Network RTK temporary power construction limiting and height limiting method and system based on Cors

Abstract

The invention relates to a Cors-based network RTK temporary power construction limiting and height limiting method and system, and the method comprises the steps: starting to search a satellite signal after a monitoring station is started, connecting the service of a Cors system, and selecting the working state of the monitoring station; a monitoring station is placed on the ground, and the monitoring station starts to record the initial zero-point ground altitude; the method comprises the following steps: installing a monitoring station at a to-be-measured position of a large-scale machine, and calculating accurate position data of the monitoring station through initial position data observed by a network RTK mobile station of the monitoring station and position correction data sent by a Cors system; judging whether the large-scale machinery is ultrahigh in the height limit area, if yes, sending an alarm signal to an alarm through a Lora communication module of the monitoring station, and enabling the alarm to give an alarm until the height is reduced to be below the height limit data, and stopping the alarm; compared with the prior art, the method has the advantages that a base station does not need to be arranged on site, operation is convenient and fast, cost is low, and the limiting and height limiting requirements of large machinery during temporary power operation can be met.

Description

Technical Field

[0001] The invention belongs to the technical field of engineering safety control, and in particular relates to a method and system for limiting the position and height of temporary power construction based on a network RTK of Cors. Background Art

[0002] Overhead transmission lines are often threatened by temporary power operations of large construction machinery, such as cranes and pump trucks, which can cause line tripping and personal safety accidents. The reason is that large machinery does not pay attention to the safe distance from high-voltage wires during temporary power construction, and the height is too high, which causes accidents. Most existing technologies use physical measures such as height limit poles and height limit ropes, which are prone to secondary accidents. Limiting height by means of lasers, infrared rays, etc. has the disadvantages of complex equipment installation and blind spots. Therefore, a measure and method that is easy to install, simple to operate, safe and effective is needed.

[0003] Chinese patent CN115407378A discloses a high-voltage electric field operation risk warning method and device based on RTK high-precision positioning. The present invention first uses RTK high-precision positioning technology to locate the position of power grid operators, so that its accuracy can reach centimeter-level positioning accuracy, thereby obtaining the precise position of power grid operators; then the precise position is compared with the point cloud layer map platform to determine whether the power grid operator is in the high-voltage electric field area, and when in the high-voltage electric field area, the electric field strength signal of the operation site is collected, and finally, the risk warning is performed based on the electric field strength signal. However, this patent only considers the safety risks of the operators, and does not consider the risk accidents caused by the height problem of large machinery during high-voltage electric field operations, as well as the life safety problems caused by such risk accidents. And the field strength of the operation site will change with the voltage load, such as the electric field strength signal at the same position of the same line will change with the change of power load. Judging by this method, the reliability is low. At the same time, the patent has a narrow scope of application and poor flexibility. Lines of different voltage levels and different conductor models of the same voltage level will generate different field strengths. Therefore, sufficient preparation is required for each use. If the preparation is insufficient, huge errors will occur, resulting in serious consequences. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a method and system for limiting the position and height of temporary power construction based on Cors network RTK.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] The present invention provides a method for limiting the position and height of temporary power construction based on a network RTK of Cors, comprising the following steps:

[0007] After the monitoring station is turned on, it searches for GNSS satellite signals, connects to the Cors system service, and selects the working status of the monitoring station;

[0008] Place the monitoring station on the ground, turn on the alarm, and the monitoring station will start recording the initial 0-point ground altitude;

[0009] The monitoring station is installed at the location of the large machinery to be tested, receiving the height limit area data sent by the web platform, receiving the height limit data sent by the web platform or parameter setting software, receiving the position correction data sent by the Cors system, and calculating the precise position data of the monitoring station through the preliminary position data initially observed by the network RTK mobile station of the monitoring station and the position correction data sent by the Cors system;

[0010] Through the initial 0-point ground altitude, precise location data, height-restricted area data and height-restricted height data, it is determined whether the large machinery is above the height limit in the height-restricted area. If so, an alarm signal is sent to the alarm device through the Lora communication module of the monitoring station. The alarm device will issue sound, light and vibration alarms until the height drops below the height-restricted height data and the alarm stops.

