distance, c is the speed of light traveling in air, T is the cycle time of the modulation signal,
is the phase difference between the transmitted and received laser waveforms.
It is noted that in practical single frequency measurement, the modulation frequency needs to be selected according to the maximum range, because the modulation frequency is inversely proportional to the ranging accuracy when the system phase measurement resolution is fixed. And the traditional phase laser ranging method exists
The uncertainty of the period, the multi-frequency ranging adopted by the traditional solution increases the calculation complexity, reduces the measurement speed, and can not meet the frequency requirement of the gate on/off on the laser radar, so the invention adopts a multi-angle fusion method.
The beneficial effects of the step S1 are as follows: the timer carries out time calibration on the laser emitting device and the laser receiving device, and demodulates the laser emitting device and the laser receiving device by a secondary modulation method, so that the amplification of optical signals is realized under the condition of ensuring that the phase is not changed, the signal-to-noise ratio is increased, and the accuracy of phase method laser ranging is ensured.
S2, measuring the opening and closing distance of the gate by a multi-angle fusion method to obtain the opening and closing distance information of the gate after intelligent fusion, and troubleshooting the gate fault according to the opening and closing distance information of the gate.
The laser emitting device 1031 of the laser ranging sensor 103 simultaneously sends laser beams to different measuring points of the shutter 102, the laser receiving device 1032 receives the laser beams reflected by the respective measuring points, and the laser ranging sensor 103 sends the emitting angles of the different laser beams of the laser emitting device 1031 and the received reflection signals to the cloud computing center 20. The frequency-increasing phase-measuring unit 201 calculates a phase delay generated when the modulated light makes a round trip phase measurement, and the distance-measuring unit 202 calculates distance information from the wavelength of the modulated light
Then, according to the angle information, the gate opening and closing measurement distances corresponding to the distance information of different measurement points are obtained
：
Wherein the content of the first and second substances,
is the emission angle of each laser beam.
Obtaining vertical distance information from the laser ranging sensor 103 to the flashboard 102 from different measuring points
The data processing unit 203 preprocesses the distance information and deletes isolated points in each distance information. The intelligent fusion unit 204 intelligently fuses the remaining distance information, and the fusion formula is as follows:
wherein the content of the first and second substances,
the distance is measured for the opening and closing of the fused gate,
for the difference between the vertical distances of the measuring points to be less than the threshold value
The number of measurement points of (a) is,
for the number of all the measurement points,
，
the distance measurement for the measurement point perpendicular to the laser distance measurement sensor 103, i.e. the initial measurement point,
in order to meet the requirement that the difference between the vertical distances of the measuring points is less than the threshold value
Set of measurement points of，
Is the vertical distance of the ith measurement point,
the weight of the vertical distance of the ith measuring point is determined by the difference between the vertical distance of each measuring point and the vertical distance of the initial measuring point.
The troubleshooting unit 205 receives ranging information in the process of opening and closing the gate in real time, judges whether the opening and closing of the gate fails according to the real-time variation condition of the ranging information in the process of opening and closing the gate, and determines the type of the failure. The specific checking method comprises the following steps:
when the gate is in operation, the movement range of the gate plate 102 should be between the preset upper limit and the preset lower limit, and the gate plate 102 should reach the designated position within the specified time, if the gate plate 102 does not complete the above situation, the gate is opened and closed to cause a failure. The following conditions exist for the gate opening and closing fault:
(1) determining energy power in the gate opening and closing process according to actual conditions, if the gate is opened and closed to be an electric lifting device, determining a power supply problem, if current and voltage are stable, the electric lifting device breaks down, and if not, an alarm unit 206 sends out an overcurrent or voltage instability alarm; if the gate is opened and closed to be a hydraulic lifting device, the pressure of the hydraulic cylinder needs to be determined, if the hydraulic lifting device is in a normal pressure range, the electric lifting device fails, and otherwise, the alarm unit 206 sends out a hydraulic abnormity warning;
(2) a plurality of target positions are set during the opening and closing of the gate, and if the gate plate 102 does not reach the target positions within a specified time, the alarm unit 206 sends out an abnormal alarm to the gate plate 102. As a specific example, when the target position a is established from top to bottom, and the distance between the shutter plate 102 and the position a is not reached within a predetermined time or exceeds the predetermined threshold range within a predetermined time during the lowering process, the shutter plate 102 may be inclined or jammed, and a failure cause needs to be further determined.
