Inclination angle calculation method of boundary pile monitoring terminal

Abstract

The invention discloses an inclination angle calculation method of a boundary pile monitoring terminal. The inclination angle calculation method comprises the following two units: 1, calculating the installation position of the current boundary pile monitoring terminal; and 2, reading the installation position of the current boundary post monitoring terminal, and calculating the inclination angle of the current boundary post monitoring terminal according to the installation position. Layout can be conducted by selecting transverse 0-degree, transverse 90-degree, transverse 180-degree, transverse 270-degree, longitudinal 0-degree, longitudinal 90-degree, longitudinal 180-degree and longitudinal 270-degree, the boundary pile monitoring terminal is installed, and after being powered on, the boundary pile monitoring terminal can be adjusted in a self-adaptive mode, and the accurate inclination angle is calculated. And for intelligent management and transformation of the boundary pile, the limitation of the installation direction can be effectively reduced, and if the field environment of the boundary pile is not good, a constructor can flexibly adjust the installation direction according to the field environment, so that the construction and transformation cost is effectively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of Internet of Things monitoring terminals, and in particular to a method for calculating the tilt angle of a boundary stake monitoring terminal. Background Art

[0002] Whether it is for the intelligent management and transformation of boundary stakes or new intelligent boundary stakes, the inclination state of boundary stakes is a key monitoring point. Accordingly, the matching boundary stake monitoring terminal is required to have the function of detecting the inclination angle.

[0003] To calculate the tilt angle, there are requirements for the installation direction of the boundary stake monitoring terminal. The monitoring terminal must be installed on the boundary stake in the specified installation direction. If the installation direction is inconsistent, the measurement of the tilt angle will be wrong. The conditions are quite restrictive, and special attention needs to be paid during installation. If the surrounding environment of the boundary stake is complex and cannot meet the preset installation direction requirements, the skill level of the construction personnel will be higher, which will also increase the workload of the renovation and construction and increase the renovation cost. Summary of the invention

[0004] The purpose of the present invention is to provide a method for calculating the inclination angle of a boundary stake monitoring terminal, so that the boundary stake monitoring terminal can effectively reduce the restriction of the installation direction. If the on-site environment of the boundary stake is not good, the construction personnel can flexibly adjust the installation direction according to the on-site environment, effectively reducing the construction and modification costs. When the monitoring terminal is turned on, it will be adaptively adjusted according to the on-site installation position to ensure the accuracy of the calculation of the inclination angle, so as to solve the problems raised in the above background technology.

[0005] In order to achieve the above object, the present invention adopts the following technical solution: a method for calculating the inclination angle of a boundary stake monitoring terminal, comprising the following two units: 1. Calculate the installation location of the current boundary stake monitoring terminal, specifically: When the terminal's tilt angle needs to be calibrated, such as when the device is powered on for the first time, or when a tilt calibration command is manually triggered, the current terminal installation position is calculated, and then the current terminal's tilt angle is calculated based on the installation position as the initial installation angle of the terminal, and the installation position and the initial installation angle are saved in a non-volatile storage medium; 2. Read the installation position of the current boundary stake monitoring terminal and calculate the inclination angle of the current boundary stake monitoring terminal according to the installation position. Specifically: When there is no need to calibrate the tilt angle of the terminal, such as when the terminal is restarted, the installation position of the current terminal is read from the non-volatile storage medium, and the tilt angle of the current terminal is calculated based on this installation position. At this time, the angle is an absolute tilt angle. Optionally, it can be subtracted from the initial installation angle stored in the non-volatile storage medium to obtain the relative tilt angle of the current terminal.