[0011] Furthermore, the monitoring station includes a power module, a network RTK mobile station, a Lora communication module, and a 4G communication module.

[0012] Furthermore, the working state of the monitoring station includes a fixed solution state and a floating-point solution state. In the fixed solution state, the positioning accuracy of the monitoring station is at the centimeter level. In the floating-point solution state, the positioning accuracy of the monitoring station is between the centimeter level and the meter level. The selection of the working state of the monitoring station specifically includes: searching for GNSS satellite signals, linking to the Cors system service, and solving the integer ambiguity starting from the monitoring station. If the integer ambiguity is an integer, the fixed solution state is selected; if the integer ambiguity is a floating point number, the floating-point solution state is selected.

[0013] Furthermore, the positions to be measured include: the top of the boom and the end point of the boom of the pump truck.

[0014] Furthermore, the step of obtaining the height restricted area data includes: according to on-site needs, using a total station, a laser rangefinder, and an online map of a web platform to calibrate a first preset number of points with a first preset safety distance outside the projection area of ​​the target restriction on the ground, and obtain the longitude and latitude coordinates of the calibrated points. In the web platform, the longitude and latitude coordinates of the above points are recorded, and each calibrated point is used as a vertex. By transforming the longitude and latitude coordinates into plane coordinates, a plane convex polygon is formed, and the plane convex polygon is used as the height restricted area. The height restricted area data records are stored in the web platform cloud service and the network RTK mobile station.

[0015] Furthermore, the step of obtaining the height limit data includes: using a total station and a laser rangefinder to obtain the actual ground height of the target restriction on site, and according to the first preset safety height, subtracting the first preset safety height from the actual ground height, and using the obtained data as the height limit data. The height limit data is set and recorded by a web platform and parameter setting software, and after setting and recording, the height limit data is sent to the network RTK mobile station, and the network RTK mobile station stores the height limit data after receiving it. The height limit data set by the parameter setting software is less than or equal to the height limit data set by the web platform.

[0016] Furthermore, the step of obtaining the position correction data includes: the Cors system has multiple GNSS reference stations with mesh coverage in the broad area where the monitoring station is located, and each reference station transmits the GNSS satellite observation data to the data processing center of the Cors system. The data processing center uses all the reference station data to solve the carrier phase integer ambiguity of each baseline in the network in real time online and construct a regional GNSS network error model. The monitoring station transmits the preliminary position data to the data processing center of the Cors system through the 4G communication module. The data processing center generates a virtual reference station and virtual observation data near the monitoring station, and then obtains the position correction data of the virtual reference station through the interpolation method. The position correction data is sent to the monitoring station in RTCM format through the NTRIP protocol.

[0017] Furthermore, the precise location data includes: longitude and latitude coordinates, plane coordinates after coordinate transformation, altitude, and height above the ground.

[0018] Furthermore, the initial 0-point ground altitude, the precise position data, the height-restricted area data and the height-restricted height data are used to determine whether the large machinery is above the height limit in the height-restricted area. The determination process includes: the monitoring station receives the height-restricted area data and the height-restricted height data from the web platform server through the 4G communication module, and compares the plane coordinates of the precise position data with the plane convex polygon area of ​​the height-restricted area data to determine whether the plane coordinates of the monitoring station fall within the plane convex polygon area. If so, the altitude of the precise position data is subtracted from the initial 0-point ground altitude to obtain real-time altitude data, and the real-time altitude data is used to compare the height-restricted height data. If it is greater than or equal to, it is above the height. If it is less than, the precise position data of the monitoring station is continued to be calculated and it is determined whether the monitoring station is in the height-restricted area. If the plane coordinates of the monitoring station do not fall within the plane convex polygon area, the precise position data of the monitoring station is continued to be calculated and it is determined whether the monitoring station is in the height-restricted area.