The user determines the fault type according to the warning information of the warning unit 206, so as to take corresponding countermeasures to the gate fault in time.
The beneficial effects of the step S2 are as follows: the gate opening and closing distance is measured by a multi-angle fusion method, a single phase method distance measurement scheme which is commonly adopted at present is replaced, the contradiction that the measurement frequency and the measurement precision cannot be obtained is solved, an intelligent fusion algorithm has high frequency measurement characteristics and high precision characteristics, gate opening and closing fault troubleshooting is carried out based on high-precision distance information, and the fault troubleshooting accuracy is improved.
In conclusion, the gate troubleshooting device based on the phase method laser ranging is completed.
The technical scheme in the embodiment of the application at least has the following technical effects or advantages:
1. the timer carries out time calibration on the laser transmitting device and the laser receiving device, and demodulates the signals by a secondary modulation method, so that the amplification of optical signals is realized under the condition of ensuring that the phase is not changed, the signal-to-noise ratio is increased, and the accuracy of phase method laser ranging is ensured;
2. the gate opening and closing distance is measured by a multi-angle fusion method, a single phase method distance measurement scheme which is commonly adopted at present is replaced, the contradiction that the measurement frequency and the measurement precision cannot be obtained is solved, an intelligent fusion algorithm has high frequency measurement characteristics and high precision characteristics, gate opening and closing fault troubleshooting is carried out based on high-precision distance information, and the fault troubleshooting accuracy is improved.
Effect investigation:
the technical scheme of this application can effectively solve traditional laser rangefinder technique based on the phase method because range finding value periodic uncertainty, need to do measurement and contrast with a plurality of different phases for the calculation complexity increases, has produced the contradiction that measuring frequency and precision can not be got concurrently, and because the influence of factors such as water level, rivers, the redundant factor influence is big at the gate in-process of opening and close, makes the calculation precision not high. Moreover, the system or the method is subjected to a series of effect investigation, and verification is carried out, so that the accuracy of laser ranging by a phase method can be finally ensured, and the system or the method has high frequency measurement characteristic and high precision characteristic, and improves the accuracy of troubleshooting.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (4)
1. The gate fault troubleshooting method based on the phase method laser ranging is characterized by being based on the following equipment:
the system comprises gate equipment and a cloud computing center;
the gate equipment comprises a gate hoist, a gate plate and a laser ranging sensor;
the laser ranging sensor comprises a laser emitting device, a laser receiving device, a timer and a signal transmission device, wherein the timer is used for carrying out time calibration on the laser emitting device and the laser receiving device and sending laser ranging starting time to the laser emitting device and the laser receiving device;
the cloud computing center comprises a frequency-increasing phase measurement unit, a distance measurement unit, a data processing unit, an intelligent fusion unit, a troubleshooting unit and an alarm unit; the distance measuring unit calculates real-time distance information according to the wavelength of the modulated light and sends the distance information to the data processing unit and the intelligent fusion unit; the intelligent fusion unit intelligently fuses the residual distance information and sends the fused real-time distance measurement information to the troubleshooting unit; the fault troubleshooting unit judges whether the gate is opened or closed to generate a fault according to the real-time change condition of the distance information in the opening and closing process of the gate and determines the type of the fault;
the method comprises the following steps:
s1, carrying out laser ranging on the opening and closing distance of a gate plate by a laser ranging sensor through a phase method to obtain the opening and closing real-time measuring distance of the gate;
s2, measuring the opening and closing distance of the gate by a multi-angle fusion method to obtain the opening and closing distance information of the gate after intelligent fusion, and troubleshooting the gate fault according to the opening and closing distance information of the gate;
a laser transmitting device of the laser ranging sensor simultaneously transmits laser beams to different measuring points of the flashboard, a laser receiving device receives the laser beams reflected by the measuring points, and vertical distance information H from the laser ranging sensor to the flashboard is obtained from the different measuring points; the intelligent fusion unit carries out intelligent fusion on the residual distance information, and the fusion formula is as follows:
wherein the content of the first and second substances,
the distance is measured for the opening and closing of the fused gate,
for the difference between the vertical distances of the measuring points to be less than the threshold value
The number of measurement points of (a) is,
for the number of all the measurement points,
，
the distance measurement for the measurement point perpendicular to the laser distance measurement sensor 103, i.e. the initial measurement point,
in order to meet the requirement that the difference between the vertical distances of the measuring points is less than the threshold value
The set of measurement points of (a) is,
is the vertical distance of the ith measurement point,
the weight of the vertical distance of the ith measuring point is determined by the difference between the vertical distance of each measuring point and the vertical distance of the initial measuring point.
