Steel structure installation deviation online monitoring system and monitoring method thereof

Abstract

The application discloses a steel structure installation deviation online monitoring system and a monitoring method thereof, and relates to the technical field of steel structure building installation. During the installation of a steel structure building, the installation position is often not in place, which leads to deviation accumulation, affects the engineering quality, and even threatens the safety of life and property. The application comprises a monitoring device, a network background and a portable terminal. The monitoring device comprises an RTK module, a data storage module, a Bluetooth module, an Internet of Things module and a data processing module. The system obtains high-precision positioning data of a steel structure monitoring point through the RTK module, and transmits the data to the network background through the Internet of Things module. The real-time deviation value of the actual installation position of the monitoring point and the theoretical position is obtained by comparing the data with the theoretical position data in the network background, and is fed back to the portable terminal in real time. The installation personnel can adjust the installation position of the steel structure component according to the real-time feedback information of the portable terminal, the accuracy is high, the safety is effectively improved, and the cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of steel structure building installation, and particularly relates to a steel structure installation deviation online monitoring system and a monitoring method thereof. BACKGROUND

[0002] In the process of steel structure building installation, the installation position is often not in place, which leads to subsequent deviation accumulation, affects the engineering quality, and even threatens the safety of life and property.

[0003] The mainstream way to solve the problem at present is: the first kind is to measure key points by using a total station and a level, and other positions needing to be measured are calculated by relative position, and then manual comparison of drawing data is performed. However, there are problems of high equipment price, complicated operation, low real-time performance, large measurement error and high cost. SUMMARY

[0004] The technical problem to be solved and the technical task proposed by the present application are to perfect and improve the prior art, provide a steel structure installation deviation online monitoring system and a monitoring method thereof, so as to realize accurate real-time deviation measurement, simplify measurement operation and effectively reduce cost. To this end, the present application adopts the following technical scheme.

[0005] A steel structure installation deviation online monitoring system comprises a monitoring device for obtaining actual position data of a monitoring point, a network background for position deviation calculation and a portable terminal for writing monitoring point ID number to the monitoring device and real-time position deviation display, the monitoring device comprises an RTK module, a data storage module and a data processing module, the RTK module and the data storage module are connected with the data processing module, the data processing module is wirelessly connected with the portable terminal through a Bluetooth module, and the data processing module is connected with the network background through an Internet of Things module. The system obtains high-precision positioning data of the steel structure monitoring point through the RTK module, and transmits the data to the network background through the Internet of Things module. The accurate real-time deviation value of the actual installation position of the monitoring point and the theoretical position is obtained by comparison with the theoretical position data in the network background, and is fed back to the portable terminal to provide installation operators in real time. The system effectively simplifies the measurement operation, the data is updated in real time, the installation personnel can adjust the installation position of the steel structure component in real time according to the feedback information displayed on the portable terminal, no other equipment is needed, and the time, manpower and fund cost are greatly saved.

[0006] Another object of the present application is to provide a monitoring method of the steel structure installation deviation online monitoring system. The method comprises the following steps:

[0007] 1) Before monitoring, the user uses the portable terminal to connect with the Bluetooth module of the monitoring device through Bluetooth, writes the monitoring point ID number into the monitoring device, and the data processing module in the monitoring device receives the monitoring point ID number and stores it into the data storage module;

[0008] 2) Install the monitoring device at the monitoring point of the steel structure building;

[0009] 3) The RTK module in the monitoring device obtains the actual position data of a monitoring point during the installation process or after the installation of the steel structure building: longitude (denoted as lon[n+1]), latitude (denoted as lat[n+1]), and height (denoted as H[n+1]) information;

[0010] 5) The data processing module in the monitoring device sends the actual position data of the monitoring point and the monitoring point ID number to the network background in real time through the Internet of Things module;

[0011] 6) The network background retrieves the monitoring point ID number in the database of the network background through the ID number, obtains the theoretical position data of the monitoring point corresponding to the monitoring point ID number, and calculates the difference between the actual position data of the monitoring point and the theoretical position data of the monitoring point to obtain the deviation value (including horizontal error, height error, and three-dimensional error) of the actual position and the theoretical position of the monitoring point;

[0012] 7) The user requests the deviation value of the actual position and the theoretical position of the monitoring point from the network background in real time through the portable terminal, and the network background sends the deviation value of the actual position and the theoretical position of the monitoring point to the portable terminal through the network, which is displayed on the portable terminal in real time. The user adjusts the position of the installed part in the horizontal and vertical directions according to the horizontal error, height error, and three-dimensional error displayed on the terminal to meet the installation precision requirements.