[0019] The present invention also provides a network RTK temporary power construction position and height limit system based on Cors, including a Cors system, a monitoring station, an alarm, a web page platform and parameter setting software, wherein the Cors system is used to receive the preliminary position data of the monitoring station and generate a virtual reference station, and send position correction data to the monitoring station, wherein the monitoring station includes a network RTK mobile station, a 4G communication module and a Lora communication module, wherein the network RTK mobile station is used to observe the preliminary position data of the monitoring station, calculate the precise position data of the monitoring station, and determine whether the monitoring station is within the height limit area, wherein the 4G communication module is used for the monitoring station to communicate with the Cors system of the web page platform, wherein the Lora communication module is used for the monitoring station to communicate with the alarm and the parameter setting software, wherein the web page platform is used to set and record the height limit area and the height limit. The parameter setting software is used to set and record the height limit.

[0020] Compared with the prior art, the present invention has the following advantages:

[0021] (1) The present invention sets a monitoring station on the top of a large device to achieve the position and height limit requirements of large machinery during temporary power operation, effectively solves the hidden dangers of temporary power operation of large construction machinery, and reduces the occurrence of tripping and personal safety accidents.

[0022] (2) The present invention adopts a combination of the Cors system and the network RTK mobile station, which has a wide signal coverage range and a fast speed for accurate position data solution. There is no need to set up a reference station at the work site, which reduces the time and construction cost of setting up the reference station, saves about 70% of the construction cost, and improves work efficiency by about 30%.

[0023] (3) The present invention sets the height restriction area as a planar convex polygon through an online map, so that the judgment of the height restriction area is more vivid and objective. In addition, the height restriction area data and the height restriction height data of the present invention are stored in the server. The height restriction area is not affected by the replacement of the on-site monitoring station. Multiple height restriction areas and different monitoring stations can be freely combined, and the flexibility is significantly improved.

[0024] (4) The present invention utilizes the Cors system consisting of a reference station network, a data processing center, a data communication chain, etc., i.e., a continuously operating reference station, adopts virtual reference station technology, and uses a regional GNSS network error model to replace the traditional single-point GNSS error model to obtain centimeter-level accuracy data in real time, thereby improving positioning accuracy and reducing the probability of tripping and personal safety accidents caused by inaccurate positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the system layout of the present invention;

[0026] Figure 2 It is a schematic diagram of the design scheme of the monitoring station of the present invention;

[0027] Figure 3 It is a schematic diagram of the design scheme of the alarm device of the present invention;

[0028] Figure 4 It is a flow chart of the position and height limiting algorithm of the present invention. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0030] Embodiment 1:

[0031] The present invention provides a method for limiting the position and height of temporary power construction based on a network RTK of Cors, comprising the following steps:

[0032] After the monitoring station is turned on, it searches for GNSS satellite signals, connects to the Cors system service, and selects the working status of the monitoring station;

[0033] Place the monitoring station on the ground, turn on the alarm, and the monitoring station will start recording the initial 0-point ground altitude;

[0034] The monitoring station is installed at the location of the large machinery to be tested, receiving the height limit area data sent by the web platform, receiving the height limit data sent by the web platform or parameter setting software, receiving the position correction data sent by the Cors system, and calculating the precise position data of the monitoring station through the preliminary position data initially observed by the network RTK mobile station of the monitoring station and the position correction data sent by the Cors system;

[0035] Through the initial 0-point ground altitude, precise location data, height-restricted area data and height-restricted height data, it is determined whether the large machinery is above the height limit in the height-restricted area. If so, an alarm signal is sent to the alarm device through the Lora communication module of the monitoring station. The alarm device will issue sound, light and vibration alarms until the height drops below the height-restricted height data and the alarm stops.

[0036] The monitoring station includes a power module, a network RTK mobile station, a Lora communication module, and a 4G communication module.

