CN211855195U - System for monitoring displacement or deformation of object by double measuring distances - Google Patents
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Abstract
The utility model provides a system for two range finding monitoring object displacement or deformation, including setting up a plurality of location monitoring devices on a plurality of object monitoring points respectively, location monitoring device includes wireless range finding transceiver module, the optical range transceiver module, processing module and alarm module, wireless range finding transceiver module carries out the wireless range finding of distance between each object monitoring point, the optical range finding of distance between each object monitoring point is carried out to the optical range finding transceiver module, processing module is according to wireless range finding result and optical range finding result between the object monitoring point, trigger when judging that corresponding object has taken place the position and has moved or the deformation has taken place on the corresponding position of object alarm module sends out the warning, and measure displacement or deformation data through wireless range finding. The system can not only ensure that whether the object is displaced or deformed is accurately measured, but also solve the problem that the displacement/deformation is difficult to determine through optical ranging. In addition, the accuracy of object monitoring is improved, false alarms are greatly reduced, and labor cost is reduced.
Description
Technical Field
The utility model relates to a system of two range finding monitoring object displacement or deformation.
Background
The traditional measuring/monitoring methods for object distance/deformation include optical measurement, radio wave distance measurement, WIFI, Zigbee positioning, and the like. The optical measurement can realize accurate positioning monitoring by adopting light beams, but only can monitor whether the object is displaced/deformed, but is difficult to measure the displacement/deformation of the object after the displacement/deformation. Radio ranging is capable of measuring changes in distance between objects, but does not allow accurate object location monitoring. WIFI and Zigbee are short in positioning transmission distance, and long-distance monitoring and outdoor monitoring cannot be achieved. Meanwhile, the above method also has the problems of inaccurate measured data, easy error report, increased manual workload and the like. For conventional radio wave ranging, see patent document CN104297745B for a ranging apparatus, a ranging method and a positioning method based on radio wave wavelength. Patent document CN106154261A discloses a radio distance and speed measuring sensor using visible light identification, which introduces visible light in radio distance measurement for achieving visibility of an operation target. Patent document CN206697012U discloses a laser monitoring landslide deformation and early warning system, which adopts laser beams, is not only susceptible to interference of external light, but also susceptible to system false alarm caused by abnormality such as equipment damage and laser signal shielding by animals, and increases manual workload. In addition, because the transmission of laser is carried out by a reflection mode, the attenuation of laser beams is large, so that the optical transmission distance of the system is short, and remote and wide-range monitoring cannot be realized.
SUMMERY OF THE UTILITY MODEL
The present invention overcomes at least one of the above-mentioned drawbacks of the prior art and provides a system for monitoring the displacement or deformation of an object in a dual range mode combining radio waves and optical signals.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a system for monitoring object displacement or deformation by double distance measurement comprises a plurality of positioning monitoring devices, wherein the positioning monitoring devices are respectively arranged on a plurality of object monitoring points and comprise a wireless distance measurement transceiving module, a light distance measurement transceiving module, a processing module and an alarm module, the processing module is respectively connected with the wireless distance measurement transceiving module, the light distance measurement transceiving module and the alarm module, the wireless distance measurement transceiving module is used for measuring the distance between the object monitoring points through radio waves, the light distance measurement transceiving module is used for measuring the distance between the object monitoring points through optical signals, the processing module is used for judging that the corresponding object moves or the corresponding part of the object deforms according to the wireless distance measurement result and the light distance measurement result between the object monitoring points and triggering the alarm module to give an alarm, and measuring displacement or deformation data through wireless distance measurement.
Further:
the plurality of positioning monitoring devices are more than three positioning monitoring devices.
The processing module includes a data modulation/demodulation circuit for modulating/demodulating wireless ranging data or optical ranging data for wireless transmission/reception.
The processing module comprises a clock synchronization circuit for realizing clock synchronization calibration.
