Phase encoding microwave sensing based crane structure vibration and deformation monitoring system and method

Abstract

This invention provides a crane structure vibration and deformation monitoring system and method based on phase-coded microwave sensing, comprising: a microwave transceiver: simultaneously transmitting multi-channel linear frequency modulated continuous wave microwave signals through a transmitting antenna array, receiving echo signals, and outputting multi-channel baseband signals; a control module: controlling the direction of the synthesized beam, controlling the transmission and reception of microwave signals by an encoding phase shifter, and controlling the acquisition of baseband signals; a signal processing module: processing the acquired baseband signals to extract vibration displacement information of each measured position of the crane during the entire scanning vibration measurement process; and a display and storage module: displaying or storing the system scanning angle distribution and vibration displacement sequence values ​​or waveforms of all measured targets or points on the crane, as well as other intermediate processing information. This invention overcomes coupling clutter interference from nearby targets, suppresses noise interference, and improves the signal-to-noise ratio and distance of the measurement.

Description

Technical Field

[0001] This invention relates to the field of vibration testing technology, and more specifically, to a system and method for monitoring the vibration and deformation of crane structures based on phase-coded microwave sensing. Background Technology

[0002] Cranes are indispensable pieces of equipment in modern industrial production, widely used in equipment manufacturing, shipping, and engineering construction, significantly improving work efficiency and reducing manual labor intensity. However, due to long-term high-load work and complex, harsh working environments, critical structures of cranes can suffer fatigue damage and failure, seriously affecting the normal operation of the equipment and the health and safety of personnel. Therefore, condition monitoring and intelligent operation and maintenance of cranes are essential.

[0003] Patent document CN110715611A (application number: CN201910927554.9) discloses a method and system for monitoring pipeline vibration and deformation. The method includes: real-time acquisition of vibration signals from the underground environment of the pipeline using vibration sensors installed along the pipeline, and data encapsulation in a GPRS module; transmission of the encapsulated data to a cloud server via a communication base station; determination of whether the vibration amplitude in the encapsulated data exceeds a preset vibration amplitude; if so, activation of a Brillouin scattering light acquisition device within the monitoring range of the vibration sensors to acquire Brillouin scattering light signals from optical fibers installed on the pipeline and data encapsulation in the GPRS module; transmission of the encapsulated data to the cloud server; importing the Brillouin scattering light signals obtained from the encapsulated data into a stimulated Brillouin model for analysis, obtaining analysis results; and generating a monitoring and early warning command to send an early warning to the management user terminal.

[0004] Existing methods for monitoring the condition of cranes primarily rely on contact-based accelerometers, temperature sensors, and strain gauges to monitor vibration, temperature, and stress. However, for large mechanical structures like cranes, sensor networking is cumbersome and complex, and multi-channel synchronization is challenging. While existing microwave sensing methods can achieve non-contact vibration measurement, full-field vibration measurement of large engineering structures often requires the installation or attachment of targets such as corner reflectors. Otherwise, the low signal-to-noise ratio of the measured object can lead to difficulties in resolving multiple measurement points, or even make measurement impossible.

[0005] Existing microwave vibration measurement technology suffers from low signal-to-noise ratio and difficulty in distinguishing measurement points across the entire field when performing remote, full-field vibration measurements of large structures. It often requires the installation or attachment of targets such as corner reflectors to achieve vibration monitoring of full-field measurement points or key parts, which also brings inconvenience to installation and testing.

[0006] Therefore, it is of great significance and has promising application prospects to realize non-contact vibration monitoring of the entire field and key parts of large equipment structures, such as cranes. Summary of the Invention

[0007] To address the shortcomings of existing technologies, the purpose of this invention is to provide a crane structure vibration and deformation monitoring system and method based on phase-coded microwave sensing.