[0037] The working states of the monitoring station include a fixed solution state and a floating point solution state. In the fixed solution state, the positioning accuracy of the monitoring station is at the centimeter level. In the floating point solution state, the positioning accuracy of the monitoring station is between the centimeter level and the meter level. The selection of the working state of the monitoring station specifically includes: searching for GNSS satellite signals, linking to the Cors system service, and solving the integer ambiguity starting from the monitoring station. If the integer ambiguity is an integer, the fixed solution state is selected. If the integer ambiguity is a floating point number, the floating point solution state is selected.

[0038] The positions to be measured include: the top of the boom and the end point of the pump truck arm.

[0039] The step of obtaining the height restricted area data includes: according to the on-site needs, using the total station, laser rangefinder, and online map of the web platform, respectively calibrate a first preset number of points with a first preset safety distance outside the projection area of ​​the target restriction on the ground, obtain the longitude and latitude coordinates of the calibrated points, and record the longitude and latitude coordinates of the above points in the web platform. Take each calibrated point as a vertex, and transform the longitude and latitude coordinates into plane coordinates to form a plane convex polygon. The plane convex polygon is used as the height restricted area. The height restricted area data records are stored in the web platform cloud service and the network RTK mobile station.

[0040] The step of obtaining the height limit data includes: using a total station and a laser rangefinder to obtain the actual height above the ground of the target restriction on site, and according to the first preset safety height, subtracting the first preset safety height from the actual height above the ground, and using the obtained data as the height limit data. The height limit data is set and recorded by a web platform and parameter setting software, and after setting and recording, the height limit data is sent to the network RTK mobile station, and the network RTK mobile station stores the height limit data after receiving it. The height limit data set by the parameter setting software is less than or equal to the height limit data set by the web platform.

[0041] The steps of obtaining position correction data include: the Cors system has multiple GNSS reference stations with mesh coverage in the broad area where the monitoring station is located, and each reference station transmits GNSS satellite observation data to the data processing center of the Cors system. The data processing center uses all reference station data to solve the carrier phase integer ambiguity of each baseline in the network in real time online and build a regional GNSS network error model. The monitoring station transmits the preliminary position data to the data processing center of the Cors system through the 4G communication module. The data processing center generates a virtual reference station and virtual observation data near the monitoring station, and then obtains the position correction data of the virtual reference station through the interpolation method. The position correction data is sent to the monitoring station in RTCM format through the NTRIP protocol.

[0042] The precise location data includes: longitude and latitude coordinates, plane coordinates after coordinate transformation, altitude, and height above the ground.

[0043] The initial 0-point ground altitude, precise location data, height-restricted area data and height-restricted height data are used to determine whether the large machinery is over-elevated in the height-restricted area. The determination process includes: the monitoring station receives the height-restricted area data and height-restricted height data from the web platform server through the 4G communication module, and compares the plane coordinates of the precise location data with the plane convex polygon area of ​​the height-restricted area data to determine whether the plane coordinates of the monitoring station fall within the plane convex polygon area. If so, the altitude of the precise location data is subtracted from the initial 0-point ground altitude to obtain real-time altitude data, and the real-time altitude data is used to compare the height-restricted height data. If it is greater than or equal to, it is over-elevated. If it is less than, the precise location data of the monitoring station is continued to be calculated and it is determined whether the monitoring station is in the height-restricted area. If the plane coordinates of the monitoring station do not fall within the plane convex polygon area, the precise location data of the monitoring station is continued to be calculated and it is determined whether the monitoring station is in the height-restricted area.

[0044] The present invention also provides a network RTK temporary power construction position and height limit system based on Cors, including a Cors system, a monitoring station, an alarm, a web page platform and parameter setting software, wherein the Cors system is used to receive the preliminary position data of the monitoring station and generate a virtual reference station, and send position correction data to the monitoring station, wherein the monitoring station includes a network RTK mobile station, a 4G communication module and a Lora communication module, wherein the network RTK mobile station is used to observe the preliminary position data of the monitoring station, calculate the precise position data of the monitoring station, and determine whether the monitoring station is within the height limit area, wherein the 4G communication module is used for the monitoring station to communicate with the Cors system of the web page platform, wherein the Lora communication module is used for the monitoring station to communicate with the alarm and the parameter setting software, wherein the web page platform is used to set and record the height limit area and the height limit. The parameter setting software is used to set and record the height limit.

