A device tilt deformation monitoring apparatus and method

Abstract

The application discloses a device tilt deformation monitoring device and method, which comprises a first mounting table, a second mounting table, an auxiliary positioning member, a first range finder, a second range finder, an inclinometer and a processor; the second mounting table is located above the first mounting table; the auxiliary positioning member and the first range finder are arranged on the first mounting table and close to one side of the second mounting table; the axial cross section of the auxiliary positioning member is V-shaped, and the V-shaped opening faces the second mounting table; the ranging signal generated by the first range finder is perpendicular to the first mounting table; the second range finder and the inclinometer are arranged on the second mounting table and close to one side of the first mounting table; the ranging signal generated by the second range finder is perpendicular to the second mounting table; the output ends of the first range finder, the second range finder and the inclinometer are connected with the input end of the processor; and the processor completes the device tilt deformation monitoring based on the output signals of the first range finder, the second range finder and the inclinometer. The application can directly measure the overall swing and tilt deformation of the device from the outside.

Description

Technical Field

[0001] This invention belongs to the field of monitoring power transmission towers, specifically relating to a monitoring device and method for equipment tilting deformation, and particularly to a monitoring method and device for the tilting deformation of wind turbine towers and large power transmission towers. Background Technology

[0002] In wind power systems, the tower plays a crucial role in supporting and protecting the wind turbine generators and related equipment. The safety of the tower is fundamental to the safe operation of the entire wind power system. Large transmission towers are key infrastructure in the high-voltage transmission arteries of the power grid. During operation, power towers may sway or tilt due to meteorological or geological factors. Monitoring the sway amplitude and tilt angle of the power tower is crucial for determining its operational safety. Currently, common engineering safety monitoring designs and applications typically involve installing inclinometers and accelerometers at the top of the wind turbine tower. Where possible, additional inclinometers (tilt meters) and accelerometers are installed along the inner wall of the tower from bottom to top. Monitoring applications for transmission towers follow a similar pattern.

[0003] If multiple inclinometers are arranged along the inner wall of the tower from bottom to top, and assuming that the tower section between adjacent inclinometers is completely rigid and without bending, then the deformation curves along the tower positions of each inclinometer can be calculated and plotted step by step by combining the spacing (gauge length) between adjacent measuring points. If the inclinometers are only installed at the top of the tower, then the bending deformation of the tower body must be ignored. Accelerometers can measure the vibration information of their installation location, and theoretically, through double integration, can also obtain the dynamic displacement information of that location.

[0004] Based on existing methods, to accurately measure the tilt deformation of the tower body, a large number of inclinometers (generally spaced about 2 meters apart) need to be deployed along the inner wall of the tower from bottom to top. With the increase in the number of inclinometers, the cost of monitoring equipment increases, as does the difficulty of installation, operational risks, and workload. Furthermore, when calculating the tilt deformation of the tower, there are cumulative errors at the measuring points and the inability to account for factors such as the bending deformation of the tower within the measuring point intervals. The final obtained overall deformation data of the tower often differs significantly from its actual deformation. In addition, when obtaining the dynamic displacement of the tower by measuring acceleration, because double integration is required, under current technological conditions, factors such as sensor drift, limited sampling rate, and limited measurement accuracy often result in a large discrepancy between the measured data and the actual dynamic displacement of the tower in engineering applications. Summary of the Invention

[0005] To address the aforementioned problems, this invention proposes a monitoring device and method for equipment tilt deformation, which can directly measure the overall sway and tilt deformation of equipment (such as wind turbine towers and large power transmission towers) from the outside.

[0006] To achieve the above-mentioned technical objectives and effects, the present invention is implemented through the following technical solution:

[0007] In a first aspect, the present invention provides a device for monitoring equipment tilt deformation, comprising a first mounting platform, a second mounting platform, an auxiliary positioning component, a first rangefinder, a second rangefinder, an inclinometer, and a processor;

[0008] The second mounting platform is located above the first mounting platform, and the two are respectively used to be vertically connected to the top and bottom platforms of the device under test;

[0009] The auxiliary positioning component and the first rangefinder are both located on the side of the first mounting platform close to the second mounting platform. The axial cross-section of the auxiliary positioning component is V-shaped, and the V-shaped opening faces the second mounting platform. The ranging signal generated by the first rangefinder is perpendicular to the first mounting platform.

[0010] The second rangefinder and the inclinometer are both mounted on the side of the second mounting platform close to the first mounting platform, and the ranging signal generated by the second rangefinder is perpendicular to the second mounting platform.