[0008] The crane structure vibration and deformation monitoring system based on phase-coded microwave sensing provided by the present invention includes:

[0009] Microwave transceiver: Simultaneously transmits multiple channels of linear frequency modulated continuous wave microwave signals through a transmitting antenna array, receives echo signals, and outputs multiple channels of baseband signals;

[0010] Control module: The encoder phase shifter controls the direction of the synthesized beam, controls the microwave transceiver to transmit and receive microwave signals, and controls the acquisition of baseband signals;

[0011] Signal processing module: processes the acquired baseband signal and extracts the vibration displacement information of each measured position of the crane during the entire scanning vibration measurement process;

[0012] Display and save module: Displays or saves system scanning angle distribution and vibration displacement sequence values ​​or waveforms of all measured targets or measuring points of the crane, as well as other intermediate processing information;

[0013] The control module is connected to the microwave transceiver and the signal processing module, respectively. The signal processing module is connected to the microwave transceiver and the display and storage module, respectively.

[0014] Preferably, the microwave transceiver includes a linear frequency modulated continuous wave microwave signal source, a power divider, a mixer, a phase shifter, an amplifier, a transmitting antenna array, and a receiving antenna array;

[0015] The signal source is connected to the power divider, and then part of it is connected to the phase shifter to radiate the signal through the transmitting antenna, while the other part is used as the local oscillator signal for mixing.

[0016] The phase shifter is connected to the transmitting antenna array and is used to adjust the main lobe of the synthetic beam emitted by the transmitting antenna array to a set scanning angle through phase shifting.

[0017] The receiving antenna array is connected to an amplifier, and the amplified output signal is connected to a mixer. The signal is mixed with the local oscillator signal at the mixer end to output a multi-channel baseband signal.

[0018] Preferably, the control module sends instructions to the phase shifter based on the angle and phase encoding matrix of the key position to be measured on the crane, and configures the phase shifter so that the synthetic beam of the transmitting antenna is focused on the key part to be measured.

[0019] Preferably, the control module controls the transmitting and receiving antennas of the microwave transceiver, controls the cyclic scanning period, controls the baseband signal acquisition, and controls other conventional parameters of the microwave transceiver.

[0020] The method for monitoring the vibration and deformation of crane structures based on phase-coded microwave sensing provided by the present invention comprises the following steps:

[0021] Step S1: Based on the azimuth information of the key structure of the crane, construct a phase encoding matrix and perform phase shift control on the transmission phase of multiple transmitting antennas so that the main lobe of the synthetic beam of the transmitting antennas is directed toward the key part of the crane to be tested.

[0022] Step S2: Receive the echo signal and extract the vibration displacement information of the key parts of the crane to be measured;

[0023] Step S3: Scan all key structural parts of the crane under test and extract vibration displacement information of all test locations.

[0024] Preferably, step S1 includes:

[0025] Before conducting directional scanning tests on the key structures of the crane, the relative position information of each key structure is determined. Let the angle of a key part of the crane under test relative to the transmitting antenna array be θ1, and construct the phase encoding matrix:

[0026]

[0027] Where, d k λ represents the distance between the k-th transmitting antenna and the first transmitting antenna, where K is the number of transmitting antennas; k = 2, ..., K; c The wavelength is the wavelength corresponding to the center frequency of a linear frequency modulated continuous wave.

[0028] Preferably, the initial phase of each transmitting antenna is set according to the phase coding matrix as follows: 0, 2πd²sinθ¹ / λ c , …, 2πd K sinθ1 / λ c The system controls each antenna to transmit microwave signals simultaneously, so that the main lobe of the synthesized beam is θ1 and points towards the critical structural position of the crane.

[0029] 8. The method for monitoring the vibration and deformation of crane structures based on phase-coded microwave sensing according to claim 7, characterized in that, assuming the transmitted signal of the first transmitting antenna is s1(t), the transmitted signal synthesized through phase-shift control is:

[0030]

[0031] in,

[0032]

[0033]

[0034]

[0035] A T Let f be the amplitude of the transmitted signal, f0 be the initial frequency of the transmitted signal, B be the signal bandwidth, T be the time length of one sweep cycle of the transmitted signal, φ0 be the initial phase, t represent the time series, θ represent the traversal angle, and a(θ) represent the amplitude of the transmitted signal. H d represents the conjugate transpose of a(θ); d represents the spacing between each transmitting antenna.