[0045] Embodiment 2:

[0046] The parts not mentioned in this embodiment are the same as those in Embodiment 1.

[0047] The present invention designs a high-precision network RTK overhead power transmission line temporary power construction position and height limiting device based on the Cors system service, which proposes a suitable method for the position and height limiting measures of temporary power operations of large-scale construction machinery.

[0048] The whole device mainly consists of four parts: monitoring station, alarm, web platform and parameter setting software.

[0049] First, according to the actual needs of the site, 4 to 8 points with sufficient safety margins are calibrated on the outside of the projection line of the overhead transmission line to the ground using total stations, laser rangefinders, online maps on the web platform, etc. The latitude and longitude coordinates of the above points are recorded. In the web platform, each calibration point is used as a vertex. Through coordinate transformation, the longitude and latitude coordinates are transformed into plane coordinates to form a plane convex polygon to form a height limit area. When large machinery and key parts enter the height limit area, the height monitoring and over-height alarm of the device will be triggered. If construction is carried out outside the height limit area, no prompt is required, thereby realizing the horizontal limit function of large machinery.

[0050] After that, the actual height of the wire above the ground is obtained by using a total station, laser rangefinder, etc., and the height limit that needs to be set is calculated based on the safety margin value, that is, the actual height above the ground minus the safety margin value. The height limit data is wirelessly transmitted to the monitoring station through the web platform or parameter setting software, using the 4G communication network or Lora communication module.

[0051] The monitoring station is installed at the part of the large machinery to be tested, and the projection surface position relationship and height above the ground of the part to be monitored are monitored in real time during the operation of the large machinery. If the setting requirements are not met, a real-time alarm is issued to realize the limit height function.

[0052] The overall situation of the device is as follows:

[0053] (1) Low power consumption design.

[0054] The principle of component selection is mainly low power consumption and low latency. For example, wireless communication modules should choose low-power and low-latency Lora communication modules, 4G modules, etc. The positioning board should choose a low-power network RTK module.

[0055] (2) Layout method of height limiting device.

[0056] The overall technical solution of the device is as follows Figure 1 Shown: Cors system, monitoring station, alarm, web platform, parameter setting software.

[0057] Specific solution implementation:

[0058] (1) The Cors system has multiple GNSS reference stations with mesh coverage in the broad area where the monitoring station is located. Each reference station transmits GNSS satellite (GPS, BDS, GLONASS, GALILEO, etc.) observation data to the data processing center of the Cors system. The data processing center uses all reference station data to solve the carrier phase integer ambiguity of each baseline in the network in real time and build a regional GNSS network error model. The monitoring station transmits the preliminary position data to the data processing center via 4G communication. The data processing center generates a virtual reference station and virtual observation data near the monitoring station, and then obtains the virtual reference station error correction data through the interpolation method, which is sent to the monitoring station in RTCM format through the NTRIP protocol. The monitoring station combines its own observation data to solve the precise coordinates in real time. The correction data includes code phase data, carrier phase offset correction data, position difference data, and pseudorange difference data.

[0059] (2) The monitoring station consists of a network RTK mobile station, a 4G communication module, and a Lora communication module. The 4G communication module receives the carrier phase offset correction data transmitted by the Cors system, and the network RTK mobile station combines the mobile station observation data with the correction data to solve the position data and achieve centimeter-level positioning accuracy. The solved data, including: longitude and latitude coordinates, plane coordinates after coordinate transformation, altitude, and height above the ground, are transmitted in real time through the 4G communication module and the web platform. At the same time, the height above the ground data is transmitted to the parameter setting software through the Lora communication module, and the alarm signal is transmitted to the alarm. The process of judging whether the real-time height data exceeds the set height limit and whether the position to be measured is within the height limit area is carried out in the network RTK mobile station in the monitoring station. The judgment process is as follows:

[0060] Real-time altitude data: the altitude of the monitoring station minus the altitude of the initial 0 point, including: ground altitude.