The system also comprises a communication module used for sending the alarm signal and/or the displacement or deformation data to a management center or a user terminal, wherein the communication module comprises a wired and/or wireless communication module.
The plurality of positioning monitoring devices are networked to form a cross-region and cross-domain networking system, and cross-region and cross-domain monitoring management is realized through a cloud server.
The positioning monitoring device is characterized by further comprising a power supply device for supplying power to the positioning monitoring device, wherein the power supply device comprises one or more of a solar power generation device, a wind power generation device and a battery.
The optical ranging is visible light ranging or invisible light ranging, and the wireless ranging is wireless carrier or wireless pulse communication ranging.
The optical ranging is laser ranging or infrared ranging.
The utility model discloses following beneficial effect has:
the utility model provides a system of two range finding monitoring object displacements or deformation, including setting up the positioning monitoring device on a plurality of object monitoring points, positioning monitoring device includes wireless range finding transceiver module, optical range finding transceiver module, processing module and warning module, carries out the measurement of distance between each object monitoring point through wireless range finding transceiver module, simultaneously, carries out the measurement of distance between each object monitoring point through optical range finding transceiver module, processing module triggers when judging that the corresponding object has taken place the position and has removed or the corresponding position of object takes place to warp according to wireless range finding result and optical range finding result between the object monitoring point warning module sends the warning to measure displacement or deformation data through wireless range finding. Because the utility model discloses a two range finding modes that optics range finding and radio magnetic wave range finding combined together, on the one hand, utilize the position of the accurate positioning determination object of benchmark distance and laser, can ensure to measure accurately whether the object takes place the position removal or whether the object takes place to warp, on the other hand, when the object takes place the position removal or the object takes place to warp, accessible radio wave range finding measures displacement/deformation data to solved optics accurate positioning mode at object offset or take place to warp the back be difficult to confirm displacement/deformation data not enough. Moreover, the processing module can trigger the alarm module to give an alarm when the wireless distance measurement result and the optical distance measurement result between the object monitoring points change relative to the preset reference distance, so that a double-distance measurement interruption alarm mechanism is formed, namely, the system can give an alarm of displacement or deformation only when the displacement or deformation is measured by double distances simultaneously, the false alarm of the monitoring system is greatly reduced, the object monitoring accuracy is improved, and the manual response cost is reduced.
In a preferred embodiment, in case of generating an alarm, the distance/magnitude and direction of the object position shift or object deformation can also be determined by the radio wave ranging technique in dual ranging and can be transmitted to a management center or a user terminal to be viewed in real time by management software.
In a preferred embodiment, a single-ranging early warning mechanism can be realized on the basis of double ranging, when only one of a wireless ranging result and a light ranging result between object monitoring points changes relative to a preset reference distance, the object corresponding to the object monitoring points is judged to be displaced or deformed or abnormal interruption of ranging is caused, and the warning module is triggered to send out an early warning signal, so that the defect that the traditional single wireless ranging or light ranging mode early warning/warning is easy to miss the report is overcome.
Drawings
Fig. 1 is a schematic structural diagram of a system for monitoring displacement or deformation of an object with two measuring distances according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of optical positioning transmission of the system shown in fig. 1.
Fig. 3 is a diagram of wireless transmission in the system of fig. 1.
Fig. 4 is a schematic block diagram of a positioning monitoring device and a wireless carrier communication performed by the positioning monitoring device according to an embodiment of the present invention.
Fig. 5 is a schematic block diagram of a positioning monitoring device and a laser transceiver communication performed by the positioning monitoring device according to an embodiment of the present invention.
Fig. 6 to 8 are schematic diagrams of trilateration positioning.
