A cableway positioning method and system based on ultra-wideband (UWB) technology

Abstract

The present invention discloses a cableway positioning method and system based on ultra-wideband UWB technology, which belongs to the field of cableway measurement technology. The method of the present invention comprises: installing UWB positioning tags on the mobile trolley and the support rod of the cableway flow measurement equipment respectively; controlling the mobile trolley to move on the cableway, and when the horizontal point of the mobile trolley coincides with the theoretical vertical point of the cableway, determining the straight-line distance between the UWB positioning tag on the support rod and the UWB positioning tag on the mobile trolley; based on the straight-line distance, determining the horizontal distance between the mobile trolley and the support rod, and based on the horizontal distance, determining the vertical distance between the theoretical vertical point and the horizontal point of the mobile trolley; the horizontal distance and vertical distance are the horizontal distance and vertical distance of the vertical point obtained by cableway positioning. The present invention can effectively calculate the information of the actual vertical point by measuring with the help of the mobile trolley and the positioning tag, and is not affected by external factors, can be measured tentatively, and has high efficiency.

Description

Technical Field

[0001] The present invention relates to the field of cableway measurement technology, and more specifically, to a cableway positioning method and system based on ultra-wideband (UWB) technology. Background Art

[0002] Traditional cableway flow measurement systems require users to calculate the cableway distance corresponding to each vertical point during equipment installation. This process is complex and time-consuming during the initial deployment of the equipment. Modifying vertical point information also requires recalculation. Furthermore, cableways can deform over time, causing changes to the originally calculated distance. Summary of the Invention

[0003] In view of the above problems, the present invention proposes a cableway positioning method based on ultra-wideband (UWB) technology, which is characterized by comprising:

[0004] Install the UWB positioning tags on the mobile trolley and support rod of the cableway current measurement equipment respectively;

[0005] Control the mobile trolley to move on the cableway. When the horizontal position of the mobile trolley coincides with the theoretical vertical point of the cableway, determine the straight-line distance between the UWB positioning tag on the support rod and the UWB positioning tag on the mobile trolley.

[0006] Based on the straight-line distance, determine the horizontal distance between the moving trolley and the support rod, and based on the horizontal distance, determine the vertical distance between the theoretical vertical point and the horizontal point of the moving trolley;

[0007] The horizontal distance and vertical distance are the horizontal distance and vertical distance of the perpendicular points obtained by cableway positioning.

[0008] Optionally, three UWB positioning tags are provided, one of which is installed on the mobile trolley, and the other two are installed at the upper and lower ends of the support pole. The UWB positioning tags installed at the upper and lower ends of the support pole are on the same vertical line.

[0009] Optionally, based on the straight-line distance, the horizontal distance between the mobile vehicle and the support rod is determined according to a trigonometric function conversion formula.

[0010] Optionally, the intersection of the horizontal line where the horizontal distance is located and the vertical line where the UWB positioning tags at the upper and lower ends of the two support rods are located, and the distance between the upper end points of the support rods, is the vertical distance between the theoretical vertical point and the horizontal point of the mobile car.

[0011] On the other hand, the present invention also proposes a cableway positioning system based on ultra-wideband (UWB) technology, which is characterized by comprising:

[0012] The control module is used to control the movement of the mobile trolley on the cableway. When the horizontal point of the mobile trolley coincides with the theoretical vertical point of the cableway, the straight-line distance between the UWB positioning tag on the support rod and the UWB positioning tag on the mobile trolley is determined;

[0013] The UWB positioning tags are respectively installed on the mobile trolley and the support rod of the cableway flow measurement equipment;

[0014] a calculation module for determining the horizontal distance between the mobile trolley and the support rod based on the straight-line distance, and determining the vertical distance between the theoretical vertical point and the horizontal position of the mobile trolley based on the horizontal distance;

[0015] The horizontal distance and vertical distance are the horizontal distance and vertical distance of the perpendicular points obtained by cableway positioning.

[0016] Optionally, three UWB positioning tags are provided, one of which is installed on the mobile trolley, and the other two are installed at the upper and lower ends of the support pole. The UWB positioning tags installed at the upper and lower ends of the support pole are on the same vertical line.

[0017] Optionally, based on the straight-line distance, the horizontal distance between the mobile vehicle and the support rod is determined according to a trigonometric function conversion formula.

[0018] Optionally, the intersection of the horizontal line where the horizontal distance is located and the vertical line where the UWB positioning tags at the upper and lower ends of the two support rods are located, and the distance between the upper end points of the support rods, is the vertical distance between the theoretical vertical point and the horizontal point of the mobile car.