[0061] Set the height limit and judge whether it exceeds the height limit: input the height limit through the web platform or parameter setting software, and transmit it to the monitoring station through 4G / Lora wireless communication. The network RTK mobile station in the monitoring station compares the real-time height data with the set height limit to judge whether it exceeds the height limit.

[0062] Setting the height restriction zone and judging the points inside and outside the zone: According to the actual needs on site, use the total station, laser rangefinder, online map of the web platform, etc. to mark 4 to 8 points with sufficient safety margin outside the projection area of ​​the overhead transmission line to the ground, and obtain the longitude and latitude coordinates of the critical points with sufficient safety margin for the overhead transmission line. Record the longitude and latitude coordinates of the above points. In the web platform, use each calibrated point as a vertex, and transform the longitude and latitude coordinates into plane coordinates through coordinate transformation to form a plane convex polygon to form a height restriction zone. The height restriction zone data is recorded and stored in the cloud server of the web platform. At the same time, the height restriction zone data is transmitted to the monitoring station for storage through 4G communication, so that after the monitoring station is replaced, the height restriction zone still exists and does not need to be reset. Afterwards, the longitude and latitude coordinates of the running monitoring station are converted into plane coordinates through coordinate transformation, and the monitoring station network RTK mobile station is used to calculate in real time whether the monitoring station coordinates fall into the above plane convex polygon.

[0063] (3) The alarm device obtains the alarm signal fed back by the monitoring station through the Lora communication module.

[0064] (4) The web platform sends the height limit and height limit area data to the monitoring station through the 4G communication network, and obtains the height data, location information and other data fed back by the monitoring station in real time. The height data priority is set to be higher than that of the parameter setting software. That is, after the height limit is set by the web platform, the height limit set by the parameter setting software can only be less than or equal to the height set by the web platform. The function of setting the height limit area is completed on the web platform.

[0065] The parameter setting software sends the set height data to the monitoring station through Lora, and obtains the height data fed back by the monitoring station in real time.

[0066] Monitoring station design plan Figure 2 Shown: Network RTK mobile station, 4G communication module and Lora communication module, power module.

[0067] The specific functions are as follows:

[0068] (1) The power module is responsible for supplying power to the Lora communication module, network RTK mobile station and 4G communication module;

[0069] (2) The Lora module is responsible for analyzing, processing, and sending and receiving all Lora data, including the altitude setting data in the host computer software, the current altitude real-time data, and sending alarm information to the alarm device after receiving the alarm information.

[0070] (3) The network RTK mobile station is responsible for analyzing and processing all position and altitude data, and comparing them with the set altitude value in real time. After triggering an alarm, it sends an alarm message to the Lora communication module.

[0071] (4) The 4G communication module is responsible for analyzing, processing, sending and receiving all 4G data, including Cors system data and web platform data.

[0072] The alarm device and the monitoring station are independent entities. One monitoring station can be paired with multiple alarm devices. The two sides realize data transmission through Lora communication. The design scheme of the alarm device is as follows: Figure 3 As shown:

[0073] The power module is responsible for supplying power to the alarm module, Lora communication module and power indicator module.

[0074] The alarm module consists of a vibration motor, an alarm light, and a buzzer, and is triggered after receiving the alarm information sent by the Lora communication module.

[0075] The Lora communication module receives the alarm data and remaining power data sent by the monitoring station, and sends them to the alarm module and the power indicator module.

[0076] The power indicator module receives the remaining power data transmitted by the Lora communication module, analyzes and processes it, and displays it through a SMD LED light.

