CN104880157A - Storage safety distance monitoring method, device and system - Google Patents
Storage safety distance monitoring method, device and system Download PDFInfo
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- CN104880157A CN104880157A CN201510222037.3A CN201510222037A CN104880157A CN 104880157 A CN104880157 A CN 104880157A CN 201510222037 A CN201510222037 A CN 201510222037A CN 104880157 A CN104880157 A CN 104880157A
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Abstract
The invention discloses a storage safety distance monitoring method, device and system. The method includes the steps of determining all surfaces to be monitored on the basis of multiple pile locations divided in advance in a warehouse; in a condition that the warehouse is not occupied, obtaining a first distance between an obstacle and a range finding device for each surface to be monitored when the range finding device is scanning all angles; in a condition that the warehouse stores objects on the basis of pile locations, obtaining a second distance between the obstacle and the range finding device for each surface to be monitored when the range finding device is scanning all angles; determining whether the first distance and the second distance are equal at all angles; and determining whether an alarm triggering condition is satisfied if the first distance and the second distance are not equal, and triggering the alarm if the alarm triggering condition is satisfied. Through the above technical scheme, a plane divided by three dimensional grids is scanned and calculated in real time, and then safety monitoring of five distances can be achieved.
Description
Technical field
The present invention relates to the communications field, in particular to a kind of storage satety distance monitoring method, Apparatus and system.
Background technology
Article are stored in a warehouse, and especially hazardous chemical is stored in a warehouse, and because its memory space is large, involving property of accident is strong, and accident potential is sometimes even than much bigger in production, transport, use link.Therefore, the safety monitoring work of hazardous chemical storage is the important component part of whole hazardous chemical safety in production.
In current harmful influence stacking warehouse, the main interval spatially that relies on of the safety of harmful influence ensures, i.e. five distances of stacking: wall is apart from, buttress apart from, beam apart from, post distance and lamp distance, and effectively to control between harmful influence mixed deposits and pile up overstocked for it.Therefore, in " the conventional hazardous chemical storage general rule " and " inflammable and explosive property wareroom maintenance technology condition " of country's formulation, clear and definite regulation is had to five distances of hazardous chemical storage stacking buttress position.And in the operation of reality, harmful influence stores enterprise in order to cost-saving, often take to shorten buttress spacing and wall distance, increase the means such as height of embankment, cause very large potential safety hazard.
At present, apart from (wall distance, buttress distance, beam distance, post distance and lamp distance), effective monitoring means is lacked to five of harmful influence warehouse stacking.Currently adopt Video Supervision Technique more, its advantage be cheap, be easy to install.But this technology exists larger drawback, what video monitoring obtained on the one hand is plane picture, cannot reconstructing the situation of Parma position, harmful influence warehouse, being difficult to stacking in warehouse five apart from carrying out monitoring, alarming; On the other hand, video monitoring needs supervisor's Real Time Observation, adds the heavy degree of supervisor's work.Therefore designing and be a set ofly applicable to harmful influence warehoused cargo stacking safe distance monitoring scheme, is current problem demanding prompt solution.
Summary of the invention
Fundamental purpose of the present invention is to disclose a kind of storage satety distance monitoring method, Apparatus and system; adopt the safe distance of video monitoring means to harmful influence warehouse stacking to carry out monitoring at least to solve in correlation technique, cause being difficult to storage satety hidden danger and alarm and increase supervisor working the problem of heavy degree.
According to an aspect of the present invention, a kind of storage satety distance monitoring method is provided.
Storage satety distance monitoring method according to the present invention comprises: the face that each needs are monitored is determined in the multiple buttress positions according to dividing in advance in warehouse; When described warehouse is vacant, for each face needing monitoring, obtain distance measuring equipment when all angles scan, the first distance between barrier and described distance measuring equipment; When described warehouse is according to described buttress position storing, for each face needing monitoring, obtain described monitoring device when described all angles scanning, the second distance between barrier and described distance measuring equipment; Under described all angles, judge that whether described first distance is equal with described second distance; When second distance is unequal described in described first Distance geometry, judge whether satisfied warning trigger condition, when satisfied warning trigger condition, trigger alarm.