Detailed Description
The embodiments of the present invention will be described in detail below. It should be emphasized that the following description is merely exemplary in nature and is not intended to limit the scope of the invention or its application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. In addition, the connection may be for either a fixed or coupled or communicating function.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1 to 5, the embodiment of the present invention provides a system for monitoring displacement or deformation of an object by two measuring distances, including a plurality of positioning monitoring devices 1, a plurality of positioning monitoring devices 1 are respectively disposed on a plurality of object monitoring points. It can be understood that when the object to be monitored is the displacement of an object, the plurality of positioning and monitoring devices 1 are respectively disposed on different objects, and when the object to be monitored is the deformation of an object, the plurality of positioning and monitoring devices 1 are respectively disposed on different portions of the object (e.g., different positions of the object such as a dam, a bridge, a mountain, etc.). The positioning monitoring device 1 comprises a wireless distance measurement transceiver module, a light distance measurement transceiver module, a processing module (such as a microprocessor MCU) and an alarm module, wherein the processing module is respectively connected with the wireless distance measurement transceiver module, the light distance measurement transceiver module and the alarm module, the wireless distance measurement transceiver module is used for measuring distances among object monitoring points through radio waves, the light distance measurement transceiver module is used for measuring the distances among the object monitoring points through optical signals, and the processing module is used for triggering the alarm module to give an alarm when the corresponding object moves in position or deforms on the corresponding part of the object according to the wireless distance measurement result and the light distance measurement result among the object monitoring points, and measuring displacement or deformation data through wireless distance measurement.
Because the embodiment of the utility model provides an adopt optics range finding and the two range finding modes that radio magnetic wave range finding combined together, on the one hand, utilize the position of the accurate location determination object of laser, can ensure to measure accurately whether the object takes place position shift or whether the object takes place to warp, on the other hand, when the object takes place position shift or the object takes place to warp, accessible radio wave range finding measures displacement/deformation data to solved optics accurate positioning mode at object offset or take place to warp the back be difficult to confirm displacement/deformation data not enough. Moreover, the processing module can trigger the alarm module to give an alarm when the wireless distance measurement result and the optical distance measurement result between the object monitoring points change relative to the preset reference distance, so that a double-distance measurement interruption alarm mechanism is formed, namely, the system can give an alarm of displacement or deformation only when the displacement or deformation is measured by double distances simultaneously, the false alarm of the monitoring system is greatly reduced, the object monitoring accuracy is improved, and the manual response cost is reduced. It can be understood that the wireless ranging or optical ranging result has a variation from a preset reference distance, including an abnormal condition that cannot be measured.
In a preferred embodiment, the plurality of positioning monitoring devices 1 is three or more positioning monitoring devices 1 (5 positioning monitoring devices 1 are shown in fig. 1 to 3). The processing module can measure the distance/amplitude and direction of object displacement or object deformation through a wireless positioning technology when judging that the object corresponding to the object is moved or the corresponding part of the object is deformed.
By using the system, under the condition that the double-ranging generates an alarm, the distance/amplitude and direction of the position offset or the deformation of the object can be determined by the radio wave ranging technology in the double-ranging, and the distance/amplitude and direction can be further sent to a management center or a user terminal and can be observed in real time through management software.
In a preferred embodiment, the processing module may determine that an object corresponding to the object monitoring point is displaced or deformed or that abnormal interruption of distance measurement occurs when only one of the wireless distance measurement result and the optical distance measurement result between the object monitoring points changes from a preset reference distance, and trigger the alarm module to send an early warning signal.
The method can realize a single-ranging early warning mechanism on the basis of double ranging, and when only one of the wireless ranging result and the optical ranging result between the object monitoring points changes relative to a preset reference distance, the object corresponding to the object monitoring points is judged to be displaced or deformed or the ranging is abnormally interrupted, and the warning module is triggered to send out an early warning signal, so that the defect that the traditional single wireless ranging or optical ranging mode early warning/warning is easy to miss the report is overcome.
In a preferred embodiment, the processing module comprises a data modulation/demodulation circuit for modulating/demodulating wireless ranging data or optical ranging data for wireless transmission/reception.
