A non-contact tower deflection monitoring system based on digital twin

Abstract

A contactless pole tower deflection monitoring system based on digital twins is characterized by being composed of four subsystems: a physical measurement platform, a virtual measurement platform, a virtual-real data integrator and a measurement monitoring platform. The present invention provides a contactless pole tower deflection monitoring system based on digital twins, which has the following advantages: 1. The deflection state of the pole tower can be monitored in real time through the digital twin technology, which provides great protection for the safety of the pole tower; 2. The contactless measurement saves manpower and material resources, greatly improves work efficiency and ensures the safety of monitoring construction personnel.

Description

Technical Field

[0001] The invention relates to the field of transmission line tower deflection monitoring, and in particular to a contactless tower deflection monitoring system based on digital twins. Background Art

[0002] With the continuous growth of my country's power industry and the continuous increase in power supply, people have higher and higher requirements for power quality. In order to meet the needs of people's daily production and life, the power lines need to transmit more and more power capacity, the voltage level is getting higher and higher, the transmission distance is getting longer and longer, and the load on the towers is gradually increasing. However, for most towers, due to the unbalanced tension, a certain degree of deflection often occurs, and the monitoring of the tower deflection is very important. However, the traditional tower deflection measurement method requires technicians to place a heavy hammer at the top of the tower, and use the heavy hammer as a reference to measure the tower deflection through a theodolite or total station. This method is time-consuming and labor-intensive, requires climbing the tower to contact the tower, has a low safety factor, and has a large error in the measurement results.

[0003] The digital twin non-contact tower deflection monitoring system can get rid of the constraints of traditional tower climbing measurement methods. By using physical models, sensor data updates, operation history and other data, integrating multi-disciplinary, multi-physical quantity, multi-scale, and multi-probability simulation processes, mapping is completed in the virtual space to reflect the entire life cycle of the corresponding tower. Using digital twin technology to build a virtual model based on the physical entity, the virtual model in the virtual space continuously receives real-time data sent by the physical entity, simulates the state and performance of the physical entity, and thus analyzes, predicts, optimizes and provides feedback on the physical entity. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a contactless pole tower deflection monitoring system based on digital twins, so as to solve the problem that the existing pole tower deflection monitoring process is cumbersome and the accuracy is low.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a non-contact tower deflection monitoring system based on digital twins, characterized in that it consists of four subsystems: a physical measurement platform, a virtual measurement platform, a virtual and real data integrator, and a measurement monitoring platform.

[0006] The physical measurement platform uses height sensors, distance sensors, inclination sensors, and industrial cameras to monitor the real-time status of the tower. PLC is used as the control system of the physical measurement platform to achieve remote data transmission through a reserved data interface.

[0007] The virtual measurement platform includes the tower model, measurement system, and auxiliary measurement system. The tower model is mapped from the physical measurement platform. The characteristics of digital twins are reflected through the organic combination of the physical measurement platform and the virtual measurement platform.

[0008] The virtual-real data integrator samples and stores the real-time data generated by the physical measurement platform into a database, and the data in the database drives the operation of the virtual measurement platform;

[0009] The measurement and monitoring platform consists of a system management module, a measurement control module, a measurement monitoring module, and a data management module. When the tower deflection exceeds the set value, the system automatically alarms, making it convenient for technicians to inspect and repair the tower.

[0010] Preferably, the virtual measurement platform data is mapped from actual measurements on a physical platform, and the deflection of the tower is measured on the virtual platform, and its measurement data model is uniformly defined as:

[0011] ; (1)

[0012] in, It is a digital model during the measurement of the physical platform tower. The digital model of the tower is a twin of the virtual measurement platform. It is the digital model of the tower when it is completed;

[0013] The measurement system in the virtual measurement platform is uniformly defined as:

[0014] ; (2)

[0015] in, Represents the functional model of the pole tower in the virtual digital space. According to the actual stress condition of the pole tower, a corresponding functional model is established to simulate the working condition of the pole tower in a one-to-one ratio. It represents the virtual-real communication interface, using PLC interface, measurement equipment data interface, virtual platform and entity to interact with data, so as to achieve the purpose of data interaction and real-time data drive; It represents the virtual monitoring service functional model. The organic connection and operation of the system include realizing the functions of the measuring equipment, processing signals, monitoring the tower model behavior, and limiting the excessive deflection rules of the tower.