According to a further aspect in the invention, a kind of storage satety distance monitoring device is provided.
Storage satety distance monitoring device according to the present invention comprises: determination module, for determining each face needing monitoring according to the multiple buttress positions divided in advance in warehouse; First acquisition module, when described warehouse is vacant, for each face needing monitoring, obtains distance measuring equipment when all angles scan, the first distance between barrier and described distance measuring equipment; Second acquisition module, when described warehouse is according to described buttress position storing, for each face needing monitoring, obtains described monitoring device when described all angles scanning, the second distance between barrier and described distance measuring equipment; Judge module, under described all angles, judges that whether described first distance is equal with described second distance; Alarm module, for when second distance is unequal described in described first Distance geometry, judges whether satisfied warning trigger condition, when satisfied warning trigger condition, and trigger alarm.
According to another aspect of the invention, a kind of storage satety distance monitoring system is provided.
Storage satety distance monitoring system according to the present invention comprises: multiple monitoring subsystem, and described in each, monitoring subsystem includes: distance measuring equipment, scrambler, The Cloud Terrace, stepper motor, single-chip microcomputer and the power module of powering to described system; Wherein, described distance measuring equipment, is connected with described The Cloud Terrace, for obtaining the distance value between barrier and described distance measuring equipment when scanning; Described stepper motor, is connected with described The Cloud Terrace, and described stepper motor drives described distance measuring equipment to scan for driving described The Cloud Terrace; Described scrambler, is connected with described stepper motor, for obtaining angle value during scanning; Described single-chip microcomputer, is connected with described distance measuring equipment with described scrambler, for receiving and sending described distance value and described angle value to host computer, and controls described stepper motor.
Compared with prior art, the embodiment of the present invention at least has the following advantages: be setting border, all buttress positions, distance measuring equipment is adopted to scan each monitoring plane determined, when piling up neatly position and exceeding the border of setting, distance measuring equipment scans the distance value obtained will be different previously in the distance value of this equal angular, when satisfied warning trigger condition, trigger alarm.Carry out real time scan calculating by the plane divided 3D grid, realize the safety monitoring of five distances, and in an abnormal situation, can carry out and alarm storage satety hidden danger, also correspondingly reduce the heavy degree of work of supervisor simultaneously.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the storage satety distance monitoring method according to the embodiment of the present invention;
Fig. 2 is the storage satety distance monitoring schematic diagram according to example of the present invention;
Fig. 3 is the storage satety distance monitoring scanning schematic diagram according to example of the present invention;
Fig. 4 is the process flow diagram of storage satety distance monitoring method according to the preferred embodiment of the invention;
Fig. 5 is the structured flowchart of the storage satety distance monitoring device according to the embodiment of the present invention;
Fig. 6 is the structured flowchart of storage satety distance monitoring device according to the preferred embodiment of the invention;
Fig. 7 is the structured flowchart of the storage satety distance monitoring system according to the embodiment of the present invention; And
Fig. 8 is the structural representation of storage satety distance monitoring system according to the preferred embodiment of the invention.
Embodiment
Below in conjunction with Figure of description, specific implementation of the present invention is made a detailed description.