[0006] Preferably, the installation location of the terminal is specifically: Taking the terminal form of a rectangular parallelepiped as an example, the side consisting of the length and height is placed close to the boundary stake, and the length is kept horizontal. This is a valid installation position, which is read as horizontal installation 0 degrees. Then, the rectangular parallelepiped terminal is allowed to be rolled clockwise with the length as the rotation axis, turning over 90 degrees, 180 degrees, and 270 degrees in sequence, forming three new installation positions, which are read as horizontal installation 90 degrees, horizontal installation 180 degrees, and horizontal installation 270 degrees respectively; Similarly, place the side composed of length and height close to the boundary stake, while keeping the length vertical. This is a valid installation position, which is read as longitudinal installation 0 degrees. Then, the height is allowed to be used as the rotation axis. In a clockwise direction, the rectangular terminal is rolled over 90 degrees, 180 degrees, and 270 degrees in sequence to form three new installation positions, which are read as longitudinal installation 90 degrees, longitudinal installation 180 degrees, and longitudinal installation 270 degrees respectively. Finally, it was concluded that there are a total of 8 optional installation positions designed, namely: horizontal installation 0 degrees, horizontal installation 90 degrees, horizontal installation 180 degrees, horizontal installation 270 degrees, longitudinal installation 0 degrees, longitudinal installation 90 degrees, longitudinal installation 180 degrees, and longitudinal installation 270 degrees.

[0007] Preferably, the installation location of the computing terminal includes the following steps: 1. The calculation starts with the z-axis of the accelerometer on the terminal mainboard pointing upward and the x-axis and y-axis remaining horizontal. At this time, the inclination angle of the z-axis is calculated. If the angle is less than the preset installation angle threshold, it is horizontally installed at 0 degrees and the calculation process is exited; if the deviation value between the angle and 180 degrees is less than the preset installation angle threshold, it is horizontally installed at 180 degrees and the calculation process is exited; if neither of them meets the requirements, continue to execute; 2. Assuming that the terminal is installed horizontally at 90 degrees, map and adjust the x-axis, y-axis, and z-axis of the terminal's accelerometer. According to the right-hand rule, the thumb is the z-axis, the other fingers are the x-axis, and the arm is the y-axis. Ensure that the z-axis is in the vertical direction. At this time, calculate the inclination angle of the z-axis. If the angle is less than the preset installation angle threshold, it is installed horizontally at 90 degrees and exit the calculation process; if the deviation value between the angle and 180 degrees is less than the preset installation angle threshold, it is installed horizontally at 270 degrees and exit the calculation process; if neither of them meets the requirements, continue to execute; 3. Assuming that the terminal is installed vertically at 0 degrees, map and adjust the x-axis, y-axis, and z-axis of the terminal's accelerometer. According to the right-hand rule, the thumb is the z-axis, the other fingers are the x-axis, and the arm is the y-axis. Ensure that the z-axis is in the vertical direction. At this time, calculate the inclination angle of the z-axis. If the angle is less than the preset installation angle threshold, it is installed vertically at 0 degrees, and exit the calculation process; if the deviation value between the angle and 180 degrees is less than the preset installation angle threshold, it is installed vertically at 180 degrees, and exit the calculation process; if none of them meet the requirements, continue to execute; 4. Assuming that the terminal is installed at 90 degrees vertically, map and adjust the x-axis, y-axis, and z-axis of the terminal's accelerometer. According to the right-hand rule, the thumb is the z-axis, the other fingers are the x-axis, and the arm is the y-axis. Ensure that the z-axis is in the vertical direction. At this time, calculate the inclination angle of the z-axis. If the angle is less than the preset installation angle threshold, it is installed vertically at 90 degrees, and exit the calculation process; if the deviation value of the angle from 180 degrees is less than the preset installation angle threshold, it is installed vertically at 270 degrees, and exit the calculation process; if none of them meet the requirements, continue to execute 5. If both the horizontal installation and the vertical installation fail to match, the default horizontal installation is 0 degrees. At this time, there is still a problem with the installation position of the boundary stake monitoring terminal: the deviation from the horizontal installation or the vertical installation is too large; when the installation is completed, the abnormal tilt angle will be found during debugging, then it can be adjusted in time on site. Generally speaking, the boundary stake monitoring terminal will be installed in place in a form close to horizontal installation or vertical installation, and the probability of this situation occurring is low.

