CN103711127A - Real-time monitoring and locating system and method of vibrating machine - Google Patents
Real-time monitoring and locating system and method of vibrating machine Download PDFInfo
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- CN103711127A CN103711127A CN201310738341.4A CN201310738341A CN103711127A CN 103711127 A CN103711127 A CN 103711127A CN 201310738341 A CN201310738341 A CN 201310738341A CN 103711127 A CN103711127 A CN 103711127A
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Abstract
The invention relates to a real-time monitoring and locating system and method of a vibrating machine. A directional antenna and a locating antenna are arranged on a large arm of the vibrating machine, an angle sensor is arranged on a small arm of the vibrating machine, the directional antenna, the locating antenna and the angle sensor are all connected to a monitoring and locating main machine in a wired mode, and the monitoring and locating main machine is connected with a remote server through a wireless network. By means of the real-time monitoring and locating system and method of the vibrating machine, accurate three-dimensional coordinate information of a vibrating bar on the vibrating machine can be obtained in real time, obtained data can be used as bases of the vibrating quality monitoring scheme of the vibrating machine, construction management personnel can be assisted in controlling the concrete vibration construction quality and various nonstandard vibration behaviors can be avoided.
Description
Technical field
The present invention relates to the system for the quality control of hydraulic engineering concrete work pouring construction, is vibrator Real-Time Monitoring navigation system and method concretely.
Background technology
Concrete vibrating is the critical process of concreting, and the monitoring of the quality of vibrating in activities is one of important step of concrete Quality Control with controlling.The at present job site quality control of vibrating, by the staggered insertion of vibrating spear, to guarantee all standing in concreting region, simultaneously by extensive empirical data control vibrating spear insertion position, the spacing of vibrating, shake after the process control parameters such as elevation, thereby guarantee that concrete vibrating is closely knit.General experience control mode is: constructor is vibrated successively in order according to strip direction.But in practice of construction, often there is the phenomenon not according to strip coating method construction, easily increase the interference between each operation, in the operation of especially vibrating, easily occur leaking the problem such as shake, repeat to vibrate, owe to shake, may produce mass defect and be difficult to and know in time and process.This has become the common fault of concrete vibrating quality control, need to adopt become more meticulous, intelligentized technological means and equipment effectively monitoring vibrate position, control concrete vibrating quality.
Vibrator is in concrete pouring construction process, for guaranteeing concrete vibrating efficiency of construction and effect, a kind of machinery that vibrates by a plurality of vibrating spear integrated installations at rotatable creeper truck lever arm front end.The important construction equipment that vibrator vibrates as concrete in mass, the quality control of its construction of vibrating is particularly crucial.At vibrator, vibrating in quality control on construction, is basis and the prerequisite of its quality monitoring solution of vibrating by the vibrating spear of vibrator being carried out to accurately location.In the process vibrating spear of vibrator being positioned in reality, need to consider location technology scheme, orientation sensing equipment installation, the elements of a fix the implementation detail such as resolve, guarantee that positioning result is accurately reliable.
Mainly in prior art rely on other station management by the stand process of observe and decide concrete vibrating of side, the location determination of vibrator is adopted to the mode with reference to relative fixed object judge distance in the face of storehouse, positioning precision is low, and be difficult to whole process, the continuous monitoring process of vibrating, easily occur seamed overlap joint, unordered phenomenon of vibrating; And vibrator position fixing process be take qualitative as main, affected obviously by factor and individual subjective factor, lack data supporting accurately.If in work progress, there is seamed overlap joint, vibrate after elevation exceed standard and the leakage that the brings phenomenon such as shake, be difficult to identify accurately, correction of deviation in real time and reviewing afterwards.The management of this construction quality that is unfavorable for vibrating, is difficult to effectively guarantee concrete pouring construction quality.
Summary of the invention
The invention provides a kind of vibrator Real-Time Monitoring navigation system and method, obtain in real time the accurate three-dimensional coordinate information of vibrating spear on vibrator, vibrator is carried out to Monitoring and Positioning, for the quality managemant of vibrating provides accurately real-time data supporting.
Vibrator Real-Time Monitoring navigation system of the present invention, on the large arm of vibrator, be provided with directional aerial and positioning antenna, the forearm of vibrator is provided with angular transducer, described directional aerial, positioning antenna and angular transducer are all by being typically wire connected to Monitoring and Positioning main frame, and Monitoring and Positioning main frame is connected with remote server by wireless network.
Preferably, described directional aerial is arranged on the middle part of large arm near driver's cabin one side, and the bottom position of directional aerial is higher than cab heights.The setting position of directional aerial is improved as far as possible, can avoid the interference of other signal.
Preferably, described positioning antenna is arranged on the top that is connected joint with forearm near large arm.The setting position of positioning antenna is improved as far as possible and can guarantee there are enough distances between directional aerial and positioning antenna, to strengthen the reception of satellite positioning signal and to avoid signal to disturb.