Fig. 1 is the process flow diagram of the storage satety distance monitoring method according to the embodiment of the present invention.As shown in Figure 1, this storage satety distance monitoring method comprises following process:
Step S101: determine each face needing monitoring according to the multiple buttress positions divided in advance in warehouse;
Step S103: when above-mentioned warehouse is vacant, for each face needing monitoring, obtains distance measuring equipment when all angles scan, the first distance between barrier and above-mentioned distance measuring equipment;
Step S105: when above-mentioned warehouse is according to above-mentioned buttress position storing, for each face needing monitoring, obtains above-mentioned monitoring device when above-mentioned all angles scanning, the second distance between barrier and above-mentioned distance measuring equipment;
Step S107: under above-mentioned all angles, judges that whether above-mentioned first distance is equal with above-mentioned second distance;
Step S109: when the above-mentioned second distance of above-mentioned first Distance geometry is unequal, judge whether satisfied warning trigger condition, when satisfied warning trigger condition, trigger alarm.
By the method shown in Fig. 1, for setting border, all buttress positions, distance measuring equipment is adopted to scan each monitoring plane determined, when piling up neatly position and exceeding the border of setting, distance measuring equipment scans the distance value obtained will be different previously in the distance value of this equal angular, when satisfied warning trigger condition, trigger alarm.Carry out real time scan calculating by the plane divided 3D grid, realize the safety monitoring of five distances, and in an abnormal situation, can carry out and alarm storage satety hidden danger, also correspondingly reduce the heavy degree of work of supervisor simultaneously.
In preferred implementation process, before execution S101, need to determine safe distance, and then divide buttress position.Such as; can according to relevant laws and regulations (such as; " conventional hazardous chemical storage general rule ", " inflammable and explosive property wareroom maintenance technology condition " etc.) to the wall of stacking apart from, buttress apart from, post apart from, lamp apart from the requirement of, beam distance, harmful influence warehouse is divided into the buttress position of some row and several rows.
Preferably, the face of monitoring is needed to comprise in above-mentioned steps S101: the face at the side institute of each row buttress position place jointly; The face at the side institute of each row buttress position place jointly; And the face at the end face place of above-mentioned buttress position.Thus on the whole warehouse is divided into several 3D grids, achieves the monitoring to buttress position 3 D stereo.
Such as, as shown in Figure 2, buttress position after division is 9 buttress positions of 3 × 3 (three row three arrange), the plane that can scan has 13,6, the face at the common place of side institute of each row buttress position respectively, 6, the face at the side institute of each row buttress position place jointly, 1, the face at the end face place of all buttress positions.
In preferred implementation process, as shown in Figure 3, to each that needs to monitor, all need distance measuring equipment, such as laser scanner are installed.Laser range finder scans needing each face of monitoring, if stacking exceeds the face of monitoring, laser range finder scans the distance value obtained will be different previously in the distance value of this equal angular, when satisfied warning trigger condition, and will trigger alarm.
Owing to needing to contrast the distance value under all angles, therefore need the datum plane database setting up the monitoring of each needs in advance, record the information of all buttress positions.The information of buttress position should comprise following data:
First scanning is carried out to the empty warehouse of also non-stacked items (such as, dangerous material), when being scanned up to the angle θ of each setting
1, θ
2, θ
3... θ
ntime, record the distance value S that each angle is corresponding respectively
1, S
2, S
3... S
n(i.e. above-mentioned first distance), deserving to be called and stating the angle preset is comparison point; And
When being scanned up to the angle θ of each setting
1, θ
2, θ
3... θ
ntime, recording each buttress position to the distance value of corresponding distance measuring equipment, it should be noted that, record above-mentioned distance value, is to position the buttress position of the barrier occurring surmounting border.
Preferably, in step 109, judge whether that satisfied warning trigger condition may further include following process: the barrier corresponding to above-mentioned second distance carries out dimension reconfiguration, judge whether the size after reconstructing is greater than pre-set dimension; When size after above-mentioned reconstruct is greater than pre-set dimension, judge whether the time of occurrence of the barrier that above-mentioned second distance is corresponding is greater than scheduled duration; When above-mentioned time of occurrence is greater than scheduled duration, determine to meet above-mentioned warning trigger condition.
