CN116418835B - Wisdom boundary stake management system - Google Patents
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- CN116418835B CN116418835B CN202310048651.7A CN202310048651A CN116418835B CN 116418835 B CN116418835 B CN 116418835B CN 202310048651 A CN202310048651 A CN 202310048651A CN 116418835 B CN116418835 B CN 116418835B
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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
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- 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
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- G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
- G08B5/36—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources
- G08B5/38—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources using flashing light
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Abstract
The invention discloses an intelligent boundary pile management system, which monitors the continuous state of a boundary pile in real time through a boundary pile state monitoring module, transmits the monitored boundary pile state information and position information to a parallel cloud platform network processing display module when the state changes, and performs alarm display, wherein the intelligent means realizes the monitoring of the boundary pile, reduces patrol of patrol personnel, and can timely find damaged and destroyed boundary piles; meanwhile, when the state changes, the image acquisition unit and the environment monitoring unit are synchronously started to acquire the health state value of the boundary pile, and the alarm display degree is adjusted according to the output value of the health state value of the boundary pile, so that the boundary pile can be purposefully and preferentially surveyed and disposed on site, the management work of the boundary pile is enhanced, the boundary pile area is effectively supervised and managed, and the intelligent antitheft and anti-damage supervision functions are realized.
Description
Technical Field
The invention relates to the technical field of boundary pile management, in particular to an intelligent boundary pile management system.
Background
The boundary pile is a legal marker for distinguishing the solid position of the boundary line of the administrative area, and the boundary pile management is the main working content of safe boundary construction.
At present, the management mode of the boundary piles in China is generally that local residents are employed as boundary pile maintainers to entrust the boundary piles, the boundary piles are required to be checked and maintained at proper time, weeds, silt and shielding objects around the boundary piles are removed, boundary pile marks are refreshed, the boundary piles are kept clean and tidy, obvious and easy to see, check records are made, the behavior of damaging the boundary piles is stopped, and when the boundary piles are found to be loose, moved, lost and damaged, the boundary pile management department is timely reported. With the development of society, the phenomenon that a stake is damaged frequently happens due to the acceleration of the urban process, and problems are generally found only in the joint inspection process due to uncontrollable and negligent of stake maintainers, so that the damage or the loss of references such as the stake and the like causes great trouble for solving boundary disputes and disputes. Therefore, the intelligent management and control mode has important significance in the management of the boundary piles.
Disclosure of Invention
This section is intended to outline some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description summary and in the title of the application, to avoid obscuring the purpose of this section, the description summary and the title of the invention, which should not be used to limit the scope of the invention.
The present invention has been made in view of the above-described problems with the conventional stake management.
Therefore, the technical problems solved by the invention are as follows: the problem that the existing artificial boundary pile management mode cannot timely and effectively reflect the boundary pile state is solved.
In order to solve the technical problems, the invention provides the following technical scheme: an intelligent world wide pile management system comprising: the boundary pile state monitoring module monitors the state of the boundary pile in real time through an intelligent monitoring device arranged on the boundary pile; the state information integrated judging module is embedded in the intelligent monitoring device, is connected with the intelligent monitoring device in a data mode, receives real-time monitoring data of the intelligent monitoring device, and transmits the monitored boundary pile state information and position information to the cloud platform network processing display module for alarm display when the monitored data reach a set judging threshold value; the cloud platform network processing display module is in wireless data connection with the state information integration judging module, receives the boundary pile state information and the alarm display information and performs cloud platform processing display; the mobile terminal application viewing module is in wireless signal connection with the cloud platform network processing display module, and the user mobile terminal is communicated with cloud platform display data through the downloaded corresponding service terminal to view the stake-limit state information and the alarm display information; the intelligent monitoring device includes: the inclination angle monitoring unit monitors the inclination angle change value alpha of the boundary pile in real time through the set inclination angle sensor; the vibration monitoring unit monitors the vibration change value beta of the boundary pile in real time through a vibration sensor; the intelligent monitoring