[0008] Preferably, the calculating the tilt angle of the terminal comprises the following steps: 1. Read the installation location of the current terminal from the non-volatile storage medium; 2. According to the installation position, map and adjust the x-axis, y-axis, and z-axis of the terminal's accelerometer. According to the right-hand rule, the thumb is the z-axis, the other fingers are the x-axis, and the arm is the y-axis. Make sure the z-axis is in the vertical direction. 3. Then calculate the tilt angle of the z-axis, which is the absolute tilt angle of the current terminal.

[0009] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention can select horizontal 0 degrees, horizontal 90 degrees, horizontal 180 degrees, horizontal 270 degrees, vertical 0 degrees, vertical 90 degrees, vertical 180 degrees, and vertical 270 degrees for layout and installation of boundary stake monitoring terminals. After power-on, the boundary stake monitoring terminal can be adaptively adjusted to calculate the accurate tilt angle. For the intelligent management and transformation of boundary stakes, the restrictiveness of the installation direction can be effectively reduced. If the on-site environment of the boundary stakes is not good, the construction personnel can flexibly adjust the installation direction according to the on-site environment, effectively reducing the construction and transformation costs.

[0010] 2. If the present invention is for a brand-new intelligent boundary stake product, the flexibility of the structural design of the boundary stake will be increased, and the boundary stake monitoring terminal or mainboard will no longer be limited to a fixed installation design point. From another perspective, the same boundary stake monitoring terminal or mainboard can be adapted to a variety of boundary stake products of different forms without any adjustment, thereby shortening the product development cycle. For solution companies that only sell boundary stake electronic solutions to boundary stake manufacturers, the effect is more obvious. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a general flow chart of the inclination angle calculation method of the boundary stake monitoring terminal of the present invention; Figure 2 A flow chart of calculating the installation position of the boundary stake monitoring terminal of the present invention; Figure 3 The present invention is a flow chart of calculating the absolute tilt angle of the boundary stake monitoring terminal. DETAILED DESCRIPTION

[0012] In order to further explain the technical solution of the present invention, it is described in detail below through specific embodiments.

[0013] like Figure 1 As shown, the present invention provides a method for calculating the inclination angle of a boundary stake monitoring terminal, comprising two units: unit 1 is responsible for calculating the installation position of the terminal; unit 2 is responsible for calculating the inclination angle of the terminal; The terminal decides which unit to start based on whether the tilt angle needs to be calibrated, specifically: When the terminal is powered on for the first time, or when the user manually triggers a request to calibrate the tilt angle, the startup unit 1 performs calculation of the current installation position of the terminal, and then calculates the tilt angle of the current terminal based on this installation position as the initial installation angle of the terminal, and saves the installation position and the initial installation angle to a non-volatile storage medium.

[0014] When the terminal is operating normally and only needs to monitor the tilt angle, start unit 2. At this time, the installation position of the current terminal is read from the non-volatile storage medium, and the tilt angle of the current terminal is calculated based on this installation position. At this time, the angle is an absolute tilt angle. Optionally, it can be subtracted from the initial installation angle stored in the non-volatile storage medium to obtain the relative tilt angle of the current terminal.

[0015] like Figure 2 As shown, the specific installation position of the terminal is: taking the terminal form of a rectangular parallelepiped as an example, the side composed of the length and height is placed close to the boundary stake, and the length is kept horizontal. This is a valid installation position, which is read as horizontal installation 0 degrees. Then, it is allowed to use the length as the rotation axis and roll the rectangular parallelepiped terminal in a clockwise direction through 90 degrees, 180 degrees, and 270 degrees to form three new installation positions, which are read as horizontal installation 90 degrees, horizontal installation 180 degrees, and horizontal installation 270 degrees respectively. Similarly, the side composed of the length and height is placed close to the boundary stake, and the length is kept vertical. This is A valid installation position is read as longitudinal installation 0 degrees at this time, and then it is allowed to rotate with the height as the axis, and roll the rectangular terminal in a clockwise direction, through 90 degrees, 180 degrees, and 270 degrees, to form three new installation positions, which are read as longitudinal installation 90 degrees, longitudinal installation 180 degrees, and longitudinal installation 270 degrees. In summary, a total of 8 optional installation positions are designed, namely: horizontal installation 0 degrees, horizontal installation 90 degrees, horizontal installation 180 degrees, horizontal installation 270 degrees, longitudinal installation 0 degrees, longitudinal installation 90 degrees, longitudinal installation 180 degrees, and longitudinal installation 270 degrees.