In preferred implementation process, a dimension threshold (i.e. above-mentioned pre-set dimension can be preset to exceeding the barrier that buttress position exceedes the border of setting, can dynamically set as the case may be), a duration threshold value (i.e. above-mentioned scheduled duration, can dynamically set as the case may be) can be pre-set to the appearance duration of the barrier be beyond the boundary.When the barrier size surmounting border is greater than pre-set dimension, illustrate that five of stacking apart from not meeting preassigned.Certainly, in carrying stacking process, interim state of stacking also may can be there is, therefore when the barrier size surmounting border is greater than pre-set dimension and the appearance duration surmounting the barrier on border is greater than scheduled duration, now trigger alarm.
Preferably, in step S109, when satisfied warning trigger condition, trigger alarm may further include: under preserving above-mentioned all angles, each above-mentioned buttress position distance respectively and between above-mentioned monitoring device; When the above-mentioned second distance of above-mentioned first Distance geometry is unequal, determine the buttress position needing to report to the police according to the above-mentioned second distance of the Distance geometry of above-mentioned preservation; Reported to the police in the above-mentioned buttress position determined.
Mention above, need the datum plane database setting up the monitoring of each needs in advance, record the information of all buttress positions, such as, when being scanned up to the angle θ of each setting
1, θ
2, θ
3... θ
ntime, record the distance value of each buttress position to corresponding distance measuring equipment.When the above-mentioned second distance of above-mentioned first Distance geometry is unequal, can determine, on which buttress position, have barrier beyond the border of this buttress position according to this distance value and above-mentioned second distance.
Preferably, when meeting warning trigger condition in execution step S109, after trigger alarm, following process can also be comprised: the data obtained the Surface scan of each above-mentioned needs monitoring are passed through bus (such as, controller local area network (Controller Area Network, referred to as CAN) bus) be uploaded to host computer, realize the monitoring of 3D grid to the face of each above-mentioned needs monitoring.
Above-mentioned preferred implementation is further described below in conjunction with Fig. 4.
Fig. 4 is the process flow diagram of storage satety distance monitoring method according to the preferred embodiment of the invention.As shown in Figure 4, this storage satety distance monitoring method comprises following process:
Step S401: when being scanned up to comparison point (i.e. above-mentioned all angles), judges that whether the value that each distance value is corresponding with this angle in benchmark database is inconsistent.If so, perform step S403, if not, flow process terminates.
Before execution step S401, need to perform following process in advance:
1, determine safe distance, and then divide buttress position.According to relevant laws and regulations (such as; " conventional hazardous chemical storage general rule ", " inflammable and explosive property wareroom maintenance technology condition " etc.) in the wall of stacking apart from, buttress apart from, post apart from, lamp apart from the requirement of, beam distance, harmful influence warehouse is divided into the buttress position of some row and row.
2, according to the buttress position divided, determine the face needing monitoring, complete three-dimensional space grid and divide.The monitoring surface divided comprises: the face at the side institute of each row buttress position place jointly; The face at the side institute of each row buttress position place jointly; And the face at the end face place of above-mentioned buttress position.On the whole warehouse is divided into several 3D grids, realizes the monitoring to buttress position 3 D stereo.
3, to the face needing monitoring, stacking safe distance monitoring device is installed.Stacking safe distance monitoring system comprises: laser range finder, scrambler, The Cloud Terrace, stepper motor, single-chip microcomputer, power module.Laser range finder to the Surface scan needing monitoring, if stacking exceeds the face of monitoring, laser range finder scan the distance value that obtains will previously in the distance value difference of this equal angular trigger alarm.
4, set up each datum plane database needing monitoring, record the information of all buttress positions.It should comprise following data:
First scanning is carried out to the empty warehouse of also non-stacked items (such as, dangerous material), when being scanned up to the angle θ of each setting
1, θ
2, θ
3... θ
ntime, record the distance value S that each angle is corresponding respectively
1, S
2, S
3... S
n(i.e. above-mentioned first distance), deserving to be called and stating the angle preset is comparison point.