[0016] (3)

[0017] in, is the three-dimensional geometric model of the tower. It is the data interface between the physical measurement platform and the virtual measurement platform. It is the tower status preview mode;

[0018] The mapping between the digital space of the virtual measurement platform and the physical space of the physical measurement platform is the basis for data fusion and interaction. On this basis, the virtual-real mapping relationship and fusion mechanism of the entity information are further constructed to overcome the current problems of asynchrony and poor consistency between the entity and virtual space information. The digital space of the virtual measurement platform is defined as:

[0019] ; (4)

[0020] ; (5)

[0021] ; (6)

[0022] in, A digital space representing a virtual measurement platform, , For digital and physical spaces , A collection of corresponding digital models.

[0023] Preferably, the deflection measurement of the pole tower includes the following steps: remotely transmitting the measurement data to the virtual measurement platform through the physical measurement platform; firstly, considering the horizontal displacement of the pole tower, a measurement point a on the pole tower in the virtual space is represented by Move to measuring point a´ The changes of this measurement point on the x-axis, y-axis, and z-axis are , the entire moving process is described by the coordinate transformation matrix:

[0024] ; (7)

[0025] In the formula, For measuring point a along The horizontal distance in the axis direction, For measuring point a along The horizontal distance in the axis direction, For measuring point a along The horizontal distance in the axis direction, The measured point a´ is offset along The horizontal distance in the axis direction, The measured point a´ is offset along The horizontal distance in the axis direction, The measured point a´ is offset along The horizontal distance in the axis direction, for and Between The difference in horizontal distance along the axis, for and Between The difference in horizontal distance along the axis, for and Between The difference in horizontal distance along the axis.

[0026] Preferably, the tower deflection also needs to consider the bending displacement. Assume that the starting angle of the measuring point a is After rotating to point a', the angle becomes The rotation angles of this measurement point on the x-axis, y-axis, and z-axis are , the entire moving process is described by the coordinate transformation matrix:

[0027] ; (8)

[0028] In the formula, For measuring point a along The angle of the axis, For measuring point a along The angle of the axis, For measuring point a along The angle of the axis, The measured point a´ is offset along The angle of the axis, The measured point a´ is offset along The angle of the axis, The measured point a´ is offset along The angle of the axis, for and Between The difference in axis angles, for and Between The difference in axis angles, for and Between The difference in axis angles.

[0029] Preferably, in order to facilitate monitoring, the twin towers need to be scaled in the virtual measurement platform. The scaling should be carried out in proportion, and the x-axis, y-axis, and z-axis should be scaled simultaneously. If the scaling ratio is , which can be expressed as a matrix:

[0030] ; (9)

[0031] In the formula, is the scaling factor.

[0032] Preferably, the height sensor of the physical measurement platform is responsible for monitoring the plumb bob distance of the pole tower; the distance sensor is responsible for monitoring the distance between different monitoring points on the pole tower; the inclination sensor is responsible for monitoring the inclination angle of the pole tower in operation; the industrial camera monitors the entire pole tower and cooperates with the height sensor, distance sensor, and inclination sensor to ensure the accuracy of the data. Data is remotely transmitted through the PLC control platform.

[0033] Preferably, the virtual-real data integrator samples the acquired data and stores them in a database, and the data in the database drives the operation of the virtual measurement platform.

[0034] Preferably, the virtual measurement platform receives real-time monitoring data from the physical measurement platform through a reserved data interface. The pole tower is in a natural environment, and the force conditions are complex and change anytime and anywhere. In order to truly simulate the deflection of the pole tower under various conditions, a pole tower deflection displacement model needs to be established.

[0035] Preferably, the measuring and monitoring platform monitors the height of the tower, the deformation of the tower material, and the tilt angle in real time, so as to accurately obtain the deflection displacement of the tower in the operating state. If the deflection of the tower exceeds the specified value, the measuring and monitoring platform will issue an alarm.