In a preferred embodiment, the processing module comprises a clock synchronization circuit for implementing clock synchronization calibration.
In a preferred embodiment, the system further comprises a communication module for sending the alarm, the pre-warning and/or the displacement or deformation data to a management center or a user terminal.
The communication module may include a wired and/or wireless communication module.
In a preferred embodiment, the plurality of positioning monitoring devices 1 are networked to form a cross-region and cross-domain networking system, and cross-region and cross-domain monitoring management is realized through a cloud server.
In a preferred embodiment, the system further comprises a power supply device for supplying power to the positioning monitoring device 1, wherein the power supply device comprises one or more of a solar power generation device, a wind power generation device and a battery.
In a preferred embodiment, the optical ranging is visible light ranging or invisible light ranging, and the wireless ranging is wireless carrier wave ranging or wireless pulse communication ranging.
In a preferred embodiment, the optical range is a laser range finding or an infrared range finding.
Specific embodiments of the present invention are further described below with reference to the accompanying drawings.
Referring to fig. 1 to 5, in some embodiments, the positioning monitoring device for implementing wireless ranging and optical ranging in the system may employ an integrated control device, which may also be referred to as a positioning data controller. Each positioning data controller comprises a microprocessor, a wireless transceiver circuit, a data modulation/demodulation circuit, a time calibration/synchronization circuit, a laser transceiver circuit, a power supply circuit, an alarm output circuit and the like.
The main functions of the positioning data controller include:
raw positioning accuracy data, including the distance between the associated positioning controllers to be involved in the measurement, is written to Microprocessor (MCU) memory to provide reference distances for optical ranging and radio wave ranging. When the radio wave and the optical ranging are changed from the reference distance, the early warning and the alarming can be triggered to check in real time. The data measured by the optical ranging device and the radio wave ranging device are compared with the reference distance respectively through the distance result calculated by a Microprocessor (MCU), and when one group of data changes, an early warning signal is sent to inform a management center or output an on-site early warning signal. If two groups (optical ranging and radio wave ranging are simultaneously used for sending the highest level alarm when the measured data changes, the alarm can also be output through a wireless network, a wired network and a local alarm.
The positioning data controller adopts an address coding mode and adopts clock synchronization calibration.
The positioning data controller can control wireless data transmission and reception and wire communication with local equipment.
Between the positioning data controllers of different object monitoring points, data exchange can be carried out through a wired or wireless network, and a Microprocessor (MCU) of the controller has the functions of optical and wireless distance measurement operation, displacement judgment and field alarm independently. A single-point interruption early warning and double-measuring-distance beam interruption warning device can be arranged.
Preferably, there are more than three positioning data controllers. The positioning data controllers of different object monitoring points can be networked, cross-regional and cross-domain networking systems, and two, a plurality of or infinite point positions are monitored locally or remotely.
The system can monitor single, multiple or unlimited quantity of objects simultaneously, is networked through networking (wired and wireless), and then is supervised by a management center or a mobile phone APP. The data can also be uploaded to a cloud server, and cross-region and cross-domain monitoring management is achieved. When the optical and wireless distance measurement are interrupted, the system sends the highest alarm signal, and can trigger the management center, the mobile phone APP, the short message sending and the mobile phone dialing of the manager to inform the monitoring manager in various modes. The early warning device can work with a single machine (without networking). The system point location can be powered by solar energy, wind energy power generation and electricity storage modes.
In various embodiments, the optical range finding may be a visible light such as a laser and an invisible light such as an infrared range finding. The laser point-to-point relay bidirectional ranging transmission mode can realize longer optical transmission distance.
The wireless location ranging may be wireless carrier and wireless pulse communication ranging.
The following methods are commonly used for wireless positioning: signal strength analysis (RSS), angle of arrival localization (AOA), time of arrival localization (TOA), time difference of arrival localization (TDOA), and three-dimensional localization.