[0013] The technical solution has the advantages of simple method, strong real-time feedback, avoidance of problems such as poor real-time performance, slow feedback speed, large measurement error, and high cost in manual measurement and comparison, effective avoidance of deviation accumulation, improvement of engineering quality, and improvement of safety.

[0014] As a preferred technical means, the communication interface between the RTK module and the data processing module includes a serial port, IIC, SPI, CAN, or network port. It is widely used, mature in technology, and low in cost.

[0015] As a preferred technical means, the monitoring device is provided with a rechargeable power module. Since the monitoring device needs to be frequently replaced and installed, the built-in power module can conveniently provide power for the monitoring device.

[0016] As a preferred technical means: the portable terminal includes a hand book, a mobile phone, a computer, a mobile computer or a PAD. The terminal operation can be effectively realized.

[0017] As a preferred technical means: the communication mode between the network background and the portable terminal, and between the network background and the Internet of Things module of the monitoring device includes GPRS, 3G, 4G or 5G. It is widely used in the field of Internet of Things, and can effectively realize communication by using the wide advantage of communication base station.

[0018] As a preferred technical means: the acquisition mode of the monitoring point ID number written by the portable terminal to the monitoring device includes manual input, two-dimensional code or bar code scanning. The input of the ID number can be conveniently realized.

[0019] As a preferred technical means: step 3) includes the following steps:

[0020] 301) Use the error algorithm based on Gaussian function weighted average to judge the position:

[0021] Get the data of longitude, latitude and height collected continuously for n groups, and record these historical data as:

[0022] lon[1],lon[2],lon[3],...,lon[n];

[0023] lat[1],lat[2],lat[3],...,lat[n];

[0024] H[1],H[2],H[3],....,H[n];

[0025] Take the weighted average of the above three sequences based on Gaussian function respectively:

[0026] Weighted average longitude value based on Gaussian function:

[0027] Weighted average latitude value based on Gaussian function:

[0028] Weighted average height value based on Gaussian function:

[0029] Where n is the number of data sampling, and c is a constant;

[0030] 302) The calculation of horizontal error, whose unit is m:

[0031] ERRxy=R·arccos[coslat[n+1]·cosAlat·cos(lon[n+1]-Alon)+sinlat[n+1]·sinAlat]

[0032] get the spherical distance between two points with known latitude and longitude;

[0033] wherein: R is the radius of the earth, taking 6371004m; lat[n+1] is the latitude value in the latest frame of data; Lon[n+1] is the longitude value in the latest frame of data; Alat is the weighted average latitude value based on the Gaussian function; Alon is the weighted average longitude value based on the Gaussian function;

[0034] 303) calculate the three-dimensional error, the unit is m;

[0035]

[0036] wherein AH is the weighted average height value based on the Gaussian function; H(n+1) is the height value in the latest frame of data;

[0037] 304) record the position information: when ERR3d is not greater than 5mm, record the position data at this time, the position number includes longitude, latitude and height; if ERR3d is greater than 5mm, return to step 301) and continue to calculate the actual position data of the monitoring point.

[0038] The reason or advantage of using the error algorithm based on the weighted average of the Gaussian function is that:

[0039] 1. For satellite receiving equipment, the positioning accuracy is often improved with time. Therefore, the historical data close to the latest time are relatively more accurate, so by using the characteristics of the Gaussian function, the weight of the data close to the current time is increased, and the weight of the data away from the current time is reduced. Compared with the conventional method of directly taking the window average value and then subtracting the latest value, this algorithm can shorten the time of waiting for the equipment to judge the accuracy to the maximum extent without affecting the accuracy of the result, thereby reducing the user waiting time.

[0040] 2. Compared with another commonly used method: not judging the position error or only judging the deviation from the last frame of position data, the error algorithm based on the weighted average of the Gaussian function can greatly improve the accuracy and reliability of the position.