[0036] The present invention provides a non-contact tower deflection monitoring system based on digital twin, which has the following advantages:

[0037] 1. The digital twin technology can monitor the deflection status of the tower in real time, which provides great protection for the safety of the tower;

[0038] 2. Non-contact measurement saves manpower and material resources, greatly improves work efficiency and ensures the safety of monitoring construction personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0040] Figure 1 It is a structural schematic diagram of the present invention;

[0041] Figure 2 This is the virtual-to-real mapping process between the physical measurement platform and the virtual measurement platform of the present invention. DETAILED DESCRIPTION

[0042] like Figure 1 As shown in the figure, a non-contact tower deflection monitoring system based on digital twin is characterized by: it consists of four subsystems: a physical measurement platform, a virtual measurement platform, a virtual and real data integrator, and a measurement monitoring platform.

[0043] The physical measurement platform uses height sensors, distance sensors, inclination sensors, and industrial cameras to monitor the real-time status of the tower. PLC is used as the control system of the physical measurement platform to achieve remote data transmission through a reserved data interface.

[0044] The virtual measurement platform includes the tower model, measurement system, and auxiliary measurement system. The tower model is mapped from the physical measurement platform. The characteristics of digital twins are reflected through the organic combination of the physical measurement platform and the virtual measurement platform.

[0045] The virtual-real data integrator samples and stores the real-time data generated by the physical measurement platform into a database, and the data in the database drives the operation of the virtual measurement platform;

[0046] The measurement and monitoring platform consists of a system management module, a measurement control module, a measurement monitoring module, and a data management module. When the tower deflection exceeds the set value, the system automatically alarms, making it convenient for technicians to inspect and repair the tower.

[0047] Preferably, the virtual measurement platform data is mapped from actual measurements of the physical platform, such as Figure 2 The above formula measures the deflection of the tower in the virtual platform, and its measurement data model is uniformly defined as:

[0048] ; (1)

[0049] in, It is a digital model during the measurement of the physical platform tower. The digital model of the tower is a twin of the virtual measurement platform. It is the digital model of the tower when it is completed;

[0050] The measurement system in the virtual measurement platform is uniformly defined as:

[0051] ; (2)

[0052] in, Represents the functional model of the pole tower in the virtual digital space. According to the actual stress condition of the pole tower, a corresponding functional model is established to simulate the working condition of the pole tower in a one-to-one ratio. It represents the virtual-real communication interface, using PLC interface, measurement equipment data interface, virtual platform and entity to interact with data, so as to achieve the purpose of data interaction and real-time data drive; It represents the virtual monitoring service functional model. The organic connection and operation of the system include realizing the functions of the measuring equipment, processing signals, monitoring the tower model behavior, and limiting the excessive deflection rules of the tower.

[0053] ; (3)

[0054] in, is the three-dimensional geometric model of the tower. It is the data interface between the physical measurement platform and the virtual measurement platform. It is the tower status preview mode;

[0055] The mapping between the digital space of the virtual measurement platform and the physical space of the physical measurement platform is the basis for data fusion and interaction. On this basis, the virtual-real mapping relationship and fusion mechanism of the entity information are further constructed to overcome the current problems of asynchrony and poor consistency between the entity and virtual space information. The digital space of the virtual measurement platform is defined as:

[0056] ; (4)

[0057] ; (5)

[0058] ; (6)

[0059] in, A digital space representing a virtual measurement platform, , For digital and physical spaces , A collection of corresponding digital models.

[0060] Preferably, when the pole tower is deflected, the tower material will bend under the action of force. The deflection measurement of the pole tower includes the following steps: remotely transmitting the measurement data to the virtual measurement platform through the physical measurement platform; firstly, considering the horizontal displacement of the pole tower, a measurement point a on the pole tower in the virtual space is represented by Move to measuring point a´ The changes of this measurement point on the x-axis, y-axis, and z-axis are , the entire moving process is described by the coordinate transformation matrix:

[0061] ; (7)

[0062] In the formula, For measuring point a along The horizontal distance in the axis direction, For measuring point a along The horizontal distance in the axis direction, For measuring point a along The horizontal distance in the axis direction, The measured point a´ is offset along The horizontal distance in the axis direction, The measured point a´ is offset along The horizontal distance in the axis direction, The measured point a´ is offset along The horizontal distance in the axis direction, for and Between The difference in horizontal distance along the axis, for and Between The difference in horizontal distance along the axis, for and Between The difference in horizontal distance along the axis.