When being scanned up to the angle θ of each setting
1, θ
2, θ
3... θ
ntime, recording each buttress position to the distance value of corresponding distance measuring equipment, it should be noted that, record above-mentioned distance value, is to position the buttress position of the barrier occurring surmounting border.
Step S403: according to distance value and the angle value of scanning, carry out barrier dimension reconfiguration.
Step S405: whether disturbance in judgement thing size is greater than preliminary dimension threshold value.If so, perform step S407, if not, flow process terminates.
Step S407: what judge that this barrier occurs blocks duration and whether exceed scheduled duration threshold value.If so, perform step S409, otherwise flow process terminates.
Step S409: reported to the police in buttress position corresponding in this plane.
Fig. 5 is the structured flowchart of the storage satety distance monitoring device according to the embodiment of the present invention.As shown in Figure 5, this storage satety distance monitoring device comprises: determination module 50, for determining each face needing monitoring according to the multiple buttress positions divided in advance in warehouse; First acquisition module 52, when above-mentioned warehouse is vacant, for each face needing monitoring, obtains distance measuring equipment when all angles scan, the first distance between barrier and above-mentioned distance measuring equipment; Second acquisition module 54, when above-mentioned warehouse is according to above-mentioned buttress position storing, for each face needing monitoring, obtains above-mentioned monitoring device when above-mentioned all angles scanning, the second distance between barrier and above-mentioned distance measuring equipment; Judge module 56, under above-mentioned all angles, judges that whether above-mentioned first distance is equal with above-mentioned second distance; Alarm module 58, for when the above-mentioned second distance of above-mentioned first Distance geometry is unequal, judges whether satisfied warning trigger condition, when satisfied warning trigger condition, and trigger alarm.
Wherein, the face of above-mentioned needs monitoring may further include: the face at the side institute of each row buttress position place jointly; The face at the side institute of each row buttress position place jointly; And the face at the end face place of above-mentioned buttress position.
Wherein, alarm module, the barrier corresponding to above-mentioned second distance carries out dimension reconfiguration, judges whether the size after reconstructing is greater than pre-set dimension; When size after above-mentioned reconstruct is greater than pre-set dimension, judge whether the time of occurrence of the barrier that above-mentioned second distance is corresponding is greater than scheduled duration; When above-mentioned time of occurrence is greater than scheduled duration, determine to meet above-mentioned warning trigger condition.
Preferably, as shown in Figure 6, above-mentioned alarm module 58 may further include: the first judging unit 580, carries out dimension reconfiguration for the barrier corresponding to above-mentioned second distance, judges whether the size after reconstructing is greater than pre-set dimension; Second judging unit 582, when being greater than pre-set dimension for the size after above-mentioned reconstruct, judges whether the time of occurrence of the barrier that above-mentioned second distance is corresponding is greater than scheduled duration; Determining unit 584, for when above-mentioned time of occurrence is greater than scheduled duration, determines to meet above-mentioned warning trigger condition.
Fig. 7 is the structured flowchart of the storage satety distance monitoring system according to the embodiment of the present invention.As shown in Figure 7, this storage satety distance monitoring system comprises: multiple monitoring subsystem 70,72,74 ... 7N, each above-mentioned monitoring subsystem (Fig. 7 only illustrates the inner structure of monitoring subsystem 70) includes: distance measuring equipment 700, scrambler 702, The Cloud Terrace 704, stepper motor 706, single-chip microcomputer 708 and the power module 710 of powering to said system; Wherein, above-mentioned distance measuring equipment 700, is connected with above-mentioned The Cloud Terrace 704, for obtaining the distance value between barrier and above-mentioned distance measuring equipment when scanning; Above-mentioned stepper motor 706, is connected with above-mentioned The Cloud Terrace 704, and above-mentioned stepper motor drives above-mentioned distance measuring equipment to scan for driving above-mentioned The Cloud Terrace; Above-mentioned scrambler 702, is connected with stepper motor 706, for obtaining angle value during scanning; Above-mentioned single-chip microcomputer 708, is connected with stepper motor 706 with above-mentioned scrambler 702, above-mentioned distance measuring equipment 700 respectively, for receiving and sending above-mentioned distance value and above-mentioned angle value to host computer, and controls above-mentioned stepper motor.