[0011] The output terminals of the first rangefinder, the second rangefinder, and the inclinometer are all connected to the input terminal of the processor. The processor performs equipment tilt deformation monitoring based on the output signals of the first rangefinder, the second rangefinder, and the inclinometer.

[0012] Optionally, the inner reflective surface of the auxiliary positioning component is conical. After the center line of the ranging signal generated by the second rangefinder and the vertical section of the cone apex of the auxiliary positioning component intersect with the inner reflective surface of the auxiliary positioning component, two intersecting oblique lines are formed. These two oblique lines are in the shape of a "V". These two oblique lines are defined as oblique line L1 and oblique line L2. The angle between oblique line L1 and oblique line L2 and the surface of the first mounting platform is θ.

[0013] Optionally, the first mounting platform is set on a horizontal plane, and its surface plane is defined as horizontal plane β; when the equipment does not undergo tilting deformation, the second mounting platform is parallel to the first mounting platform, and its surface plane is defined as plane α;

[0014] The installation coordinates of the first rangefinder in the horizontal plane β are known. Its laser beam shines vertically upward on the second mounting platform to form a laser reflection target point A. The first rangefinder outputs the distance between the emission point and the reflection target point to the processor. The processor calculates the spatial coordinates (x0, y0, z0) of the laser reflection target point A located in the plane α.

[0015] The inclinometer outputs the measured value to the processor;

[0016] The processor calculates the spatial vector of plane α based on the measured values. And based on the spatial coordinates (x, y, z) of any point P in plane α that is different from the laser reflection target point A, calculate according to The point-normal equation of plane α is obtained as: a(x-x0)+b(y-y0)+c(z-z0)=0;

[0017] Based on the point-normal equation of plane α and the installation coordinates of the center point of the auxiliary positioning component, the spatial coordinates (x0', y0', z0') of the intersection point P0 of the straight line perpendicularly upward through the center position of the auxiliary positioning component and plane α are obtained.

[0018] The second rangefinder is installed at P0.

[0019] Optionally, after the device tilts and deforms, the second rangefinder moves to P. x The point's spatial coordinates become (x', y', z'), and it is defined that the point passes through P0 and P in plane α. x The straight line Lx, The straight line Lx indicates the movement trajectory of the equipment after it tilts along the line;

[0020] The inclinometer outputs measured values ​​to the processor, and the processor calculates the direction vector of the line Lx based on the measured values ​​output by the inclinometer.

[0021] according to The equation of line Lx is obtained as follows:

[0022] Optionally, when the device tilts along the straight line Lx, the second rangefinder measures the distance P from its current position to the reflective surface of the auxiliary positioning device. x P t , where P t The target point on the reflective surface of the auxiliary positioning component is the measuring laser emitted by the second rangefinder;

[0023] The processor calculates the angle γ between the straight line Lx and the horizontal plane using the inclinometer measurement;

[0024] In right triangle Rt Δ C x P x P t In the middle, P x P t ⊥Lx,∠P x C x P t=α=θ-γ, where θ is the angle between the reflective surface of the auxiliary positioning element and the horizontal plane β; C x The intersection point of the straight line Lx and the extension of the oblique line L1 or oblique line L2 on the reflective surface of the auxiliary positioning component is obtained by the equation based on the straight line Lx and the equation of the oblique line L1 or oblique line L2.

[0025] By C x P x =P x P t *Cotα, calculate P x Based on the spatial position of the point, and the fixed positional relationship between the second rangefinder and the top of the equipment, the final actual deformation displacement of the top of the equipment is calculated.

[0026] Optionally, both the first and second rangefinders are laser rangefinders.

[0027] In a second aspect, the present invention provides a monitoring method based on the monitoring device for monitoring equipment tilt deformation described in the first aspect, comprising:

[0028] The output signals of the first rangefinder, the second rangefinder, and the inclinometer are sent to the processor.

[0029] The processor uses the output signals from the first rangefinder, the second rangefinder, and the inclinometer to monitor the tilt and deformation of the equipment.

[0030] Optionally, the inner reflective surface of the auxiliary positioning component is conical. After the center line of the ranging signal generated by the second rangefinder and the vertical section of the cone apex of the auxiliary positioning component intersect the inner reflective surface of the auxiliary positioning component, two intersecting oblique lines are formed. These two oblique lines are in the shape of a "V". These two oblique lines are defined as oblique line L1 and oblique line L2. The angle between oblique line L1 and oblique line L2 and the surface of the first mounting platform is θ.