1. Optical ranging operation method for wireless ranging controller
The distance between two controllers is measured and controlled by using the time difference between the transmission and the reception of two controllers. Let us note the data packet sent by the sender as "T1", the data packet received by the receiving end and the data packet sending the response are marked as" T2", the time of the data packet in the transmission process is marked as" TT0”。
The calculation method comprises the following steps:
data packet transmission time: TTO＝(T1-T2)÷2
The distance between the controllers can be measured according to the transmission speed of the electromagnetic waves: d ═ CxTTO(C is the speed of light)
And (4) calibrating the clock synchronization of the controller. The controller reception and response times are considered and are determined by the controller debugging parameters.
2. Wireless positioning algorithm for more than three controllers
TDOA location is a method of location using time differences. The distance between the positioning controller and the controller can be determined by the time of arrival of the communication data packet of the positioning controller and the positioning controller at the station. The position of the positioning controller can be determined by the distance from the positioning controller to each monitoring point controller (taking the main controller as the center and the distance as the radius to make a circle). By comparing the time difference of arrival at each controller, a hyperbola with the main controller as the focus and the distance difference as the major axis can be formed, and the intersection point of the hyperbolas is the position of the signal.
The wireless data controller a sends "broadcast" type query packets at intervals, including time synchronization commands. Because the positions of the distances T1 at A-1, A-2, A-3 and A-4 are different, the time of receipt is slightly different, and the time stamp is recorded; because the time of A-1, A-2, A-3 and A-4 is synchronous with the main controller by wireless, it has comparability and is sent to the main controller or local computer to calculate the position. In the technical aspect, after receiving the data of each positioning controller, the main controller performs distance and position calculation.
3. By geometric localization formula, which takes the common trilateration localization algorithm as an example:
the trilateration method is suitable for three reference nodes to position one unknown node, three mathematical relations are listed through a distance formula of the unknown node and the reference nodes, and then the coordinates of the node needing positioning are solved. The trilateration positioning principle is shown in fig. 6. The principle of location calculation for unknown nodes is shown in fig. 7. In FIG. 6, A/B/C knows the distance and D does not know the displacement distance. Let the coordinates of the three reference nodes be A (x) respectively1，y1)、B(x2，y2)、C(x3，y3) The unknown node D has coordinates of (x, y), and the distances from the node to A, B, C are r1、r2、r3The following formula can be obtained:
(x-x1)2+(y-y1)2＝r1 2
(x-x2)2+(y-y2)2＝r2 2
(x-x3)2+(y-y3)2＝r3 2
there are various algorithms for finding the abscissa/ordinate of the D displacement.
The solution is further derived.
Let the unknown point position be (x, y), let the first sphere P therein1Has a sphere center coordinate of (0, 0), P2On the same ordinate, the coordinates of the center of the sphere are (d, 0), P3The coordinates of the center of the sphere are (i, j), and the radii of the three spheres are r1，r2，r3And z is the height of the intersection point of the three spheres and the horizontal plane.
Then there are:
r1 2＝x2+y2+z2
r2 2＝(x-d)2+y2+z2
r3 2＝(x-i)2+(y-j)2+z2
when z is 0, that is, three circles intersect at a point on the horizontal plane, x is solved first:
x＝(r1 2-r2 2+d2)÷2d
the calculation method of y is as follows:
y＝(r1 2-r3 2-x2+(x-i)2+j2)÷2j。
in an actual environment, a measurement signal is affected by environmental factors such as shielding and noise, so that measurement time is increased, and a measurement error is generated. The three circles may form an intersection region as shown in FIG. 8 (D/E/F/G unknown points).