[0041] As a preferred technical means: step 6) includes the following steps:

[0042] 601) record the theoretical position data as:

[0043] longitude: lon0, latitude: lat0, height H0;

[0044] 602) record the actual position data as:

[0045] longitude: lons, latitude: lats, height Hs;

[0046] 603) Calculate the horizontal error:

[0047] Exy=R arccos [coslats*coslat0*cos(lons-lon0)+sinlats*sinlat0]

[0048] The spherical distance between two points with known latitude and longitude is obtained by the above formula, unit: m; wherein R is the radius of the earth, taking 6371004m;

[0049] 604) Calculate the height error:

[0050] Eh=Hs-H0;

[0051] 605) Calculate the three-dimensional error:

[0052]

[0053] Beneficial effects: the system obtains high-precision positioning data of the steel structure monitoring point through the RTK module, and transmits to the network background through the Internet of Things module, compares with the theoretical position data in the network background, obtains the real-time deviation value of the accurate monitoring point actual installation position and the theoretical position, and real-time feedback to the portable terminal to provide the installation operator, the system effectively simplifies the measurement operation, the data is real-time updated, the installation personnel can adjust the installation steel structure component position in real time according to the feedback information displayed on the portable terminal, without other equipment, greatly saves time, manpower and capital, the monitoring method is simple, the feedback real-time is strong, avoids the problems of poor real-time, slow feedback speed, large measurement error and high cost existing in manual measurement comparison, can effectively avoid deviation accumulation, improves the engineering quality, improves the safety. BRIEF DESCRIPTION OF DRAWINGS

[0054] Figure 1 is the working principle diagram of the present application.

[0055] Figure 2 is the monitoring method flow chart in the present application.

[0056] In the figure: 1, monitoring equipment; 2, portable terminal; 3, network background; 101, RTK module; 102, data storage module; 103, data processing module; 104, Bluetooth module; 105, Internet of Things module; 106, power module. DETAILED DESCRIPTION

[0057] The technical solutions of the present application are further described in detail below in conjunction with the drawings of the specification.

[0058] As Figure 1As shown, a steel structure installation deviation online monitoring system, comprising a monitoring device 1 for obtaining actual position data of monitoring points, a network background 3 for position deviation calculation and a portable terminal 2 for writing monitoring point ID number to the monitoring device 1 and real-time position deviation display, the monitoring device 1 comprises an RTK module 101, a data storage module 102 and a data processing module 103, the RTK module 101 and the data storage module 102 are both connected with the data processing module 103, the data processing module 103 is wirelessly connected with the portable terminal 2 through a Bluetooth module 104, and the data processing module 103 is connected with the network background 3 through an Internet of Things module 105.

[0059] As shown in Figure 1 , 2 A monitoring method of a steel structure installation deviation online monitoring system, the process of which comprises the following steps:

[0060] S1: Before monitoring, the user uses the portable terminal 2 to connect with the Bluetooth module 104 of the monitoring device 1 through Bluetooth, writes the monitoring point ID number to the monitoring device 1, and the data processing module 103 in the monitoring device 1 receives the monitoring point ID number and stores it in the data storage module 102;

[0061] S2: Install the monitoring device 1 at the monitoring point of the steel structure building;

[0062] S3: The RTK module 101 in the monitoring device 1 obtains the actual position data of a monitoring point in the steel structure building installation process or after the installation is completed: longitude, latitude, height information;

[0063] Specifically, it comprises the following steps:

[0064] S301: Adopting error algorithm based on weighted average of Gaussian function to judge the position:

[0065] Obtain n groups of longitude, latitude and height data collected continuously, and record these historical data as:

[0066] lon[1],lon[2],lon[3],...,lon[n];

[0067] lat[1],lat[2],lat[3],...,lat[n];

[0068] H[1],H[2],H[3],....,H[n];

[0069] Take the weighted average of Gaussian function for the above three sequences respectively:

[0070] Weighted average longitude value based on Gaussian function:

[0071] Weighted average latitude value based on Gaussian function:

[0072] Weighted average height value based on Gaussian function:

[0073] Where n is the number of data samples, and c is a constant;