[0036] Preferably, step S2 includes:

[0037] The receiving antenna receives the echo signal reflected from the target, and after hardware mixing and low-pass filtering, the baseband signal is obtained. The vibration displacement sequence for each scanning cycle is then extracted.

[0038]

[0039] In the formula, x(p,θ) s ,R,iT sweep ) represents the p-th cyclic scan, with the beam scanning angle being θ. s The displacement sequence element values ​​of the target or measuring point under test with a transmission sweep period of i and a current scanning angle distance of R; T sweep The frequency sweep period for transmitting a linear frequency modulated continuous wave via the transmitting antenna; arg{} represents the operation of taking complex phase values; N is the number of single-channel baseband signal elements in each frequency sweep period; n is the index of the single-channel baseband signal element in each frequency sweep period; T s The sampling frequency and time of the baseband signal; s B (p,θ s iT,nT s ) represents the p-th cyclic scan, with a beam scanning angle of θ. s The matrix consists of M baseband signals from the i-th transmit frequency sweep cycle, with column vectors representing the baseband signals from the m-th channels (m = 1, 2, ..., M); j is the imaginary unit. The estimated beat frequency corresponding to the distance between the measured target or measuring point; d rxm Let d be the distance from the m-th receiving antenna to the first receiving antenna, where m = 1, ..., M, and d is the distance from the m-th receiving antenna to the first receiving antenna. rx1 =0; λ c The wavelength is the wavelength corresponding to the center frequency of a linear frequency modulated continuous wave.

[0040] Preferably, step S3 includes: after completing the test of one key structure of the crane structure, based on the angle information θ2 of the position of the second key structure to be tested, repeating steps S1 and S2 to construct a phase encoding matrix, controlling the direction of the microwave beam to illuminate the position of the second key structure to be tested, extracting its vibration displacement information, and iterating until the angle θ of all key structures has been traversed. s , s=1,2…S, where S is the number of key structures to be tested on the crane.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] This invention overcomes the limitations of existing microwave vibration measurement technology in remote non-contact measurement of cranes, which requires the pasting or installation of targets, including corner reflectors; it effectively overcomes coupling clutter interference from nearby targets; it suppresses noise interference and improves the signal-to-noise ratio and distance of the measurement. Attached Figure Description

[0043] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0044] Figure 1 This is a flowchart of the vibration monitoring method for key parts of a crane based on phase-coded microwave sensing according to the present invention.

[0045] Figure 2 This is a block diagram of the vibration monitoring system for key parts of a crane based on phase-encoded microwave sensing, according to the present invention. Detailed Implementation

[0046] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0047] Example:

[0048] like Figure 1 As shown, this invention provides a vibration monitoring method for key components of a crane based on phase-coded microwave sensing, comprising the following steps:

[0049] Step S1: Based on the azimuth information of the key structure of the crane, construct a phase encoding matrix and perform phase shift control on the transmission phase of multiple transmitting antennas so that the main lobe of the synthetic beam of the transmitting antennas is directed toward the key part of the crane to be tested.

[0050] Cranes mainly consist of structures such as main beams, end beams, side beams, and tracks. Due to high working intensity and environmental factors such as wind and sun exposure, they are prone to fatigue damage and failure. Therefore, real-time monitoring and condition assessment of the crane structure are necessary. Before conducting directional scanning tests on the key structures of the crane, it is necessary to clarify the relative position information of each key structure. Let θ1 be the angle of a key part of the crane under test relative to the transmitting antenna array, and construct the phase encoding matrix:

[0051]

[0052] Where, d k λ represents the distance between the k-th transmitting antenna and the first transmitting antenna, where K is the number of transmitting antennas; k = 2, ..., K; c The wavelength corresponding to the center frequency of a linear frequency modulated continuous wave;

[0053] Based on the phase coding matrix, the initial phase of each transmit antenna is set as follows: 0, 2πd²sinθ¹ / λ c , …, 2πd K sinθ1 / λ c The system controls each antenna to transmit microwave signals simultaneously, so that the main lobe of the synthesized beam is θ1 and points towards the critical structural position of the crane.