[0016] The method for calculating the installation position of the terminal specifically includes the following steps: First, step S100 is executed. Step S100 is responsible for calculating and judging the horizontal installation of 0 degrees and the horizontal installation of 180 degrees. Specifically, the z-axis of the accelerometer on the terminal mainboard is upward, and the x-axis and y-axis are kept horizontal as the starting point of the calculation. At this time, the inclination angle of the z-axis is calculated according to the original data of the x-axis, y-axis and z-axis of the acceleration. If the angle is less than the preset installation angle threshold, it is horizontal installation of 0 degrees at this time, and the calculation process is exited; if the deviation value of the angle and 180 degrees is less than the preset installation angle threshold, it is horizontal installation of 180 degrees at this time, and the calculation process is exited; if neither of them meets the requirements, then continue to execute step S200; Step S200 is responsible for calculating the cases of horizontal installation of 90 degrees and horizontal installation of 270 degrees, specifically: take S100 as the reference installation position, roll 90 degrees clockwise along the original x-axis of the accelerometer, and then according to the right-hand rule, the thumb is the z-axis, the other fingers are the x-axis, and the arm is the y-axis. The original data of the x-axis, y-axis, and z-axis of the acceleration are adjusted and mapped to obtain new x-axis, y-axis, and z-axis, ensuring that the z-axis is in the vertical direction. At this time, the inclination angle of the z-axis is calculated. If the angle is less than the preset installation angle threshold, it is a horizontal installation of 90 degrees at this time, and the calculation process is exited; if the deviation value of the angle from 180 degrees is less than the preset installation angle threshold, it is a horizontal installation of 270 degrees at this time, and the calculation process is exited; if none of them meet, then continue to execute step S300; Step S300 is responsible for calculating and judging the longitudinal installation of 0 degrees and 90 degrees, specifically: take S100 as the reference installation position, roll 90 degrees clockwise along the original y-axis of the accelerometer, and then according to the right-hand rule, the thumb is the z-axis, the other fingers are the x-axis, and the arm is the y-axis. The original data of the acceleration x-axis, y-axis, and z-axis are adjusted and mapped to obtain new x-axis, y-axis, and z-axis, ensuring that the z-axis is in the vertical direction. At this time, the inclination angle of the z-axis is calculated. If the angle is less than the preset installation angle threshold, it is a longitudinal installation of 0 degrees at this time, and the calculation process is exited; if the deviation value between the angle and 180 degrees is less than the preset installation angle threshold, it is a longitudinal installation of 180 degrees at this time, and the calculation process is exited; if none of them meet, then continue to execute step S400; Step S400 is responsible for calculating and judging the situations of longitudinal installation of 0 degrees and transverse installation of 90 degrees, specifically: take S300 as the reference installation position, roll 90 degrees clockwise along the original z-axis of the accelerometer, and then according to the right-hand rule, the thumb is the z-axis, the other fingers are the x-axis, and the arm is the y-axis. The original data of the x-axis, y-axis, and z-axis of the acceleration are adjusted and mapped to obtain new x-axis, y-axis, and z-axis, ensuring that the z-axis is in the vertical direction. At this time, the inclination angle of the z-axis is calculated. If the angle is less than the preset installation angle threshold, it is a longitudinal installation of 0 degrees at this time, and the calculation process is exited; if the deviation value between the angle and 180 degrees is less than the preset installation angle threshold, it is a longitudinal installation of 180 degrees at this time, and the calculation process is exited; if none of them meet, then continue to execute step S500; Step S500 is responsible for setting the default installation position, specifically: when steps S100, S200, S300, and S400 all fail to calculate the match, the default is horizontal installation at 0 degrees. At this time, there is still a problem with the installation position of the boundary stake monitoring terminal: the deviation from the horizontal installation or the vertical installation is too large. After the installation is completed, the tilt angle will be found to be abnormal during debugging, so it can be adjusted in time on site to correct the error.