[0077] The flow chart of the position and height limit algorithm is as follows: Figure 4 As shown:

[0078] After the monitoring station is turned on, it starts searching for satellite signals and enters the fixed solution state. If the fixed solution state cannot be entered within three minutes, the floating solution state is used. Among them, the fixed solution means that the satellite signal is received, and the final solution obtained by carrier phase differential data solution has the highest accuracy, generally within 0.02 meters. The floating solution means that the satellite signal is received, but due to signal interference or other factors, there is a certain uncertainty in the measurement result, and the positioning accuracy is between centimeters and meters. Put the monitoring station on the ground after it is turned on. When the alarm is turned on, the power-on signal is transmitted to the monitoring station through the Lora communication module. The monitoring station starts to record the initial 0 point, that is, the ground altitude, and sends a normal working signal to the alarm. At this time, the alarm indicator light changes from the running light state to the constant light state. Install the monitoring station at the position to be tested of large machinery, such as the top of the boom and the end point of the pump truck arm. After normal operation, the monitoring station compares the height data with the height limit data in real time and determines whether the position is within the height limit area. If the height exceeds the limit, an alarm signal is sent to the alarm device, which will sound, light, and vibrate until the height drops below the limit and stops the alarm. When the monitoring station is shut down, the algorithm stops running.

[0079] The judgment process includes: the monitoring station receives the restricted height area data and the restricted height data from the web platform server through the 4G communication module, compares the plane coordinates of the precise position data with the plane convex polygon of the restricted height area data, and judges whether the plane coordinates of the monitoring station fall into the plane convex polygon. If so, the altitude of the precise position data is subtracted from the initial 0 point ground altitude to obtain real-time altitude data, and the real-time altitude data is compared with the restricted height data. If it is greater than, it is over-elevated. If it is less than, continue to calculate the precise position data of the monitoring station and judge whether the monitoring station is in the restricted height area. If the plane coordinates of the monitoring station do not fall into the plane convex polygon, continue to calculate the precise position data of the monitoring station and judge whether the monitoring station is in the restricted height area.

[0080] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for limiting the position and height of temporary power construction based on network RTK of Cors, characterized in that: The following steps are involved: After the monitoring station is turned on, it searches for GNSS satellite signals, connects to the Cors system service, and selects the working status of the monitoring station; Place the monitoring station on the ground, turn on the alarm, and the monitoring station will start recording the initial 0-point ground altitude; The monitoring station is installed at the location of the large machinery to be tested, receiving the height limit area data sent by the web platform, receiving the height limit data sent by the web platform or parameter setting software, receiving the position correction data sent by the Cors system, and calculating the precise position data of the monitoring station through the preliminary position data initially observed by the network RTK mobile station of the monitoring station and the position correction data sent by the Cors system; Through the initial 0-point ground altitude, precise location data, height-restricted area data and height-restricted height data, it is determined whether the large machinery is above the height limit in the height-restricted area. If so, an alarm signal is sent to the alarm device through the Lora communication module of the monitoring station. The alarm device will issue sound, light and vibration alarms until the height drops below the height-restricted height data and the alarm stops.

2. According to a Cors-based network RTK temporary power construction position and height limiting method according to claim 1, it is characterized in that: The monitoring station includes a power module, a network RTK mobile station, a Lora communication module, and a 4G communication module.

3. According to a Cors-based network RTK temporary power construction position and height limiting method according to claim 1, it is characterized in that: The working state of the monitoring station includes a fixed solution state and a floating point solution state. In the fixed solution state, the positioning accuracy of the monitoring station is at the centimeter level. In the floating point solution state, the positioning accuracy of the monitoring station is between the centimeter level and the meter level. The selection of the working state of the monitoring station specifically includes: searching for GNSS satellite signals, linking to the Cors system service, and solving the integer ambiguity starting from the monitoring station. If the integer ambiguity is an integer, the fixed solution state is selected. If the integer ambiguity is a floating point number, the floating point solution state is selected.

4. According to a Cors-based network RTK temporary power construction position and height limiting method according to claim 1, it is characterized in that: The positions to be measured include: the top of the boom and the end point of the boom of the pump truck.