device further comprises an image acquisition unit which is in signal connection with the state information integration judging module (200), when the monitored data reach a set judging threshold value, the image acquisition unit is triggered to be started, the image data of the periphery of the current boundary pile is acquired through an image acquisition sensor embedded in the intelligent monitoring device, and the image data are synchronously transmitted to the cloud platform network processing and displaying module (300) for processing and corresponding display; the intelligent monitoring device further comprises an environment monitoring unit which is in signal connection with the state information integration judging module (200), and when the monitored data reach a set judging threshold value, the environment monitoring unit is triggered to be started, the environment monitoring unit specifically comprises a function of detecting the current environment temperature lambda through an embedded temperature sensor, detecting the current environment humidity delta through an embedded humidity sensor, and transmitting the current environment temperature lambda and the current environment humidity delta to the cloud platform network processing and displaying module (300) for outputting a boundary pile health state value;
outputting the boundary pile health state value according to the following formula:
wherein μ is a stake set health status value; alpha is the inclination angle change value and degree; beta vibration change value, mm; lambda is the current ambient temperature, DEG C; delta is the current environmental humidity, g/Kg; epsilon is the specific gravity of the impurities identified in the image data,%; x and dx are integral operations;
when the output value of the boundary pile health state value mu is higher, defining that the boundary pile health state is worse;
the identification process of the specific gravity epsilon of the sundries in the image data specifically comprises the following steps: the cloud platform network processing display module (300) accesses target image data by using a selenium library; performing image recognition on the target image data through a pytesseact library; analyzing the specific gravity epsilon of the sundries;
the image recognition of the target image data specifically includes: s1: reading target image data point cloud data, carrying out band-pass filtering on the point cloud data, and separating the point cloud data into a boundary pile point cloud and a sundry point cloud; s2: 4 points are selected from the boundary pile point cloud and used as point cloud representatives; s3: acquiring plane equations among the 4 selected points to be used as a preliminary fitting plane; s4: carrying out linear extraction on the sundry point cloud by adopting RanSac; s5: obtaining a completion factor according to a regression result of the straight line; s6: and counting the inliers number with all the complement factors larger than a set threshold value as a range of the hybrid point cloud.
As a preferable scheme of the intelligent boundary pile management system of the invention, wherein: defining that when the inclination angle change value alpha reaches 10 degrees or the vibration change value beta reaches 30mm, the set judgment threshold value is reached, and sending an alarm instruction.
As a preferable scheme of the intelligent boundary pile management system of the invention, wherein: and adjusting the alarm display degree according to the output value of the boundary pile health state value, wherein the alarm display degree is higher when the boundary pile health state value is higher.
As a preferable scheme of the intelligent boundary pile management system of the invention, wherein: the set threshold is O.15cm.
The invention has the beneficial effects that: the invention provides an intelligent boundary pile management system, which monitors the continuous state of a boundary pile in real time through a boundary pile state monitoring module, transmits the monitored boundary pile state information and position information to a parallel cloud platform network processing display module when the state changes, and performs alarm display, wherein the intelligent means realize the monitoring of the boundary pile, reduce patrol of patrol personnel and timely find the damaged and destroyed boundary pile; meanwhile, when the state changes, the image acquisition unit and the environment monitoring unit are synchronously started to acquire the health state value of the boundary pile, and the alarm display degree is adjusted according to the output value of the health state value of the boundary pile, so that the boundary pile can be purposefully and preferentially surveyed and disposed on site, the management work of the boundary pile is enhanced, the boundary pile area is effectively supervised and managed, and the intelligent antitheft and anti-damage supervision functions are realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
FIG. 1 is a system block diagram of an intelligent boundary pillar management system according to the present invention.
Fig. 2 is a flowchart of a method for performing image recognition on target image data according to the present invention.
FIG. 3 is a block diagram of the intelligent boundary stake management system provided by the invention.
Fig. 4 is an application scenario diagram provided by the present invention.
FIG. 5 is a server side display diagram of the intelligent boundary stake management system provided by the invention.
FIG. 6 is a diagram showing a server side of the intelligent boundary pillar management system according to the present invention.
Fig. 7 is a display interface display diagram of a cloud platform network processing display module of the intelligent boundary pile management system provided by the invention.
FIG. 8 is a network topology diagram of the intelligent boundary stake management system provided by the invention.