[0054] Let the transmitted signal from the first transmitting antenna be s1(t), and the transmitted signal synthesized through phase shift control be:

[0055]

[0056] in,

[0057]

[0058]

[0059]

[0060] A T Let f be the amplitude of the transmitted signal, f0 be the initial frequency of the transmitted signal, B be the signal bandwidth, T be the time length of one sweep cycle of the transmitted signal, φ0 be the initial phase, t represent the time series, θ represent the traversal angle, and a(θ) represent the amplitude of the transmitted signal. H d represents the conjugate transpose of a(θ); d represents the spacing between each transmitting antenna.

[0061] Step S2: Receive the echo signal and extract the vibration displacement information of the key parts of the crane to be measured.

[0062] The receiving antenna receives the echo signal reflected from the target, and after hardware mixing and low-pass filtering, the baseband signal is obtained. The vibration displacement sequence for each scanning cycle is then extracted.

[0063]

[0064] In the formula, x(p,θ) s ,R,iT sweep ) represents the p-th cyclic scan, with the beam scanning angle being θ. s The displacement sequence element values ​​of the target or measuring point under test with a transmission sweep period of i and a current scanning angle distance of R; T sweep The frequency sweep period for transmitting a linear frequency modulated continuous wave via the transmitting antenna; arg{} represents the operation of taking complex phase values; N is the number of single-channel baseband signal elements in each frequency sweep period; n is the index of the single-channel baseband signal element in each frequency sweep period; T s The sampling frequency and time of the baseband signal; s B (p,θ s iT,nT s ) represents the p-th cyclic scan, with a beam scanning angle of θ. s The matrix consists of M baseband signals from the i-th transmit frequency sweep cycle, with column vectors representing the baseband signals from the m-th channels (m = 1, 2, ..., M); j is the imaginary unit. The estimated beat frequency corresponding to the distance between the measured target or measuring point; d rxm Let d be the distance from the m-th receiving antenna to the first receiving antenna, where m = 1, ..., M, and d is the distance from the m-th receiving antenna to the first receiving antenna. rx1 =0; λ c The wavelength corresponding to the center frequency of a linear frequency modulated continuous wave;

[0065] Step S3: Scan all key structural parts of the crane under test and extract vibration displacement information of all test locations.

[0066] After completing the test of one key structure of the crane structure, based on the angle information θ2 of the second key structure to be tested, steps S1 and S2 are repeated to construct a phase encoding matrix, control the direction of the microwave beam to illuminate the location of the second key structure to be tested, extract its vibration displacement information, and iterate until the angle θ of all key structures has been traversed. s (s=1,2…S), where S is the number of key structures to be tested on the crane.

[0067] This invention provides a vibration monitoring system for key components of a crane based on phase-coded microwave sensing, such as... Figure 2 As shown, it includes:

[0068] Microwave transceiver: Used to simultaneously transmit multiple channels of linear frequency modulated continuous wave microwave signals through a transmitting antenna array, receive echo signals, and output multiple channels of baseband signals;

[0069] Control module: The encoder phase shifter controls the direction of the synthesized beam, controls the microwave transceiver to transmit and receive microwave signals, and controls the acquisition of baseband signals;

[0070] Signal processing module: Processes the acquired baseband signal and extracts the vibration displacement information of each test position of the crane during the entire scanning vibration measurement process.

[0071] Display and save module: used to display or save, but not limited to, the system scan angle distribution and the vibration displacement sequence values ​​or waveforms of all measured targets or measuring points of the crane, as well as other intermediate processing information.