Preferably, as shown in Figure 8, this storage satety distance monitoring system can also comprise: host computer, is connected by the above-mentioned monitoring subsystem of bus and each.
Preferably, above-mentioned: distance measuring equipment 700 can be laser range finder.
Above-mentioned preferred implementation is further described below in conjunction with Fig. 8.
Fig. 8 is the structural representation of storage satety distance monitoring system according to the preferred embodiment of the invention.As shown in Figure 8, this storage satety distance monitoring system includes but not limited to: multiple buttress positions safe distance monitoring subsystem, power module, host computer and CAN.Wherein, each monitoring subsystem all comprises: laser range finder, scrambler, 42 mixing 2 phase motors, worm screw The Cloud Terrace, TIVA 3ARM processor, MCP2515 controller, high-speed CAN transceiver TJA1050 etc.
Laser range finder obtains distance value when scanning, scrambler obtains angle value when scanning, stepper motor and The Cloud Terrace drive laser range finder scanning, single-chip microcomputer (arm processor) accepts the distance value that obtains and angle value and sends to host computer to control stepper motor simultaneously, electric power source pair of module whole system is powered, and CAN is responsible for sending all information to host computer.
In sum, by above-described embodiment provided by the invention, propose a kind of warehoused cargo (such as, dangerous material) stacking safe distance three dimensional network and to format monitoring method, and devise corresponding monitoring system.First determine the safe distance of storehouse stacking, warehouse is divided into the buttress position of some row and row; Then determine according to the buttress position divided the plane needing monitoring; In each plane of monitoring that needs, a set of monitoring subsystem is installed, complete the monitoring of each, this system adopts laser range finder to the scanning of a monitoring plane, for setting border, all buttress positions, when piling up neatly position and exceeding the border of setting, laser range finder scans the distance value obtained will be different previously in the distance value of this equal angular, and then report to the police.The method and device carry out real time scan calculating by the plane divided 3D grid, achieve the safety monitoring of stacking five distance.And in an abnormal situation, can carry out and alarm storage satety hidden danger, also correspondingly reduce the heavy degree of work of supervisor simultaneously.
Be only several specific embodiment of the present invention above, but the present invention is not limited thereto, the changes that any person skilled in the art can think of all should fall into protection scope of the present invention.
Claims (10)
1. a storage satety distance monitoring method, is characterized in that, comprising:
Each face needing monitoring is determined according to the multiple buttress positions divided in advance in warehouse;
When described warehouse is vacant, for each face needing monitoring, obtain distance measuring equipment when all angles scan, the first distance between barrier and described distance measuring equipment;
When described warehouse is according to described buttress position storing, for each face needing monitoring, obtain described monitoring device when described all angles scanning, the second distance between barrier and described distance measuring equipment;
Under described all angles, judge that whether described first distance is equal with described second distance;
When second distance is unequal described in described first Distance geometry, judge whether satisfied warning trigger condition, when satisfied warning trigger condition, trigger alarm.
2. method according to claim 1, is characterized in that, the described face of monitoring that needs comprises:
The face at the common place of the side institute of each row buttress position;
The face at the side institute of each row buttress position place jointly; And
The face at the end face place of described buttress position.
3. method according to claim 1, is characterized in that, judges whether that satisfied warning trigger condition comprises:
The barrier corresponding to described second distance carries out dimension reconfiguration, judges whether the size after reconstructing is greater than pre-set dimension;
When size after described reconstruct is greater than pre-set dimension, judge whether the time of occurrence of the barrier that described second distance is corresponding is greater than scheduled duration;
When described time of occurrence is greater than scheduled duration, determine to meet described warning trigger condition.