Fig. 9 is a diagram showing the separation effect of the boundary pile point cloud and the sundry point cloud in the image recognition process.
Detailed Description
So that the manner in which the above recited objects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
With the development of society, the phenomenon that a stake is damaged frequently happens due to the acceleration of the urban process, and problems are generally found only in the joint inspection process due to uncontrollable and negligent of stake maintainers, so that the damage or the loss of references such as the stake and the like causes great trouble for solving boundary disputes and disputes. Therefore, the intelligent management and control mode has important significance in the management of the boundary piles.
The boundary pile body adopts cement piles, plastic piles, metal piles, marble piles and the like according to the requirements of application sites. Dimension (length, width, height): 15 cm/100 cm, 40cm of burial depth and 60cm of ground are recommended.
Referring to fig. 1 and fig. 4 to 8, the present invention provides an intelligent boundary pile management system, which includes:
the boundary pile state monitoring module 100 monitors the continuous state of the boundary pile in real time through an intelligent monitoring device arranged on the boundary pile;
the state information integrated judgment module 200 is embedded in the intelligent monitoring device, is in data connection with the intelligent monitoring device, receives real-time monitoring data of the intelligent monitoring device, and transmits the monitored boundary pile state information and position information to the cloud platform network processing display module 300 for alarm display when the monitored data reach a set judgment threshold value;
the cloud platform network processing display module 300 is connected with the state information integration judging module 200 in a wireless data mode, receives the boundary pile state information and the alarm display information and carries out cloud platform processing display;
the mobile terminal application viewing module 400 is connected with the cloud platform network processing display module 300 in a wireless signal manner, and the user mobile terminal is communicated with the cloud platform display data through the downloaded corresponding service terminal to view the stake status information and the alarm display information.
It should be noted that, referring to fig. 3, the system of the present invention can be seen as mainly comprising a stake body, a remote intelligent device and system management software. A remote intelligent device is arranged on the existing limit pile, so that the limit pile has an identity of an electronic tag, information (position information, temperature and humidity, picture images and state information) around the limit pile is collected, data information is sent to a data center, and the data center generates a report to reflect the condition of the limit pile.
The remote intelligent device integrates position information, a photosensitive device, a temperature and humidity device, a video acquisition module, a wireless communication module and the like, and has the anti-theft and anti-damage functions; the construction is convenient, and the construction is not limited by sites.
The position information is acquired through GPS or Beidou positioning information.
It should be additionally noted that, the data transmission, the signal connection, the connection sharing mode and the cloud platform processing display mode are all conventional applications in the prior art, for example, the data transmission and the signal connection may be implemented in a GPRS wireless communication mode, a 4G wireless communication mode, a beidou satellite communication mode, etc., which are not described herein in detail.
The intelligent boundary pile comprises:
a group of batteries is built in to supply power: batteries 7.2V/13Ah (solar energy 10W can be configured, and a group of lithium batteries are built in to supply power 11V/10 Ah);
operating temperature: -30 to +70 ℃;
the dormancy power consumption of the system is less than or equal to 50uA, and the service life is 2-3 years;
support 3 cards (mobile, unicom, telecom internet of things): GPRS or CDMA, 4G network mode to transmit data; supporting Beidou message data transmission;
support the flexible switching of the on-duty state and real-time on-line state;
supporting historical data requests and real-time data queries;
automatic clock synchronization;
IP67 waterproof protection;
the installation is simple and convenient, and is suitable for any boundary pile.
The system has perfect, comprehensive and convenient functions, integration and integration, no compatibility problem of an independent system, flexible, convenient and simple installation, time and labor saving, material resource saving, precision meeting requirements, long-term stable and reliable performance, simple and convenient maintenance and more worry saving in use.
Wherein, intelligent monitoring device includes:
the inclination angle monitoring unit monitors the inclination angle change value alpha of the boundary pile in real time through the set inclination angle sensor;
and the vibration monitoring unit is used for monitoring the vibration change value beta of the boundary pile in real time through the set vibration sensor.
Specifically, when the inclination angle change value alpha reaches 10 degrees or the vibration change value beta reaches 30mm, a set judgment threshold value is reached, and an alarm instruction is sent.