[0072] The control module is connected to the microwave transceiver and controls the microwave transceiver to transmit and receive microwave signals.

[0073] The microwave transceiver is connected to the signal processing module, which transmits the baseband signal obtained by the microwave transceiver to the signal processing module for further processing to extract the vibration displacement information of the target surface.

[0074] The control module is connected to the signal processing module and controls the signal processing process.

[0075] The signal processing module is connected to the display and storage module, and transmits the processing results to the display and storage module for display and storage.

[0076] The microwave transceiver includes a linear frequency modulated continuous wave microwave signal source, a power divider, a mixer, a phase shifter, an amplifier, a transmitting antenna array, and a receiving antenna array.

[0077] The signal source is connected to the power divider, part of which is connected to the phase shifter and radiates the signal through the transmitting antenna, while the other part is used as the local oscillator signal for mixing.

[0078] The phase shifter is connected to the transmitting antenna array and is used to adjust the main lobe of the synthetic beam emitted by the transmitting antenna array to a set scanning angle through phase shifting.

[0079] The receiving antenna array is connected to an amplifier, and the amplified output signal is connected to a mixer. The signal is mixed with the local oscillator signal at the mixer end to output a multi-channel baseband signal.

[0080] The control module sends commands to the phase shifter based on the angle and phase encoding matrix of the key position to be measured on the crane, and configures the phase shifter so that the synthetic beam of the transmitting antenna is focused on the key part to be measured; it also controls the transmitting and receiving antennas of the microwave transceiver, the cyclic scanning period, the baseband signal acquisition, and other conventional parameters of the microwave transceiver.

[0081] Those skilled in the art will understand that, in addition to implementing the system, apparatus, and their modules provided by this invention in purely computer-readable program code, the same program can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system, apparatus, and their modules provided by this invention can be considered a hardware component, and the modules included therein for implementing various programs can also be considered structures within the hardware component; alternatively, modules for implementing various functions can be considered both software programs implementing the method and structures within the hardware component.

[0082] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A crane structure vibration and deformation monitoring system based on phase-coded microwave sensing, characterized in that, include: Microwave transceiver: Simultaneously transmits multiple channels of linear frequency modulated continuous wave microwave signals through a transmitting antenna array, receives echo signals through a receiving antenna, and outputs multiple channels of baseband signals; Control module: Encodes the phase shifter based on the phase encoding matrix, controls the direction of the synthesized beam, controls the microwave transceiver to transmit and receive microwave signals, and controls the acquisition of baseband signals; Signal processing module: processes the acquired baseband signal and extracts the vibration displacement information of each measured position of the crane during the entire scanning vibration measurement process; Display and save module: Displays or saves system scanning angle distribution and vibration displacement sequence values ​​or waveforms of all measured targets or measuring points of the crane, as well as other intermediate processing information; The control module is connected to the microwave transceiver and the signal processing module, respectively. The signal processing module is connected to the microwave transceiver and the display and storage module, respectively.

2. The crane structure vibration and deformation monitoring system based on phase-coded microwave sensing according to claim 1, characterized in that, The microwave transceiver includes a linear frequency modulated continuous wave microwave signal source, a power divider, a mixer, a phase shifter, an amplifier, a transmitting antenna array, and a receiving antenna array. The signal source is connected to the power divider, and then part of it is connected to the phase shifter to radiate the signal through the transmitting antenna, while the other part is used as the local oscillator signal for mixing. The phase shifter is connected to the transmitting antenna array and is used to adjust the main lobe of the synthetic beam emitted by the transmitting antenna array to a set scanning angle through phase shifting. The receiving antenna array is connected to an amplifier, and the amplified output signal is connected to a mixer. The signal is mixed with the local oscillator signal at the mixer end to output a multi-channel baseband signal.