4. method according to claim 1, is characterized in that, when satisfied warning trigger condition, trigger alarm comprises:
Under preserving described all angles, described in each, pile up neatly the distance of position respectively and between described monitoring device;
When described in described first Distance geometry, second distance is unequal, according to the Distance geometry of described preservation, second distance determines the buttress position needing to report to the police;
Reported to the police in the described buttress position determined.
5. method according to any one of claim 1 to 4, is characterized in that, when satisfied warning trigger condition, after trigger alarm, also comprises:
The data obtained the Surface scan needing described in each to monitor are uploaded to host computer by bus, realize each described monitoring needing the face of monitoring.
6. a storage satety distance monitoring device, is characterized in that, comprising:
Determination module, for determining each face needing monitoring according to the multiple buttress positions divided in advance in warehouse;
First acquisition module, when described warehouse is vacant, for each face needing monitoring, obtains distance measuring equipment when all angles scan, the first distance between barrier and described distance measuring equipment;
Second acquisition module, when described warehouse is according to described buttress position storing, for each face needing monitoring, obtains described monitoring device when described all angles scanning, the second distance between barrier and described distance measuring equipment;
Judge module, under described all angles, judges that whether described first distance is equal with described second distance;
Alarm module, for when second distance is unequal described in described first Distance geometry, judges whether satisfied warning trigger condition, when satisfied warning trigger condition, and trigger alarm.
7. device according to claim 6, is characterized in that, described alarm module comprises:
First judging unit, carries out dimension reconfiguration for the barrier corresponding to described second distance, judges whether the size after reconstructing is greater than pre-set dimension;
Second judging unit, when being greater than pre-set dimension for the size after described reconstruct, judges whether the time of occurrence of the barrier that described second distance is corresponding is greater than scheduled duration;
Determining unit, for when described time of occurrence is greater than scheduled duration, determines to meet described warning trigger condition.
8. a storage satety distance monitoring system, it is characterized in that, comprise: multiple monitoring subsystem, described in each, monitoring subsystem includes: distance measuring equipment, scrambler, The Cloud Terrace, stepper motor, single-chip microcomputer and the power module of powering to described system; Wherein,
Described distance measuring equipment, is connected with described The Cloud Terrace, for obtaining the distance value between barrier and described distance measuring equipment when scanning;
Described stepper motor, is connected with described The Cloud Terrace, and described stepper motor drives described distance measuring equipment to scan for driving described The Cloud Terrace;
Described scrambler, is connected with described stepper motor, for obtaining angle value during scanning;
Described single-chip microcomputer, is connected with described distance measuring equipment with described scrambler, for receiving and sending described distance value and described angle value to host computer, and controls described stepper motor.
9. system according to claim 8, is characterized in that, described system also comprises: host computer, is connected with monitoring subsystem described in each by bus.
10. system according to claim 8 or claim 9, it is characterized in that, described distance measuring equipment is laser range finder.
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| CN106908019A (en) * | 2017-01-09 | 2017-06-30 | 中交航局安装工程有限公司 | A kind of stacker turns round the determination methods on border |
| CN106908019B (en) * | 2017-01-09 | 2020-04-28 | 中交一航局安装工程有限公司 | Method for judging rotation boundary of stacker |
| CN109325946A (en) * | 2018-09-14 | 2019-02-12 | 北京石油化工学院 | A kind of hazardous chemical stacking monitoring method and system |
| CN109325946B (en) * | 2018-09-14 | 2021-08-24 | 北京石油化工学院 | Dangerous chemical stacking monitoring method and system |
| CN111079580A (en) * | 2019-12-02 | 2020-04-28 | 上海秒针网络科技有限公司 | Food storage management method and device, storage medium and electronic device |
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