[0019] In yet another aspect, the present invention further provides a computing device comprising: one or more processors;

[0020] a processor for executing one or more programs;

[0021] When the one or more programs are executed by the one or more processors, the above-described method is implemented.

[0022] In another aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed, the method described above is implemented.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The present invention provides a cableway positioning method based on ultra-wideband (UWB) technology, comprising: installing UWB positioning tags on a mobile trolley and a support rod of a cableway flow measurement device; controlling the mobile trolley to move on the cableway, and when the horizontal position of the mobile trolley coincides with the theoretical vertical point of the cableway, determining the straight-line distance between the UWB positioning tag on the support rod and the UWB positioning tag on the mobile trolley; based on the straight-line distance, determining the horizontal distance between the mobile trolley and the support rod, and based on the horizontal distance, determining the vertical distance between the theoretical vertical point and the horizontal position of the mobile trolley; the horizontal distance and vertical distance are the horizontal distance and vertical distance of the vertical point obtained by cableway positioning. The present invention can effectively calculate the information of the actual vertical point by using the mobile trolley and the positioning tags for measurement, and is not affected by external factors. It can be measured and measured with high efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a diagram showing the effect of measuring flow through a circulating cable channel according to the method of the present invention;

[0026] Figure 2 A comparison diagram of the theoretical vertical line point of the cableway and the vertical line point of the actual scene according to the method of the present invention;

[0027] Figure 3 is a flow chart of the method of the present invention;

[0028] Figure 4 Schematic diagram of the calculation principle of the method of the present invention;

[0029] Figure 5 It is a structural diagram of the system of the present invention. DETAILED DESCRIPTION

[0030] Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided to provide a thorough and complete disclosure of the present invention and to fully convey the scope of the present invention to those skilled in the art. The terminology used in the exemplary embodiments shown in the accompanying drawings is not intended to limit the present invention. In the accompanying drawings, identical elements are denoted by the same reference numerals.

[0031] Unless otherwise specified, the terms used herein (including technical terms) have the meanings commonly understood by those skilled in the art. In addition, it is understood that terms defined in commonly used dictionaries should be understood to have the same meanings as those in the context of the relevant fields, and should not be understood as idealized or overly formal meanings.

[0032] Example 1:

[0033] Circular cableway flow measurement is used for river flow monitoring and early warning. It provides a strong basis for hydrological flood prevention work through real-time monitoring of river flow. In the entire flow measurement system, the cableway flow measurement equipment is responsible for collecting the average river water velocity in the area mapped by each vertical point, and then reporting the velocity information and its corresponding vertical point to the flow measurement platform. Cableway flow measurement equipment generally includes: base station support poles or towers on both sides of the river, mobile end walking cableway, circular cableway, shore docking warehouse, shore control warehouse, mobile trolley, mobile end control unit. The effect diagram of the circular cableway flow measurement equipment is as follows: Figure 1 As shown;

[0034] In the loop cableway flow measurement system, the flow measurement vertical point of the flow measurement system is a crucial factor. The accuracy of this factor directly determines the accuracy of the final flow data. In the cableway flow measurement model, the flow measurement cableway should be a straight line, and the marking of the vertical point is also based on this model. In actual application scenarios, since the structure of the flow measurement cableway is a two-point structure (that is, the cableway is fixed by towers or pillars on both sides, and there is no supporting component in the middle), the cableway has a certain verticality after installation, such as Figure 2 shown.

[0035] Line AB represents the cableway in the theoretical model, while arc CD represents the actual cableway. Points A and B are perpendicular points in the theoretical model. Because the actual cableway is slanted, flow measurement points cannot be divided based on the original distances. Instead, they should be based on the mapping of the perpendicular points in the theoretical model to the actual cableway. Point C represents the mapping of point A to the actual cableway, and point D represents the mapping of point B to the actual cableway.

[0036] Based on this, the present invention also proposes a cable positioning method based on ultra-wideband UWB technology, such as Figure 3 Shown, including:

[0037] Step 1: Install the UWB positioning tags on the mobile trolley and support rod of the cableway current measurement equipment respectively;

[0038] Step 2: Control the mobile trolley to move on the cableway. When the horizontal position of the mobile trolley coincides with the theoretical vertical point of the cableway, determine the straight-line distance between the UWB positioning tag on the support rod and the UWB positioning tag on the mobile trolley.

[0039] Step 3: Based on the straight-line distance, determine the horizontal distance between the mobile trolley and the support rod, and based on the horizontal distance, determine the vertical distance between the theoretical vertical point and the horizontal point of the mobile trolley;

[0040] The horizontal distance and vertical distance are the horizontal distance and vertical distance of the perpendicular points obtained by cableway positioning.