2. The method for troubleshooting the gate based on the laser ranging by the phase method as claimed in claim 1, wherein the step S1 specifically includes:
the laser emitting device and the laser receiving device are connected in a heartbeat package mode, the laser emitting device and the laser receiving device return a response containing a time stamp after receiving the heartbeat package, and the timer calibrates the self time according to the time stamp in the response to ensure the time consistency of the laser emitting device, the laser receiving device and the timer.
3. The method for troubleshooting the gate based on the laser ranging by the phase method as claimed in claim 1, wherein the step S2 specifically includes:
the distance measuring unit calculates distance information according to the wavelength of the modulated light
Then, according to the angle information, the gate opening and closing measurement distances corresponding to the distance information of different measurement points are obtained
。
4. The method for troubleshooting the gate based on the laser ranging by the phase method as claimed in claim 1, wherein the step S2 specifically includes:
the gate opening and closing faults have the following two conditions:
(1) determining energy power in the gate opening and closing process according to actual conditions, if the gate is opened and closed to be an electric lifting device, determining a power supply problem, if current and voltage are stable, the electric lifting device breaks down, and if not, an alarm unit sends out an overcurrent or unstable voltage alarm; if the gate is opened and closed to be a hydraulic lifting device, the pressure of a hydraulic cylinder needs to be determined, if the hydraulic lifting device is in a normal pressure range, the electric lifting device breaks down, and otherwise, an alarm unit sends out a hydraulic abnormity warning;
(2) a plurality of target positions are set in the opening and closing process of the gate, and if the gate plate does not reach the target positions within the specified time, the alarm unit sends out abnormal warning of the gate plate; and establishing a target position A from top to bottom, wherein the distance between the flashboard and the position A within a specified time in the descending process is not greater than a preset threshold range, or the distance exceeding the position A within the specified time is greater than the preset threshold range, the flashboard can incline or be blocked, and the fault reason needs to be further determined.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7639347B2 (en) * | 2007-02-14 | 2009-12-29 | Leica Geosystems Ag | High-speed laser ranging system including a fiber laser |
| CN101655563B (en) * | 2008-08-21 | 2012-07-04 | 金华市蓝海光电技术有限公司 | Laser ranging method with high accuracy and low power consumption and device thereof |
| WO2010131339A1 (en) * | 2009-05-13 | 2010-11-18 | Koyama Naoyuki | Laser ranging method and laser ranging device |
| CN102540193B (en) * | 2010-12-24 | 2014-04-30 | 无锡物联网产业研究院 | Laser radar monitoring system |
| CN103197323B (en) * | 2013-04-17 | 2014-11-26 | 清华大学 | Scanning data matching method and device for laser distance measuring machine |
| CN204679637U (en) * | 2015-05-25 | 2015-09-30 | 北京雷动云合智能技术有限公司 | The high precision CCD multipoint ranging apparatus that double excitation is demarcated |
| CN105785385A (en) * | 2016-04-15 | 2016-07-20 | 中国科学院上海技术物理研究所 | Laser ranging method and device based on synchronous sampling and multiple phase measurement |
| CN110068817B (en) * | 2019-05-07 | 2021-07-06 | 中国科学院电子学研究所 | Terrain mapping method, instrument and system based on laser ranging and InSAR |
| CN212723359U (en) * | 2019-12-06 | 2021-03-16 | 武汉万集信息技术有限公司 | Pulse phase hybrid ranging laser radar |
| CN111443354A (en) * | 2020-05-18 | 2020-07-24 | 深圳市慧视智图科技有限公司 | Multipoint projection device for improving laser ranging precision and measuring method thereof |
| CN111766590A (en) * | 2020-07-06 | 2020-10-13 | 宁夏华鑫融通科技有限公司 | Method and system for monitoring opening of water gate by using laser ranging |
| CN113654632A (en) * | 2021-08-16 | 2021-11-16 | 东华理工大学 | Railway freight transportation geometric overrun early warning system based on high-speed laser radar |
| CN113642256B (en) * | 2021-10-12 | 2022-01-25 | 北京恒润安科技有限公司 | Practical gate opening and closing optimization method based on theme database |
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