Further, the intelligent monitoring device further comprises an image acquisition unit which is in signal connection with the state information integration judging module 200, when the monitored data reach a set judging threshold value, the image acquisition unit is triggered to be started, the image data around the current world pile is acquired through an image acquisition sensor embedded in the intelligent monitoring device, and the image data are synchronously transmitted to the cloud platform network processing and displaying module 300 for processing and corresponding display.
Further, the intelligent monitoring device further comprises an environment monitoring unit, which is in signal connection with the state information integration judging module 200, and triggers the environment monitoring unit to be started when the monitored data reach a set judging threshold value, wherein the environment monitoring unit specifically comprises the steps of detecting the current environment temperature lambda through an embedded temperature sensor, detecting the current environment humidity delta through an embedded humidity sensor, and transmitting the current environment temperature lambda and the current environment humidity delta to the cloud platform network processing and displaying module 300 for outputting a boundary pile health state value;
outputting the boundary pile health state value according to the following formula:
wherein μ is a stake set health status value; alpha is the inclination angle change value and degree; beta vibration change value, mm; lambda is the current ambient temperature, DEG C; delta is the current environmental humidity, g/Kg; epsilon is the specific gravity of the impurities identified in the image data,%; x and dx are integral operations;
wherein, when the output value of the stake pocket health status value mu is higher, the worse the stake pocket health status is defined.
Preferably, the alarm display degree is adjusted according to the output value of the boundary pile health state value, and when the boundary pile health state value is higher, the alarm display degree is higher.
Specifically, the early warning condition of each measuring point is displayed in a high-brightness flashing mode, different colors represent different grades, for example, green, orange, yellow and red represent that the grade is continuously increased, and the warning display degree is increased.
The alarm display degree is adjusted according to the output value of the boundary pile health state value, so that the on-site investigation and treatment can be purposefully and preferentially carried out, and the management work of the boundary pile is enhanced.
The identification process of the specific gravity epsilon of the sundries in the image data is specifically as follows:
the cloud platform network processing display module 300 accesses the target image data by using the selenium library;
the definition is as follows:
from selenium import webdriver
driver＝webdriver.Chrome()
driver.get(′url′)
performing image recognition on the target image data through a pytesseact library;
analyzing the specific gravity epsilon of the sundries;
referring to fig. 2, the image recognition of the target image data specifically includes:
s1: socket reads target image data point cloud data, carries out band-pass filtering on the point cloud data, and separates the point cloud data into a boundary pile point cloud and a sundry point cloud, and is shown in fig. 9;
the point cloud is obtained by adopting a coordinate measuring machine or a laser radar in an additional built-in system, and is the application of the conventional technology, and redundant description is omitted.
It should be noted that Socket is a mechanism for exchanging data by a network, and is an existing professional communication means; in the process of band-pass filtering, band-pass filtering can be performed according to the height threshold and the width threshold of different transactions, and the band-pass filtering is a conventional means for processing communication signals, so that redundant description is omitted.
S2: 4 points are selected from the boundary pile point cloud and used as point cloud representatives;
it should be noted that 4 points, preferably 4 points uniformly distributed up and down, are randomly selected from the world pile point cloud.
S3: acquiring plane equations among the 4 selected points to be used as a preliminary fitting plane;
the planar model is as follows:
a 1 x+b 1 y+c 1 z+d 1 ＝0
z＝d 2
randomly sampling 4 points to fit a plane, repeating the algorithm M times, finally selecting the plane parameter with the largest number of inner points, and using the plane to fit a preliminary fit plane at the moment.
S4: the method comprises the steps of performing linear extraction on the sundry point cloud by adopting RanSac;
the extraction process is that RanSac is adopted to directly extract data, and a linear equation of the impurity point cloud is extracted;
the RANSAC method is an existing method and has the advantages of small calculated amount and high speed;
s5: obtaining a completion factor (namely, a distance difference value between the straight line and the preliminary fitting plane) according to a regression result of the straight line;
directly acquiring a regression result of a linear equation of the clutter point cloud compared with the preliminary fitting plane;
the regression principle is as follows:
the Line1 index mapping relationship is as follows:
wherein Index is 2D Representing the index, z, of the segmentation result on a two-dimensional point cloud threshold Represents a regression height threshold (or width threshold if width is compared, as desired),the average height (or average width if the width is a comparison) of the linear point cloud representing the division result on the two-dimensional point cloud is arbitrary.