[0041] Optionally, three UWB positioning tags are provided, one of which is installed on the mobile trolley, and the other two are installed at the upper and lower ends of the support pole. The UWB positioning tags installed at the upper and lower ends of the support pole are on the same vertical line.

[0042] Optionally, based on the straight-line distance, the horizontal distance between the mobile vehicle and the support rod is determined according to a trigonometric function conversion formula.

[0043] Optionally, the intersection of the horizontal line where the horizontal distance is located and the vertical line where the UWB positioning tags at the upper and lower ends of the two support rods are located, and the distance between the upper end points of the support rods, is the vertical distance between the theoretical vertical point and the horizontal point of the mobile car.

[0044] The calculation principle is as follows: Figure 4 As shown in the figure, the cableway positioning system consists of three centimeter-level high-precision UWB tag modules and a shoreside control pod. The three UWB tag modules are integrated into a single wireless communication network, and each UWB tag module can independently collect the linear distance to the other two UWB tag modules. When installing the UWB tag modules, two are installed on the shore, as shown in the figure below. Tag a must be installed at the starting point of the cableway. Tag b must be installed at a certain distance below tag a and on a perpendicular line with tag a. The other tag is installed on a mobile cart.

[0045] During operation, the two tag modules a and b each collect their respective linear distances from the vehicle, with the spacing between the two tags a and b being fixed. The distance from the perpendicular point in the theoretical model to the shore is actually the horizontal distance from the vehicle to the shore. The length of CO can be calculated using the trigonometric conversion formula:

[0046]

[0047] Among them, CO is the horizontal distance between the car and the support pole, aC is the distance between the high-precision wireless carrier positioning communication UWB positioning tag a and the car, bC is the distance between the high-precision wireless carrier positioning communication UWB positioning tag b and the car, and ab is the distance between the high-precision wireless carrier positioning communication UWB positioning tag a and the high-precision wireless carrier positioning communication UWB positioning tag b;

[0048] After calculation, the horizontal distance between the trolley and the starting point of the cableway can be obtained. Compared with the theoretical vertical point set by the equipment, when the horizontal point of the trolley coincides with the theoretical vertical point, the vehicle can be stopped. At this time, the actual flow measurement point and the theoretical vertical point are mapped to each other.

[0049] This positioning method can follow the equipment operation at any time and is not affected by environmental factors, seasonal factors, time factors, or the sag of the cableway. It saves a lot of time and workload for on-site operation and maintenance.

[0050] Example 2:

[0051] The present invention also proposes a cableway positioning system 200 based on ultra-wideband UWB technology, such as Figure 5 Shown, including:

[0052] The control module 201 is used to control the movement of the mobile trolley on the cableway. When the horizontal position of the mobile trolley coincides with the theoretical vertical point of the cableway, the straight-line distance between the UWB positioning tag on the support rod and the UWB positioning tag on the mobile trolley is determined;

[0053] The UWB positioning tags are respectively installed on the mobile trolley and the support rod of the cableway flow measurement equipment;

[0054] A calculation module 202 is configured to determine a horizontal distance between the mobile trolley and the support rod based on the linear distance, and to determine a vertical distance between a theoretical vertical point and a horizontal position of the mobile trolley based on the horizontal distance;

[0055] The horizontal distance and vertical distance are the horizontal distance and vertical distance of the perpendicular points obtained by cableway positioning.

[0056] Among them, there are three UWB positioning tags, one of which is installed on the mobile cart, and the other two are installed at the upper and lower ends of the support rod. The UWB positioning tags installed at the upper and lower ends of the support rod are on the same vertical line.

[0057] Wherein, based on the straight-line distance, the horizontal distance between the moving vehicle and the support rod is determined according to the trigonometric function conversion formula.

[0058] Among them, the intersection of the horizontal line where the horizontal distance is located and the vertical line where the UWB positioning tags at the upper and lower ends of the two support rods are located, and the distance between the upper end point of the support rod, is the vertical distance between the theoretical vertical point and the horizontal point of the mobile car.

[0059] The present invention can effectively calculate the information of the actual vertical point by using a mobile car and a positioning tag for measurement, and is not affected by external factors. It can be measured and measured with high efficiency.

[0060] Example 3:

[0061] Based on the same inventive concept, the present invention also provides a computer device, which includes a processor and a memory, wherein the memory is used to store a computer program, the computer program includes program instructions, and the processor is used to execute the program instructions stored in the computer storage medium. The processor may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions in the computer storage medium to implement the corresponding method flow or corresponding function, so as to implement the steps of the method in the above embodiment.