5. According to a Cors-based network RTK temporary power construction position and height limiting method according to claim 1, it is characterized in that: The step of obtaining the height restricted area data includes: according to on-site needs, using a total station, a laser rangefinder, and an online map of a web platform, respectively calibrating a first preset number of points with a first preset safety distance outside the projection area of ​​the target restriction on the ground, obtaining the longitude and latitude coordinates of the calibrated points, and recording the longitude and latitude coordinates of the above points in the web platform. Taking each calibrated point as a vertex, a plane convex polygon is formed by transforming the longitude and latitude coordinates into plane coordinates, and the plane convex polygon is used as the height restricted area. The height restricted area data records are stored in the web platform cloud service and the network RTK mobile station.

6. According to a Cors-based network RTK temporary power construction position and height limiting method according to claim 1, it is characterized in that: The step of obtaining the height limit data includes: using a total station and a laser rangefinder to obtain the actual ground height of the target restriction on site, and according to the first preset safety height, subtracting the first preset safety height from the actual ground height, and using the obtained data as the height limit data. The height limit data is set and recorded by a web platform and parameter setting software, and after setting and recording, the height limit data is sent to the network RTK mobile station, and the network RTK mobile station stores the height limit data after receiving it. The height limit data set by the parameter setting software is less than or equal to the height limit data set by the web platform.

7. According to a Cors-based network RTK temporary power construction position and height limiting method according to claim 1, it is characterized in that: The step of obtaining the position correction data includes: the Cors system has multiple GNSS reference stations with mesh coverage in the broad area where the monitoring station is located, and each reference station transmits the GNSS satellite observation data to the data processing center of the Cors system. The data processing center uses all the reference station data to solve the carrier phase integer ambiguity of each baseline in the network in real time online and build a regional GNSS network error model. The monitoring station transmits the preliminary position data to the data processing center of the Cors system through the 4G communication module. The data processing center generates a virtual reference station and virtual observation data near the monitoring station, and then obtains the position correction data of the virtual reference station through the interpolation method. The position correction data is sent to the monitoring station in RTCM format through the NTRIP protocol.

8. According to a Cors-based network RTK temporary power construction position and height limiting method according to claim 1, it is characterized in that: The precise location data includes: longitude and latitude coordinates, plane coordinates after coordinate transformation, altitude, and height above the ground.

9. According to claim 1, a method for limiting the position and height of temporary power construction based on the Cors system service is characterized in that: The initial 0-point ground altitude, the precise position data, the height-restricted area data and the height-restricted height data are used to determine whether the large machinery is over-elevated in the height-restricted area. The determination process includes: the monitoring station receives the height-restricted area data and the height-restricted height data from the web platform server through the 4G communication module, and compares the plane coordinates of the precise position data with the plane convex polygon area of ​​the height-restricted area data to determine whether the plane coordinates of the monitoring station fall within the plane convex polygon area. If so, the altitude of the precise position data is subtracted from the initial 0-point ground altitude to obtain real-time altitude data, and the real-time altitude data is used to compare the height-restricted height data. If it is greater than or equal to, it is over-elevated. If it is less than, the precise position data of the monitoring station is continued to be calculated and it is determined whether the monitoring station is in the height-restricted area. If the plane coordinates of the monitoring station do not fall within the plane convex polygon area, the precise position data of the monitoring station is continued to be calculated and it is determined whether the monitoring station is in the height-restricted area.

10. A network RTK temporary power construction position and height limit system based on Cors, characterized in that: It includes a Cors system, a monitoring station, an alarm, a web platform and parameter setting software. The Cors system is used to receive the initial position data of the monitoring station and generate a virtual reference station, and send position correction data to the monitoring station. The monitoring station includes a network RTK mobile station, a 4G communication module and a Lora communication module. The network RTK mobile station is used to observe the initial position data of the monitoring station, calculate the precise position data of the monitoring station, and determine whether the monitoring station is within the height limit area. The 4G communication module is used for the monitoring station to communicate with the Cors system of the web platform, and the Lora communication module is used for the monitoring station to communicate with the alarm and parameter setting software. The web platform is used to set and record the height limit area and height limit. The parameter setting software is used to set and record the height limit.

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