[0063] Preferably, the tower deflection also needs to consider the bending displacement. Assume that the starting angle of the measuring point a is After rotating to point a', the angle becomes The rotation angles of this measurement point on the x-axis, y-axis, and z-axis are , the entire moving process is described by the coordinate transformation matrix:

[0064] ; (8)

[0065] In the formula, For measuring point a along The angle of the axis, For measuring point a along The angle of the axis, For measuring point a along The angle of the axis, The measured point a´ is offset along The angle of the axis, The measured point a´ is offset along The angle of the axis, The measured point a´ is offset along The angle of the axis, for and Between The difference in axis angles, for and Between The difference in axis angles, for and Between The difference in axis angles.

[0066] Preferably, in order to facilitate monitoring, the twin towers need to be scaled in the virtual measurement platform. The scaling should be carried out in proportion, and the x-axis, y-axis, and z-axis should be scaled simultaneously. If the scaling ratio is , which can be expressed as a matrix:

[0067] ; (9)

[0068] In the formula, is the scaling factor.

[0069] Preferably, the height sensor of the physical measurement platform is responsible for monitoring the plumb bob distance of the pole tower; the distance sensor is responsible for monitoring the distance between different monitoring points on the pole tower; the inclination sensor is responsible for monitoring the inclination angle of the pole tower in operation; the industrial camera monitors the entire pole tower and cooperates with the height sensor, distance sensor, and inclination sensor to ensure the accuracy of the data. Data is remotely transmitted through the PLC control platform.

[0070] Preferably, the virtual-real data integrator samples the acquired data and stores them in a database, and the data in the database drives the operation of the virtual measurement platform.

[0071] Preferably, the virtual measurement platform receives real-time monitoring data from the physical measurement platform through a reserved data interface. The pole tower is in a natural environment, and the force conditions are complex and change anytime and anywhere. In order to truly simulate the deflection of the pole tower under various conditions, a pole tower deflection displacement model needs to be established.

[0072] Preferably, the measuring and monitoring platform monitors the height of the tower, the deformation of the tower material, and the tilt angle in real time, so as to accurately obtain the deflection displacement of the tower in the operating state. If the deflection of the tower exceeds the specified value, the measuring and monitoring platform will issue an alarm.

[0073] When in use, the tower information is collected in real time through physical platform measurement equipment such as height sensors, distance sensors, inclination sensors, industrial cameras, etc. Taking the normal operation of the tower as an example, due to the unbalanced tension of the overhead line and other external forces, the tower structure will be slightly deformed, and the real-time monitoring data will be transmitted to the virtual measurement platform through the physical measurement platform.

[0074] If the deflection angles of the tower on the x-axis, y-axis, and z-axis are The measurement point a is Deflection along the X axis Angle to b ,at this time:

[0075] ; (10)

[0076] The measurement point a is Deflection along the Y axis Angle to b ,at this time:

[0077] ; (11)

[0078] The measurement point a is Deflection along the Z axis Angle to b ,at this time:

[0079] ; (13)

[0080] Combined with the deflection angles of the X-axis, Y-axis, and Z-axis, as well as the horizontal displacement of the tower, the tower deflection is monitored in real time. The data is transmitted to the database through PLC remote data transmission. The data in the database drives the virtual measurement platform to perform measurements, and the measurement data and data analysis results are displayed through the three-dimensional tower model, which facilitates technicians to monitor the tower deflection in real time.