[0074] S302: Calculation of horizontal error, unit: m:

[0075] ERRxy = R arccos [coslat [n + 1] cosAlat cos(lon [n + 1] - Alon) + sinlat [n + 1] sinAlat]

[0076] Get the spherical distance between two points with known latitude and longitude;

[0077] Where: R is the radius of the earth, taking 6371004m; lat[n+1] is the latitude value in the latest frame of data; Lon[n+1] is the longitude value in the latest frame of data; Alat is the weighted average latitude value based on Gaussian function; Alon is the weighted average longitude value based on Gaussian function;

[0078] S303: Calculate the three-dimensional error, unit: m;

[0079]

[0080] Where AH is the weighted average height value based on Gaussian function; H(n+1) is the height value in the latest frame of data;

[0081] S304: Record position information: when ERR3d is not greater than 5mm, record the position data at this time, the position number includes longitude, latitude and height; if ERR3d is greater than 5mm, return to step 301 and continue to calculate the actual position data of the monitoring point;

[0082] S4: The RTK module 101 in the monitoring device 1 sends the obtained actual position data of the monitoring point to the data processing module 103;

[0083] S5: The data processing module 103 in the monitoring device 1 sends the actual position data of the monitoring point and the ID number of the monitoring point to the network background 3 in real time through the Internet of Things module 105;

[0084] S6: The network background 3 retrieves the acquired monitoring point ID number in the database of the network background 3 through the ID number, obtains the monitoring point theoretical position data corresponding to the monitoring point ID number, and calculates the difference between the monitoring point actual position data and the monitoring point theoretical position data to obtain the deviation value of the monitoring point actual position and the monitoring point theoretical position;

[0085] Specifically, the following steps are included:

[0086] S601: Record the theoretical position data as:

[0087] Longitude: lon0, Latitude: lat0, Height H0;

[0088] S602: Record the actual position data as:

[0089] Longitude: lons, Latitude: lats, Height Hs;

[0090] S603: Calculate the horizontal error:

[0091] Exy=R·arccos[coslats·coslat0·cos(lons-lon0)+sinlats·sinlat0]

[0092] The spherical distance between two points with known longitude and latitude is obtained by the above formula, and the unit is m; wherein R is the radius of the earth, which is 6371004 m;

[0093] S604: Calculate the height error:

[0094] Eh=Hs-H0;

[0095] S605: Calculate the three-dimensional error:

[0096]

[0097] S7: The user requests the deviation value of the monitoring point actual position and the monitoring point theoretical position from the network background 3 in real time through the portable terminal 2, the network background 3 sends the deviation value of the monitoring point actual position and the monitoring point theoretical position to the portable terminal 2 through the network, and displays it on the portable terminal 2 in real time. The method is simple, the feedback is real-time, and the problems of poor real-time, slow feedback speed, large measurement error and high cost in manual measurement comparison are avoided.

[0098] In this example, the communication interface between the RTK module 101 and the data processing module 103 adopts a serial port, and IIC, SPI, CAN or a network port can also be used instead. It is widely used, mature in technology and low in cost.

[0099] In order to conveniently provide power supply for the monitoring device 1, the monitoring device 1 is provided with a chargeable power supply module 106. Since the monitoring device 1 needs to be frequently replaced in the installation position, the built-in power supply module 106 can conveniently provide power supply for the monitoring device 1.

[0100] In the present example, the portable terminal 2 adopts a hand book, and can also adopt a mobile phone, a computer, a mobile computer or a PAD instead. The terminal operation can be effectively realized.

[0101] In the present example, the communication mode between the network background 3 and the portable terminal 2 and between the network background 3 and the Internet of Things module 105 of the monitoring device 1 is GPRS, and can also adopt 3G, 4G or 5G instead. It is widely applied in the field of Internet of Things, and the wide advantage of communication base station can be effectively realized.

[0102] In the present example, the acquisition mode of the monitoring point ID number written by the portable terminal 2 to the monitoring device 1 is manual input, and can also adopt a two-dimensional code or a bar code scanning mode instead. The input of the ID number can be conveniently realized.