[0017] like Figure 3 As shown, the method for calculating the absolute tilt angle of the terminal specifically includes the following steps: First, read the installation location of the current terminal from the non-volatile storage medium; Then, according to the installation position, the original data of the terminal's acceleration on the x-axis, y-axis, and z-axis are adjusted and mapped to obtain new x-axis, y-axis, and z-axis, ensuring that the z-axis is in the vertical direction; At this time, the tilt angle of the z-axis is calculated, and this angle is the absolute tilt angle of the current terminal.

[0018] The present invention provides a method for calculating the tilt angle of a boundary stake monitoring terminal. The present invention can select horizontal 0 degrees, horizontal 90 degrees, horizontal 180 degrees, horizontal 270 degrees, vertical 0 degrees, vertical 90 degrees, vertical 180 degrees, and vertical 270 degrees to layout and install the boundary stake monitoring terminal. After power-on, the boundary stake monitoring terminal can be adaptively adjusted to calculate the accurate tilt angle. For the intelligent management and transformation of boundary stakes, the restrictiveness of the installation direction can be effectively reduced. If the on-site environment of the boundary stake is not good, the construction personnel can flexibly adjust the installation direction according to the on-site environment, effectively reducing the construction and transformation costs; if the present invention is for a brand-new intelligent boundary stake product, the flexibility of the structural design of the boundary stake will be increased, and the boundary stake monitoring terminal or mainboard is no longer limited to a fixed installation design point. From another perspective, the same boundary stake monitoring terminal or mainboard can be adapted to a variety of boundary stake products of different forms without any adjustment, thereby shortening the product development cycle. For solution companies that only sell boundary stake electronic part solutions to boundary stake manufacturers, the effect is more obvious.

[0019] The above description is only a preferred example of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for calculating the inclination angle of a boundary stake monitoring terminal, characterized in that: It includes the following two units:

1. Calculate the installation location of the current boundary stake monitoring terminal, specifically: When the terminal's tilt angle needs to be calibrated, such as when the device is powered on for the first time, or when a tilt calibration command is manually triggered, the current terminal installation position is calculated, and then the current terminal's tilt angle is calculated based on the installation position as the initial installation angle of the terminal, and the installation position and the initial installation angle are saved in a non-volatile storage medium; 2. Read the installation position of the current boundary stake monitoring terminal and calculate the inclination angle of the current boundary stake monitoring terminal according to the installation position. Specifically: When there is no need to calibrate the tilt angle of the terminal, such as when the terminal is restarted, the installation position of the current terminal is read from the non-volatile storage medium, and the tilt angle of the current terminal is calculated based on this installation position. At this time, the angle is an absolute tilt angle. Optionally, it can be subtracted from the initial installation angle stored in the non-volatile storage medium to obtain the relative tilt angle of the current terminal.

2. The method for calculating the inclination angle of a boundary stake monitoring terminal according to claim 1, characterized in that: The installation location of the terminal is specifically: Taking the terminal form of a rectangular parallelepiped as an example, the side consisting of the length and height is placed close to the boundary stake, and the length is kept horizontal. This is a valid installation position, which is read as horizontal installation 0 degrees. Then, the rectangular parallelepiped terminal is allowed to be rolled clockwise with the length as the rotation axis, turning over 90 degrees, 180 degrees, and 270 degrees in sequence, forming three new installation positions, which are read as horizontal installation 90 degrees, horizontal installation 180 degrees, and horizontal installation 270 degrees respectively; Similarly, place the side composed of length and height close to the boundary stake, while keeping the length vertical. This is a valid installation position, which is read as longitudinal installation 0 degrees. Then, the height is allowed to be used as the rotation axis. In a clockwise direction, the rectangular terminal is rolled over 90 degrees, 180 degrees, and 270 degrees in sequence to form three new installation positions, which are read as longitudinal installation 90 degrees, longitudinal installation 180 degrees, and longitudinal installation 270 degrees respectively. Finally, it was concluded that there are a total of 8 optional installation positions designed, namely: horizontal installation 0 degrees, horizontal installation 90 degrees, horizontal installation 180 degrees, horizontal installation 270 degrees, longitudinal installation 0 degrees, longitudinal installation 90 degrees, longitudinal installation 180 degrees, and longitudinal installation 270 degrees.