3. The crane structure vibration and deformation monitoring system based on phase-coded microwave sensing according to claim 1, characterized in that, The control module sends instructions to the phase shifter based on the angle and phase encoding matrix of the key position to be measured on the crane, and configures the phase shifter so that the synthetic beam of the transmitting antenna is focused on the key part to be measured.

4. The crane structure vibration and deformation monitoring system based on phase-coded microwave sensing according to claim 1, characterized in that, The control module controls the transmitting and receiving antennas of the microwave transceiver, controls the cyclic scanning period, controls the baseband signal acquisition, and controls other conventional parameters of the microwave transceiver.

5. A method for monitoring the vibration and deformation of crane structures based on phase-coded microwave sensing, characterized in that, Using the crane structure vibration and deformation monitoring system based on phase-coded microwave sensing as described in any one of claims 1-4, the following steps are performed: Step S1: Based on the azimuth information of the key structure of the crane, construct a phase encoding matrix and perform phase shift control on the transmission phase of multiple transmitting antennas so that the main lobe of the synthetic beam of the transmitting antennas is directed toward the key part of the crane to be tested. Step S2: Receive the echo signal and extract the vibration displacement information of the key parts of the crane to be measured; Step S3: Scan all key structural parts of the crane under test and extract vibration displacement information of all test locations.

6. The method for monitoring the vibration and deformation of crane structures based on phase-coded microwave sensing according to claim 5, characterized in that, Step S1 includes: Before conducting directional scanning tests on the critical structures of the crane, the relative position information of each critical structure is determined. Let the angle of a critical part of the crane under test relative to the transmitting antenna array be denoted as... Construct the phase encoding matrix: in, Let K be the distance between the k-th transmitting antenna and the first transmitting antenna, where K is the number of transmitting antennas; k = 2, ..., K; The wavelength is the wavelength corresponding to the center frequency of a linear frequency modulated continuous wave.

7. The method for monitoring the vibration and deformation of crane structures based on phase-coded microwave sensing according to claim 6, characterized in that, Based on the phase coding matrix, the initial phase of each transmit antenna is set as follows: 0, , ..., Controlling each antenna to simultaneously transmit microwave signals, so that the main lobe angle of the synthesized beam is... The key structural location facing the crane.

8. The method for monitoring the vibration and deformation of crane structures based on phase-coded microwave sensing according to claim 5, characterized in that, Step S2 includes: The receiving antenna receives the echo signal reflected from the target, and after hardware mixing and low-pass filtering, the baseband signal is obtained. The vibration displacement sequence for each scanning cycle is then extracted. In the formula, Represented as the first The angles of the secondary cycle scan and beam scan are: The transmission frequency sweep period is The displacement sequence element values ​​of the target or measuring point at the current scanning angle distance of R; The frequency sweep period for transmitting linear frequency modulated continuous waves via the transmitting antenna; For operations involving complex phase values; N is the number of single-channel baseband signal elements in each sweep cycle; n is the index of a single-channel baseband signal element in each sweep cycle; The sampling frequency and time of the baseband signal; For the first The sub-cycle scan and beam scan angle are: , No. A matrix consisting of M channels of baseband signals across 1 transmit sweep cycle, with column vectors of the matrix being the ______. The baseband signal of the channel; The imaginary unit; This is the estimated beat frequency corresponding to the distance between the measured target or the measuring point; Let be the distances from the m-th receiving antenna to the first receiving antenna, where m = 1, ..., M. ; The wavelength is the wavelength corresponding to the center frequency of a linear frequency modulated continuous wave.

9. The method for monitoring the vibration and deformation of crane structures based on phase-coded microwave sensing according to claim 5, characterized in that, Step S3 includes: after completing the test of one key structure of the crane structure, based on the angle information of the position of the second key structure to be tested of the crane structure. Repeat steps S1 and S2 to construct a phase encoding matrix, control the microwave beam direction to illuminate the location of the second key structure to be measured, extract its vibration displacement information, and iterate until the angles of all key structures have been traversed. , , where S is the number of key structures of the crane to be tested.

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