[0103] The system obtains high-precision positioning data of the steel structure monitoring point through the RTK module 101, and transmits the data to the network background 3 through the Internet of Things module 105. In the network background 3, the data is compared with the theoretical position data, the real-time deviation value of the accurate monitoring point actual installation position and the theoretical position is obtained, and the value is fed back to the portable terminal 2 to provide the installation operator. The system effectively simplifies the measurement operation, the data is updated in real time, the installation personnel can adjust the installation position of the steel structure component in real time according to the feedback information displayed on the portable terminal 2, without other equipment, which greatly saves the time, manpower and capital cost.

[0104] The above Figures 1-2 The steel structure installation deviation online monitoring system and the monitoring method thereof shown in the above are specific embodiments of the present application, which have embodied the outstanding substantial characteristics and significant progress of the present application. According to the actual use needs, equivalent modifications can be made in shape, structure and the like under the inspiration of the present application, which are all within the protection scope of the present application.

Claims

1. An online monitoring system for steel structure installation deviation, characterized in that: The system includes a monitoring device (1) for obtaining actual location data of monitoring points, a network backend (3) for calculating location deviation, and a portable terminal (2) for writing monitoring point ID numbers to the monitoring device (1) and for displaying real-time location deviation. The monitoring device (1) includes an RTK module (101), a data storage module (102), and a data processing module (103). The RTK module (101) and the data storage module (102) are both connected to the data processing module (103). The data processing module (103) is wirelessly connected to the portable terminal (2) via a Bluetooth module (104). The data processing module (103) is connected to the network backend (3) via an Internet of Things module (105). The RTK module (101) obtains the actual location data of a monitoring point during or after the installation of the steel structure building: longitude, latitude, and height information; and based on the error algorithm of Gaussian function weighted average, increases the weight of data closer to the current time and reduces the weight of data farther away from the current time, shortens the judgment time while ensuring accuracy, and outputs valid location data only when the three-dimensional error is ≤5mm. The portable terminal writes the monitoring point ID number to the monitoring device via Bluetooth; The network backend (3) pre-stores a theoretical location database, associates the theoretical location data of the corresponding monitoring point with the ID number, calculates the three-dimensional deviation value between the actual and theoretical locations, and feeds it back to the portable terminal (2). The calculations of the RTK module (101) include: a) Position determination is performed using an error algorithm based on Gaussian function weighted averaging: Acquire n consecutive sets of longitude, latitude, and altitude data, and record these historical data as follows: lon[1],lon[2],lon[3],...,lon[n]; lat[1],lat[2],lat[3],...,lat[n]; H[1],H[2],H[3],....,H[n]; Take a weighted average of the longitude, latitude, and altitude data based on a Gaussian function: Weighted average longitude value based on Gaussian function Weighted average dimension values ​​based on Gaussian function: Weighted average height value based on Gaussian function: Where n is the number of data samples, and c is a constant; b) Calculation of horizontal error: To obtain the spherical distance between two points with known latitude and longitude; Where: R is the Earth's radius; lat[n+1] is the latitude value in the latest frame of data; Lon[n+1] is the longitude value in the latest frame of data; Alat is the weighted average latitude value based on the Gaussian function; Alon is the weighted average longitude value based on the Gaussian function. c) Calculate the three-dimensional error; Where AH is the weighted average height value based on the Gaussian function; H(n+1) is the height value in the latest frame of data; d) Record location information: When ERR3d is not greater than 5mm, record the location data at this time, including longitude, latitude and altitude; if ERR3d is greater than 5mm, return to a), and continue to calculate the actual location data of the monitoring point.