Let the coordinates of three intersection points be E (x)4，y4)、F(x5，y5)、G(x3，y3) Location nodeThe coordinates (x, y) of point D can be considered as the geometric center of the intersection region, i.e., the coordinates of D are
x＝(x4+x5+x3)÷3y＝(y4+y5+y3)÷3。
The positioning data controller can adopt various known distance measurement algorithms and various data comparison modes to realize accurate positioning of the object. The data collected by the management positioning software can be remotely monitored and managed by a wireless network technology, such as networking with a cloud server, or networking with a local server through a wired or wireless network. During positioning monitoring, the moving direction and the offset distance of the monitored object can be visually checked in a software electronic map mode. When the displacement is measured, the displacement monitoring of the deformation of the rising and sinking of the object can be realized. The positioning data can be used for controlling and providing real-time data and managing computer communication, and an electronic map is manufactured in management software, so that management and checking are facilitated. The measured data can be sent to a computer, a mobile phone or other communication equipment in real time so as to check the monitored data and the shape structure in real time. The system can be used for monitoring objects by single machine (more than two machines), cross-region and cross-domain networking. The number of the positioning data controllers can be adjusted according to different field environments and measurement requirements. In places without electric energy, wind energy, solar energy and batteries can be used for supplying power.
The background section of the present invention may contain background information related to the problems or the environment of the present invention and is not necessarily descriptive of the prior art. Accordingly, the inclusion in the background section is not an admission of prior art by the applicant.
The foregoing is a more detailed description of the present invention, taken in conjunction with the specific/preferred embodiments thereof, and it is not intended that the invention be limited to the specific embodiments shown and described. For those skilled in the art to which the invention pertains, a plurality of alternatives or modifications can be made to the described embodiments without departing from the concept of the invention, and these alternatives or modifications should be considered as belonging to the protection scope of the invention. In the description herein, references to the description of the term "one embodiment," "some embodiments," "preferred embodiments," "an example," "a specific example," or "some examples" or the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction. Although the embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions and alterations can be made herein without departing from the scope of the claims.
Claims (9)
1. A system for monitoring object displacement or deformation by double distance measurement is characterized by comprising a plurality of positioning monitoring devices, wherein the positioning monitoring devices are respectively arranged on a plurality of object monitoring points, each positioning monitoring device comprises a wireless distance measurement transceiving module, a light distance measurement transceiving module, a processing module and an alarm module, the processing module is respectively connected with the wireless distance measurement transceiving module, the light distance measurement transceiving module and the alarm module, the wireless distance measurement transceiving module is used for measuring the distance between the object monitoring points through radio waves, the light distance measurement transceiving module is used for measuring the distance between the object monitoring points through light signals, the processing module is used for triggering the alarm module to give an alarm when judging that the corresponding object has moved or the corresponding part of the object has deformed according to the wireless distance measurement result and the light distance measurement result between the object monitoring points, and measuring displacement or deformation data through wireless distance measurement.
2. The system of claim 1, wherein the plurality of position monitoring devices is more than three position monitoring devices.
3. The system of any of claims 1 to 2, wherein the processing module comprises a data modulation/demodulation circuit for modulating/demodulating wireless ranging data or optical ranging data for wireless transmission/reception.
4. The system of any of claims 1 to 2, wherein the processing module comprises clock synchronization circuitry for implementing clock synchronization calibration.
5. The system according to any one of claims 1 to 2, further comprising a communication module for transmitting a signal of an alarm and/or the displacement or deformation data to a management center or a user terminal, the communication module comprising a wired and/or wireless communication module.
6. The system of any one of claims 1 to 2, wherein the plurality of positioning monitoring devices are networked to form a cross-regional and cross-domain networking system, and cross-regional and cross-domain monitoring management is realized through a cloud server.
7. The system of any one of claims 1 to 2, further comprising a power supply device for supplying power to the position monitoring device, the power supply device comprising one or more of a solar power generation device, a wind power generation device, and a battery.
8. The system of any one of claims 1 to 2, wherein the optical ranging is visible light or invisible light ranging and the wireless ranging is wireless carrier or wireless pulse communication ranging.
9. The system of claim 8, wherein the optical ranging is laser ranging or infrared ranging.
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