[0081] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A non-contact tower deflection monitoring system based on digital twin, characterized by: It consists of four subsystems: physical measurement platform, virtual measurement platform, virtual and real data integrator and measurement monitoring platform. The physical measurement platform uses height sensors, distance sensors, inclination sensors, and industrial cameras to monitor the real-time status of the tower. PLC is used as the control system of the physical measurement platform to achieve remote data transmission through a reserved data interface. The virtual measurement platform includes the tower model, measurement system, and auxiliary measurement system. The tower model is mapped from the physical measurement platform. The characteristics of digital twins are reflected through the organic combination of the physical measurement platform and the virtual measurement platform. The virtual-real data integrator samples and stores the real-time data generated by the physical measurement platform into a database, and the data in the database drives the operation of the virtual measurement platform; The measurement and monitoring platform consists of a system management module, a measurement control module, a measurement monitoring module, and a data management module. When the tower deflection exceeds the set value, the system automatically alarms, making it easier for technicians to inspect and repair the tower. The virtual measurement platform data is mapped from the actual measurement of the physical platform. The deflection of the tower is measured in the virtual platform, and its measurement data model is uniformly defined as: ；(1) in, It is a digital model during the measurement of the physical platform tower. The digital model of the tower is a twin of the virtual measurement platform. It is the digital model of the tower when it is completed; The measurement system in the virtual measurement platform is uniformly defined as: ；(2) in, Represents the functional model of the pole tower in the virtual digital space. According to the actual stress condition of the pole tower, a corresponding functional model is established to simulate the working condition of the pole tower in a one-to-one ratio. It represents the virtual-real communication interface, using PLC interface, measurement equipment data interface, virtual platform and entity to interact with data, so as to achieve the purpose of data interaction and real-time data drive; It represents the virtual monitoring service functional model. The organic connection and operation of the system include realizing the functions of the measuring equipment, processing signals, monitoring the tower model behavior, and limiting the excessive deflection rules of the tower. ；(3) in, is the three-dimensional geometric model of the tower. It is the data interface between the physical measurement platform and the virtual measurement platform. It is the tower status preview mode; The mapping between the digital space of the virtual measurement platform and the physical space of the physical measurement platform is the basis for data fusion and interaction. On this basis, the virtual-real mapping relationship and fusion mechanism of the entity information are further constructed to overcome the current problems of asynchrony and poor consistency between the entity and virtual space information. The digital space of the virtual measurement platform is defined as: ；(4) ；(5) ；(6) in, A digital space representing a virtual measurement platform, , For digital and physical spaces , A collection of corresponding digital models.

2. According to claim 1, a non-contact tower deflection monitoring system based on digital twins is characterized in that: The deflection measurement of the tower includes the following steps: the measurement data is remotely transmitted to the virtual measurement platform through the physical measurement platform; first, the horizontal displacement of the tower is considered, and a measurement point a on the tower in the virtual space is represented by Move to measuring point a´ The changes of this measurement point on the x-axis, y-axis, and z-axis are , the entire moving process is described by the coordinate transformation matrix: ；(7) In the formula, For measuring point a along The horizontal distance in the axis direction, For measuring point a along The horizontal distance in the axis direction, For measuring point a along The horizontal distance in the axis direction, The measured point a´ is offset along The horizontal distance in the axis direction, The measured point a´ is offset along The horizontal distance in the axis direction, The measured point a´ is offset along The horizontal distance in the axis direction, for and Between The difference in horizontal distance along the axis, for and Between The difference in horizontal distance along the axis, for and Between The difference in horizontal distance along the axis.

3. According to claim 2, a non-contact tower deflection monitoring system based on digital twins is characterized in that: The tower deflection also needs to consider the bending displacement. Assume that the starting angle of the measurement point a is After rotating to point a', the angle becomes The rotation angles of this measurement point on the x-axis, y-axis, and z-axis are , the entire moving process is described by the coordinate transformation matrix: ； (8) In the formula, For measuring point a along The angle of the axis, For measuring point a along The angle of the axis, For measuring point a along The angle of the axis, The measured point a´ is offset along The angle of the axis, The measured point a´ is offset along The angle of the axis, The measured point a´ is offset along The angle of the axis, for and Between The difference in axis angles, for and Between The difference in axis angles, for and Between The difference in axis angles.

4. A non-contact tower deflection monitoring system based on digital twin according to claim 2 or 3, characterized in that: In order to facilitate monitoring, the twin towers need to be scaled in the virtual measurement platform. The scaling should be done in proportion, and the x-axis, y-axis, and z-axis should be scaled at the same time. If the scaling ratio is , which can be expressed as a matrix: ； (9) In the formula, is the scaling factor.

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