S6: and counting the inliers number with all the complement factors larger than a set threshold value as a range of the hybrid point cloud.
Further, the threshold value was set to 0.15cm.
When the target image data is subjected to image recognition, the existing OCR technology and other technologies are directly adopted for recognition, so that the requirement is not met, if the OCR mode is used for analysis, only the content seen by the true human eyes is required to be focused, and the image is shot for image recognition.
The OCR program can directly identify text content and picture content without analyzing whether the website uses asynchronous loading technologies such as ajax and the like. OCR (Optical Character Recognition ) refers to the process of an electronic device (e.g., a scanner or digital camera) checking characters printed on paper, determining their shape by detecting dark and light patterns, and then translating the shape into computer text using a character recognition method; that is, the technology of converting the characters in the paper document into the image file of black-white lattice by optical mode and converting the characters in the image into the text format by the recognition software for further editing and processing by the word processing software is adopted. How to debug or use auxiliary information to improve recognition accuracy is the most important issue of OCR, and the term ICR (Intelligent Character Recognition) is generated accordingly. The main indexes for measuring the performance of an OCR system are as follows: rejection rate, false recognition rate, recognition speed, user interface friendliness, product stability, usability, feasibility and the like.
Additionally, all operation logs generated aiming at all roles of the whole system are used for an administrator to inquire-! The query mode comprises the following steps: operating user, operating time period, operating function, operating mode, operating IP and MAC address, combined query in the above manner-! Rights management the rights management is implemented by a user group, managing which operating rights the user group possesses for all menu items, the operating rights include adding, deleting, modifying, querying, etc.)! At the same time add, delete, modify, query and manage-! The user management mainly comprises: user ID, user login name, user password, group to which the user belongs, etc.
The invention provides an intelligent boundary pile management system, which monitors the continuous state of a boundary pile in real time through a boundary pile state monitoring module, transmits the monitored boundary pile state information and position information to a parallel cloud platform network processing display module when the state changes, and performs alarm display, wherein the intelligent means realize the monitoring of the boundary pile, reduce patrol of patrol personnel and timely find the damaged and destroyed boundary pile; meanwhile, when the state changes, the image acquisition unit and the environment monitoring unit are synchronously started to acquire the health state value of the boundary pile, and the alarm display degree is adjusted according to the output value of the health state value of the boundary pile, so that the boundary pile can be purposefully and preferentially surveyed and disposed on site, the management work of the boundary pile is enhanced, the boundary pile area is effectively supervised and managed, and the intelligent antitheft and anti-damage supervision functions are realized.
It should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention may be modified or substituted without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered in the scope of the claims of the present invention.