Because large arm and the forearm of vibrator is all movable, in order to guarantee that the stability of antenna makes corresponding signal data accurate, preferred a kind of mode be will directional aerial and positioning antenna and large arm between be all set to be rotatably connected, and be equipped with and make it keep stable counterweight.Like this when large arm two antennas when moving up and down can keep original direction position, can be not crooked.
Further, angular transducer be located at forearm near with near being connected joint of large arm, make the angle-data that records more accurate.
The present invention also provides a kind of vibrator Real-Time Monitoring localization method for said system, comprising:
A. by directional aerial, determine the horizontal sextant angle of the large arm of vibrator and direct north, by positioning antenna receiving satellite positioning signals, obtain in real time the coordinate P (x at positioning antenna place, y, z), by the angle of angular transducer Real-time Obtaining vibrator forearm and vertical direction;
B. according to the coordinate P (x of described horizontal sextant angle, positioning antenna, y, z), the angle of forearm and vertical direction, and positioning antenna top is to the distance that be connected joint center of rotation of large arm with forearm, positioning antenna bottom is to the distance of the stand center knuckle of vibrating of vibrator, calculate the coordinate position Q (x1, y1, z1) at the stand upper surface center of vibrating;
C. by the coordinate position Q (x1, y1, z1) at the described stand upper surface center of vibrating and the three-dimensional body data of the stand that vibrates, obtain in real time the coordinate of each vibrating spear on stand that vibrates.
Further, positioning antenna obtains the coordinate P (x, y, z) at positioning antenna place in real time by receiving check the mark framing signal or Big Dipper difference framing signal of GPS, also can adopt other applicable locate mode.
Further, in step b, be that described various data are sent in remote server and calculated and obtain described coordinate position Q (x1, y1, z1) by wireless network, to reduce the equipment complexity on vibrator, improve the accuracy and efficiency calculating.
Vibrator Real-Time Monitoring navigation system of the present invention and method, can obtain in real time the accurate three-dimensional coordinate information of vibrating spear on vibrator, the data that obtain can be as the vibrate basis of quality monitoring scheme of vibrator, auxiliary construction administrative staff control concrete vibrating construction quality, avoid the generation of the various behaviors of vibrating lack of standardization.
Below in conjunction with the specific embodiment of embodiment, foregoing of the present invention is described in further detail again.But this should be interpreted as to the scope of the above-mentioned theme of the present invention only limits to following embodiment.Without departing from the idea case in the present invention described above, various replacements or the change according to ordinary skill knowledge and customary means, made, all should comprise within the scope of the invention.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of vibrator Real-Time Monitoring navigation system of the present invention.
Fig. 2 is the top view of Fig. 1.
The specific embodiment
Vibrator Real-Time Monitoring navigation system of the present invention as depicted in figs. 1 and 2, vibrator has large arm 1 and forearm 2.At large arm 1 middle part of vibrator, near driver's cabin one side, and be provided with directional aerial 3 higher than the position of cab heights, at the top positioning antenna 4 that is connected joint with forearm 2 near large arm 1.Two antennas are improved to setting height(from bottom) to guarantee there are enough distances to strengthen satellite signal receiving, to avoid signal to disturb between directional aerial 3 and positioning antenna 4 as far as possible.In order to guarantee that the stability of antenna makes corresponding signal data accurate, directional aerial 3 and positioning antenna 4 and large 1, arm are and are rotatably connected, and are equipped with and make it keep stable counterweight.The forearm 2 of vibrator near with large arm 1 be connected joint near be provided with angular transducer 5, described directional aerial 3, positioning antenna 4 and angular transducer 5 all (are arranged in driver's cabin by being typically wire connected to Monitoring and Positioning main frame, not shown), Monitoring and Positioning main frame is connected with remote server by wireless network.
When the vibrator course of work is detected, the first-selected horizontal sextant angle A that determines the large arm 1 of vibrator and direct north by directional aerial 3, by positioning antenna 4 reception GPS difference framing signals or Big Dipper difference framing signal, obtain in real time the coordinate P (x at positioning antenna 4 places, y, z), the included angle B with vertical direction by angular transducer 5 Real-time Obtaining vibrator forearms 2;
Then, by the coordinate P (x of described horizontal sextant angle A, positioning antenna 4, y, z), the included angle B of forearm 2 and vertical direction, and positioning antenna 4 tops are to the distance a that be connected joint center of rotation of large arm 1 with forearm 2, positioning antenna 4 bottoms are provided with a plurality of vibrating spears on it to the stand 6(that vibrates of vibrator) distance b of center knuckle, all by wireless network, send in remote server, calculate coordinate position Q (x1, the y1 at the stand 6 upper surface centers of vibrating, z1), formula is:
x1＝x＋b×sinA×sinB
y1＝y＋b×sinA×cosB
z1＝z－b×cosA－a
Finally, the three-dimensional body data of coordinate position Q (x1, y1, z1) and the stand 6 that vibrates by the described stand 6 upper surface centers of vibrating, obtain the coordinate of each vibrating spear on stand 6 that vibrates in real time.