3. The method for calculating the inclination angle of a boundary stake monitoring terminal according to claim 1, characterized in that: The installation location of the computing terminal includes the following steps:

1. The calculation starts with the z-axis of the accelerometer on the terminal mainboard pointing upward and the x-axis and y-axis remaining horizontal. At this time, the inclination angle of the z-axis is calculated. If the angle is less than the preset installation angle threshold, it is horizontally installed at 0 degrees and the calculation process is exited; if the deviation value between the angle and 180 degrees is less than the preset installation angle threshold, it is horizontally installed at 180 degrees and the calculation process is exited; if neither of them meets the requirements, continue to execute; 2. Assuming that the terminal is installed horizontally at 90 degrees, map and adjust the x-axis, y-axis, and z-axis of the terminal's accelerometer. According to the right-hand rule, the thumb is the z-axis, the other fingers are the x-axis, and the arm is the y-axis. Ensure that the z-axis is in the vertical direction. At this time, calculate the inclination angle of the z-axis. If the angle is less than the preset installation angle threshold, it is installed horizontally at 90 degrees and exit the calculation process; if the deviation value between the angle and 180 degrees is less than the preset installation angle threshold, it is installed horizontally at 270 degrees and exit the calculation process; if neither of them meets the requirements, continue to execute; 3. Assuming that the terminal is installed vertically at 0 degrees, map and adjust the x-axis, y-axis, and z-axis of the terminal's accelerometer. According to the right-hand rule, the thumb is the z-axis, the other fingers are the x-axis, and the arm is the y-axis. Ensure that the z-axis is in the vertical direction. At this time, calculate the inclination angle of the z-axis. If the angle is less than the preset installation angle threshold, it is installed vertically at 0 degrees, and exit the calculation process; if the deviation value between the angle and 180 degrees is less than the preset installation angle threshold, it is installed vertically at 180 degrees, and exit the calculation process; if none of them meet the requirements, continue to execute; 4. Assuming that the terminal is installed at 90 degrees vertically, map and adjust the x-axis, y-axis, and z-axis of the terminal's accelerometer. According to the right-hand rule, the thumb is the z-axis, the other fingers are the x-axis, and the arm is the y-axis. Ensure that the z-axis is in the vertical direction. At this time, calculate the inclination angle of the z-axis. If the angle is less than the preset installation angle threshold, it is installed vertically at 90 degrees, and exit the calculation process; if the deviation value of the angle from 180 degrees is less than the preset installation angle threshold, it is installed vertically at 270 degrees, and exit the calculation process; if none of them meet the requirements, continue to execute 5. If both the horizontal installation and the vertical installation fail to match, the default horizontal installation is 0 degrees. At this time, there is still a problem with the installation position of the boundary stake monitoring terminal: the deviation from the horizontal installation or the vertical installation is too large; when the installation is completed, the abnormal tilt angle will be found during debugging, then it can be adjusted in time on site. Generally speaking, the boundary stake monitoring terminal will be installed in place in a form close to horizontal installation or vertical installation, and the probability of this situation occurring is low.

4. The method for calculating the inclination angle of a boundary stake monitoring terminal according to claim 1, characterized in that: The calculating the tilt angle of the terminal comprises the following steps:

1. Read the installation location of the current terminal from the non-volatile storage medium; 2. According to the installation position, map and adjust the x-axis, y-axis, and z-axis of the terminal's accelerometer. According to the right-hand rule, the thumb is the z-axis, the other fingers are the x-axis, and the arm is the y-axis. Make sure the z-axis is in the vertical direction.

3. Then calculate the tilt angle of the z-axis, which is the absolute tilt angle of the current terminal.

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