[0062] Example 4:

[0063] Based on the same inventive concept, the present invention also provides a storage medium, specifically a computer-readable storage medium (Memory), which is a memory device in a computer device for storing programs and data. It can be understood that the computer-readable storage medium here can include both built-in storage media in the computer device and, of course, extended storage media supported by the computer device. The computer-readable storage medium provides a storage space that stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by the processor are also stored in the storage space. These instructions can be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the steps of the method in the above embodiment.

[0064] It will be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of the present invention may be implemented in various computer languages, for example, the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0065] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0066] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0067] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0068] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0069] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A cableway positioning method based on ultra-wideband (UWB) technology, characterized in that: include: High-precision wireless carrier positioning communication UWB positioning tags are installed on the mobile trolley and support pole of the cableway current measurement equipment respectively; Control the mobile trolley to move on the cableway. When the horizontal position of the mobile trolley coincides with the theoretical vertical point of the cableway, determine the straight-line distance between the UWB positioning tag on the support rod and the UWB positioning tag on the mobile trolley. Based on the straight-line distance, the horizontal distance between the mobile trolley and the support rod is determined, and based on the horizontal distance, the vertical distance between the theoretical vertical point and the horizontal point of the mobile trolley is determined. The calculation formula for the horizontal distance between the mobile trolley and the support rod is as follows: Among them, CO is the horizontal distance between the car and the support pole, aC is the distance between the high-precision wireless carrier positioning communication UWB positioning tag a and the car, bC is the distance between the high-precision wireless carrier positioning communication UWB positioning tag b and the car, and ab is the distance between the high-precision wireless carrier positioning communication UWB positioning tag a and the high-precision wireless carrier positioning communication UWB positioning tag b; The horizontal distance and vertical distance are the horizontal distance and vertical distance of the perpendicular points obtained by cableway positioning.

2. The method according to claim 1, characterized in that The UWB positioning tags include three, one of which is installed on the mobile trolley, and the other two are installed at the upper and lower ends of the support rod. The UWB positioning tags installed at the upper and lower ends of the support rod are on the same vertical line.

3. The method according to claim 1, characterized in that The intersection of the horizontal line where the horizontal distance is located and the vertical line where the UWB positioning tags at the upper and lower ends of the two support rods are located, and the distance between the upper end points of the support rods, is the vertical distance between the theoretical vertical point and the horizontal point of the mobile car.

4. A cableway positioning system based on ultra-wideband (UWB) technology, characterized in that: include: The control module is used to control the movement of the mobile trolley on the cableway. When the horizontal point of the mobile trolley coincides with the theoretical vertical point of the cableway, the straight-line distance between the UWB positioning tag on the support rod and the UWB positioning tag on the mobile trolley is determined; The UWB positioning tags are respectively installed on the mobile trolley and the support rod of the cableway flow measurement equipment; The calculation module is used to determine the horizontal distance between the mobile trolley and the support rod based on the straight-line distance, and to determine the vertical distance between the theoretical vertical point and the horizontal point of the mobile trolley based on the horizontal distance. The calculation formula of the horizontal distance between the mobile trolley and the support rod is as follows: Among them, CO is the horizontal distance between the car and the support pole, aC is the distance between the high-precision wireless carrier positioning communication UWB positioning tag a and the car, bC is the distance between the high-precision wireless carrier positioning communication UWB positioning tag b and the car, and ab is the distance between the high-precision wireless carrier positioning communication UWB positioning tag a and the high-precision wireless carrier positioning communication UWB positioning tag b; The horizontal distance and vertical distance are the horizontal distance and vertical distance of the perpendicular points obtained by cableway positioning.

5. The system according to claim 4, characterized in that The UWB positioning tags include three, one of which is installed on the mobile trolley, and the other two are installed at the upper and lower ends of the support rod. The UWB positioning tags installed at the upper and lower ends of the support rod are on the same vertical line.

6. The system according to claim 4, characterized in that The intersection of the horizontal line where the horizontal distance is located and the vertical line where the UWB positioning tags at the upper and lower ends of the two support rods are located, and the distance between the upper end points of the support rods, is the vertical distance between the theoretical vertical point and the horizontal point of the mobile car.

7. A computer device, characterized in that: include: one or more processors; a processor for executing one or more programs; When the one or more programs are executed by the one or more processors, the method according to any one of claims 1 to 3 is implemented.

8. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed, the method according to any one of claims 1 to 3 is implemented.

Images