2. The monitoring method using the online monitoring system for steel structure installation deviation as described in claim 1, characterized in that... Includes the following steps: 1) Before monitoring, the user uses a portable terminal (2) to connect to the Bluetooth module (104) of the monitoring device (1) via Bluetooth and writes the monitoring point ID number to the monitoring device (1). The data processing module (103) in the monitoring device (1) receives the monitoring point ID number and stores it in the data storage module (102). 2) Install the monitoring equipment (1) at the monitoring point of the steel structure building; 3) The RTK module (101) in the monitoring equipment (1) obtains the actual location data of a certain monitoring point during or after the installation of the steel structure building: longitude, latitude, and altitude information; 4) The RTK module (101) in the monitoring device (1) sends the actual location data of the acquired monitoring point to the data processing module (103). 5) The data processing module (103) in the monitoring equipment (1) sends the actual location data of the monitoring point and the ID number of the monitoring point to the network backend (3) in real time through the Internet of Things module (105). 6) The network backend (3) retrieves the monitoring point ID number and searches the database of the network backend (3) to obtain the theoretical location data of the monitoring point corresponding to the monitoring point ID number. The actual location data of the monitoring point is calculated by subtracting the theoretical location data of the monitoring point to obtain the deviation value between the actual location and the theoretical location of the monitoring point. 7) The user requests the deviation value between the actual position and the theoretical position of the monitoring point from the network backend (3) in real time on the portable terminal (2). The network backend (3) sends the deviation value between the actual position and the theoretical position of the monitoring point to the portable terminal (2) through the network and displays it on the portable terminal (2) in real time. Users can adjust the position of the installed components horizontally and vertically during installation based on the horizontal error, height error, and three-dimensional error displayed on the terminal, in order to achieve the required installation accuracy.

3. The monitoring method of the online monitoring system for steel structure installation deviation according to claim 2, characterized in that: The communication interface between the RTK module (101) and the data processing module (103) includes serial port, IIC, SPI, CAN or Ethernet port.

4. The monitoring method of the online monitoring system for steel structure installation deviation according to claim 2, characterized in that: The monitoring device (1) is equipped with a rechargeable power module (106).

5. The monitoring method of the online monitoring system for steel structure installation deviation according to claim 2, characterized in that: The portable terminal (2) includes a handheld device, mobile phone, computer, mobile computer or PAD.

6. The monitoring method of the online monitoring system for steel structure installation deviation according to claim 2, characterized in that: The communication methods between the network backend (3) and the portable terminal (2), and between the network backend (3) and the Internet of Things module (105) of the monitoring device (1), include GPRS, 3G, 4G or 5G.

7. The monitoring method of the online monitoring system for steel structure installation deviation according to claim 2, characterized in that: The portable terminal (2) can obtain the monitoring point ID number written to the monitoring device (1) by manual input, QR code or barcode scanning.

8. The monitoring method of the online monitoring system for steel structure installation deviation according to claim 2, characterized in that: Step 3) includes the following steps: 301) Position determination is performed using an error algorithm based on Gaussian function weighted averaging: Acquire n consecutive sets of longitude, latitude, and altitude data, and record these historical data as follows: lon[1],lon[2],lon[3],...,lon[n]; lat[1],lat[2],lat[3],...,lat[n]; H[1],H[2],H[3],....,H[n]; Take a weighted average of the longitude, latitude, and altitude data based on a Gaussian function: Weighted average longitude value based on Gaussian function: Alon = Weighted average latitude value based on Gaussian function: Alat = Weighted average height value based on Gaussian function: AH = Where n is the number of data samples, and c is a constant; 302) Calculation of horizontal error, the unit of which is m: To obtain the spherical distance between two points with known latitude and longitude; Where: R is the Earth's radius; lat[n+1] is the latitude value in the latest frame of data; Lon[n+1] is the longitude value in the latest frame of data; Alat is the weighted average latitude value based on the Gaussian function; Alon is the weighted average longitude value based on the Gaussian function. 303) Calculate the three-dimensional error, with the unit being meters (m); Where AH is the weighted average height value based on the Gaussian function; H(n+1) is the height value in the latest frame of data; 304) Record location information: When ERR3d is not greater than 5mm, record the location data at this time, including longitude, latitude and altitude; if ERR3d is greater than 5mm, return to step 301) and continue to calculate the actual location data of the monitoring point.

9. The monitoring method of the online monitoring system for steel structure installation deviation according to claim 8, characterized in that: Step 6) includes the following steps: 601) Let the theoretical position data be: Longitude: lon0, Latitude: lat0, Altitude: H0; 602) Record the actual location data as: Longitude: lons, Latitude: lats, Altitude: Hs; 603) The calculated horizontal error is: The above formula yields the spherical distance between two points with known latitude and longitude, in meters; where R is the Earth's radius, taken as 6371004m. 604) Calculate the height error: Eh = Hs - H0; 605) Calculate the three-dimensional error: E3d= 。

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