Claims (8)
1. vibrator Real-Time Monitoring navigation system, its feature comprises: on the large arm (1) of vibrator, be provided with directional aerial (3) and positioning antenna (4), the forearm of vibrator (2) is provided with angular transducer (5), described directional aerial (3), positioning antenna (4) and angular transducer (5) are all by being typically wire connected to Monitoring and Positioning main frame, and Monitoring and Positioning main frame is connected with remote server by wireless network.
2. vibrator Real-Time Monitoring navigation system as claimed in claim 1, is characterized by: described directional aerial (3) is arranged on the middle part of large arm (1) near driver's cabin one side, and the bottom position of directional aerial (3) is higher than cab heights.
3. vibrator Real-Time Monitoring navigation system as claimed in claim 1, is characterized by: described positioning antenna (4) is arranged on the top that is connected joint with forearm (2) near large arm (1).
4. vibrator Real-Time Monitoring navigation system as claimed in claim 1, is characterized by: between directional aerial (3) and positioning antenna (4) and large arm (1), be and be rotatably connected, and be equipped with and make it keep stable counterweight.
5. the vibrator Real-Time Monitoring navigation system as described in one of claim 1 to 4, is characterized by: angular transducer (5) be located at forearm (2) near with near being connected joint of large arm (1).
6. for the vibrator Real-Time Monitoring localization method of system described in claim 1, its feature comprises:
A. by directional aerial (3), determine the horizontal sextant angle (A) of the large arm of vibrator (1) and direct north, by positioning antenna (4) receiving satellite positioning signals, obtain in real time the coordinate P (x that positioning antenna (4) is located, y, z), the angle (B) with vertical direction by angular transducer (5) Real-time Obtaining vibrator forearm (2);
B. according to the coordinate P (x of described horizontal sextant angle (A), positioning antenna (4), y, z), the angle (B) of forearm (2) and vertical direction, and positioning antenna (4) top is to the distance that be connected joint center of rotation (a) of large arm (1) with forearm (2), positioning antenna (4) bottom is to the distance (b) of the stand that vibrates (6) center knuckle of vibrator, calculate the coordinate position Q (x1, y1, z1) at the stand that vibrates (6) upper surface center;
C. the three-dimensional body data of coordinate position Q (x1, y1, z1) and the stand that vibrates (6) by the described stand that vibrates (6) upper surface center, obtain the coordinate of each vibrating spear on stand (6) that vibrates in real time.
7. detection and location method as claimed in claim 6, is characterized by: positioning antenna (4) obtains by receiving check the mark framing signal or Big Dipper difference framing signal of GPS the coordinate P (x, y, z) that positioning antenna (4) is located in real time.
8. the detection and location method as described in claim 6 or 7, is characterized by: in step b, be that described various data are sent in remote server and calculated and obtain described coordinate position Q (x1, y1, z1) by wireless network.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105044753A (en) * | 2015-06-25 | 2015-11-11 | 河海大学 | Fuzzy positioning method for the working position of vibrating rod based on double GPS and attitude correction |
| CN106707932A (en) * | 2016-12-29 | 2017-05-24 | 天津大学 | Visual real-time monitoring system and method for vibration quality of normal state concrete |
| CN106760549A (en) * | 2016-12-29 | 2017-05-31 | 天津大学 | A kind of real-time monitoring system and monitoring method of vibrate chassis positioning and insertion depth |
| CN107462246A (en) * | 2017-07-07 | 2017-12-12 | 南京天辰礼达电子科技有限公司 | A kind of digging machine guides system |
| CN111416217A (en) * | 2020-05-09 | 2020-07-14 | 中国人民解放军96852部队 | Satellite Receiver Antenna Unit |
| CN113266012A (en) * | 2021-06-24 | 2021-08-17 | 中国电建集团成都勘测设计研究院有限公司 | Dam concrete vibrating robot for hydropower station |
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| CN203113804U (en) * | 2013-02-28 | 2013-08-07 | 中国水电顾问集团成都勘测设计研究院 | Concrete vibrator |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105044753A (en) * | 2015-06-25 | 2015-11-11 | 河海大学 | Fuzzy positioning method for the working position of vibrating rod based on double GPS and attitude correction |
| CN106707932A (en) * | 2016-12-29 | 2017-05-24 | 天津大学 | Visual real-time monitoring system and method for vibration quality of normal state concrete |
| CN106760549A (en) * | 2016-12-29 | 2017-05-31 | 天津大学 | A kind of real-time monitoring system and monitoring method of vibrate chassis positioning and insertion depth |
| CN107462246A (en) * | 2017-07-07 | 2017-12-12 | 南京天辰礼达电子科技有限公司 | A kind of digging machine guides system |
| CN111416217A (en) * | 2020-05-09 | 2020-07-14 | 中国人民解放军96852部队 | Satellite Receiver Antenna Unit |
| CN113266012A (en) * | 2021-06-24 | 2021-08-17 | 中国电建集团成都勘测设计研究院有限公司 | Dam concrete vibrating robot for hydropower station |
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