Claims (4)
1. An intelligent world wide pile management system, comprising:
the limit pile state monitoring module (100) is used for monitoring the continuous state of the limit pile in real time through an intelligent monitoring device arranged on the limit pile;
the state information integrated judging module (200) is embedded in the intelligent monitoring device, is connected with the intelligent monitoring device in a data mode, receives real-time monitoring data of the intelligent monitoring device, and transmits the monitored boundary pile state information and position information to the cloud platform network processing display module (300) and carries out alarm display when the monitored data reach a set judging threshold value;
the cloud platform network processing display module (300) is connected with the state information integration judging module (200) in a wireless data mode, receives the boundary pile state information and the alarm display information and performs cloud platform processing display;
the mobile terminal application viewing module (400) is connected with the cloud platform network processing display module (300) in a wireless signal manner, and the user mobile terminal is communicated with cloud platform display data through the downloaded corresponding service terminal to view the stake-limit state information and alarm display information;
wherein, intelligent monitoring device includes:
the inclination angle monitoring unit monitors the inclination angle change value alpha of the boundary pile in real time through the set inclination angle sensor;
the vibration monitoring unit monitors the vibration change value beta of the boundary pile in real time through a vibration sensor;
the intelligent monitoring device further comprises an image acquisition unit which is in signal connection with the state information integration judging module (200), when the monitored data reach a set judging threshold value, the image acquisition unit is triggered to be started, the image data of the periphery of the current boundary pile is acquired through an image acquisition sensor embedded in the intelligent monitoring device, and the image data are synchronously transmitted to the cloud platform network processing and displaying module (300) for processing and corresponding display;
the intelligent monitoring device further comprises an environment monitoring unit which is in signal connection with the state information integration judging module (200), and when the monitored data reach a set judging threshold value, the environment monitoring unit is triggered to be started, the environment monitoring unit specifically comprises a function of detecting the current environment temperature lambda through an embedded temperature sensor, detecting the current environment humidity delta through an embedded humidity sensor, and transmitting the current environment temperature lambda and the current environment humidity delta to the cloud platform network processing and displaying module (300) for outputting a boundary pile health state value;
outputting the boundary pile health state value according to the following formula:
wherein μ is a stake set health status value; alpha is the inclination angle change value and degree; beta vibration change value, mm; lambda is the current ambient temperature, DEG C; delta is the current environmental humidity, g/Kg; epsilon is the specific gravity of the impurities identified in the image data,%; x and dx are integral operations;
when the output value of the boundary pile health state value mu is higher, defining that the boundary pile health state is worse;
the identification process of the specific gravity epsilon of the sundries in the image data specifically comprises the following steps:
the cloud platform network processing display module (300) accesses target image data by using a selenium library;
performing image recognition on the target image data through a pytesseact library;
analyzing the specific gravity epsilon of the sundries;
the image recognition of the target image data specifically includes:
s1: reading target image data point cloud data, carrying out band-pass filtering on the point cloud data, and separating the point cloud data into a boundary pile point cloud and a sundry point cloud;
s2: 4 points are selected from the boundary pile point cloud and used as point cloud representatives;
s3: acquiring plane equations among the 4 selected points to be used as a preliminary fitting plane;
s4: carrying out linear extraction on the sundry point cloud by adopting RanSac;
s5: obtaining a completion factor according to a regression result of the straight line;
s6: and counting the inliers number with all the complement factors larger than a set threshold value as a range of the hybrid point cloud.
2. The intelligent world wide pile management system of claim 1, wherein: defining that when the inclination angle change value alpha reaches 10 degrees or the vibration change value beta reaches 30mm, the set judgment threshold value is reached, and sending an alarm instruction.
3. The intelligent world wide pile management system of claim 2, wherein: and adjusting the alarm display degree according to the output value of the boundary pile health state value, wherein the alarm display degree is higher when the boundary pile health state value is higher.
4. A smart border management system as defined in claim 3, wherein: the set threshold is 0.15cm.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110867054A (en) * | 2019-11-12 | 2020-03-06 | 武汉华创北斗技术有限公司 | Intelligent electronic boundary pile monitoring system |
| CN112414392A (en) * | 2020-10-21 | 2021-02-26 | 衢州学院 | Intelligent boundary pile system and method based on multi-sensor fusion |
| CN114359181A (en) * | 2021-12-17 | 2022-04-15 | 上海应用技术大学 | Intelligent traffic target fusion detection method and system based on image and point cloud |
| CN115631588A (en) * | 2022-08-30 | 2023-01-20 | 北京市勘察设计研究院有限公司 | Method, system, platform, equipment and medium for managing and monitoring homeland resources |
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| CN110867054A (en) * | 2019-11-12 | 2020-03-06 | 武汉华创北斗技术有限公司 | Intelligent electronic boundary pile monitoring system |
| CN112414392A (en) * | 2020-10-21 | 2021-02-26 | 衢州学院 | Intelligent boundary pile system and method based on multi-sensor fusion |
| CN114359181A (en) * | 2021-12-17 | 2022-04-15 | 上海应用技术大学 | Intelligent traffic target fusion detection method and system based on image and point cloud |
| CN115631588A (en) * | 2022-08-30 | 2023-01-20 | 北京市勘察设计研究院有限公司 | Method, system, platform, equipment and medium for managing and monitoring homeland resources |
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