[0031] The first mounting platform is set on a horizontal plane, and its surface is defined as horizontal plane β; when the equipment does not undergo tilting deformation, the second mounting platform is parallel to the first mounting platform, and its surface is defined as plane α;

[0032] The installation coordinates of the first rangefinder in the horizontal plane β are known. Its laser beam shines vertically upward on the second mounting platform to form a laser reflection target point A. The first rangefinder outputs the distance between the emission point and the reflection target point to the processor. The processor calculates the spatial coordinates (x0, y0, z0) of the laser reflection target point A located in the plane α.

[0033] The inclinometer outputs the measured value to the processor;

[0034] The processor calculates the spatial vector of plane α based on the measured values. And based on the spatial coordinates (x, y, z) of any point P in plane α that is different from the laser reflection target point A, calculate according to The point-normal equation of plane α is obtained as: a(x-x0)+b(y-y0)+c(z-z0)=0;

[0035] Based on the point-normal equation of plane α and the installation coordinates of the center point of the auxiliary positioning component, the spatial coordinates (x0', y0', z0') of the intersection point P0 of the straight line perpendicularly upward through the center position of the auxiliary positioning component and plane α are obtained.

[0036] The second rangefinder is installed at P0.

[0037] Optionally, after the device tilts and deforms, the second rangefinder moves to P. x The point's spatial coordinates become (x', y', z'), and it is defined that the point passes through P0 and P in plane α. x The straight line Lx, The straight line Lx indicates the movement trajectory of the equipment after it tilts along the line;

[0038] The inclinometer outputs measured values ​​to the processor, and the processor calculates the direction vector of the line Lx based on the measured values ​​output by the inclinometer.

[0039] according to The equation of line Lx is obtained as follows:

[0040] Optionally, when the device tilts along the straight line Lx, the second rangefinder measures the distance P from its current position to the reflective surface of the auxiliary positioning device. x P t , where P t The target point on the reflective surface of the auxiliary positioning component is the measuring laser emitted by the second rangefinder;

[0041] The processor calculates the angle γ between the straight line Lx and the horizontal plane using the inclinometer measurements.

[0042] In right triangle Rt Δ C x P x P t In the middle, P x P t ⊥Lx,∠P x C x P t =α = θ - γ, where θ is the angle between the reflecting surface on the auxiliary positioning component and the horizontal plane β; C xThe intersection point of the straight line Lx and the extension of the oblique line L1 or oblique line L2 on the auxiliary positioning component is obtained by the equation based on the straight line Lx and the equation of the oblique line L1 or oblique line L2.

[0043] By C x P x =P x P t *Cotα, calculate P x Based on the spatial position of the point, and the fixed positional relationship between the second rangefinder and the top of the equipment, the final actual deformation displacement of the top of the equipment is calculated.

[0044] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0045] This invention implements a combined measurement method using two laser rangefinders and one inclinometer to directly measure the overall tilt deformation of the power tower from the outside.

[0046] Specifically, this invention involves setting a first laser rangefinder with determined coordinate information on a first mounting platform (reference base plane). The rangefinder's measuring laser beam vertically upwards illuminates a second mounting platform located on top of the device under test, measuring the spatial coordinates of a laser reflection target point A within the surface plane α of the second mounting platform. The normal vector of plane α is obtained using an inclinometer mounted on the second mounting platform, thus obtaining the point-normal equation of plane α. Simultaneously, by setting an auxiliary positioning component with determined coordinate information on the first mounting platform, a second laser rangefinder with a fixed mapping positional relationship to the device under test is installed on plane α. By measuring the distance between the rangefinder and the reflecting slope of the auxiliary positioning component, and the tilt direction information provided by the inclinometer, the new spatial coordinate information of the second laser rangefinder after the device under test undergoes tilting deformation can be calculated. Based on the fixed mapping positional relationship between the second laser rangefinder and the device under test, the final actual deformation displacement of the top of the device can be calculated. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0048] Figure 1 This is a schematic diagram illustrating the principle of obtaining the point-normal equation of plane α according to an embodiment of the present invention.

[0049] Figure 2 This is a schematic diagram illustrating the principle of obtaining the point-normal equation of a spatial line Lx according to an embodiment of the present invention.

[0050] Figure 3 This is a schematic diagram of a device for monitoring equipment tilt deformation according to an embodiment of the present invention;

[0051] Figure 4 This is a structural diagram of a device for monitoring equipment tilt deformation according to an embodiment of the present invention;

[0052] Figure 5 A schematic diagram of the tower tilting and deforming to the left in one embodiment of the present invention;

[0053] Figure 6 A schematic diagram of the tower tilting and deforming to the right in one embodiment of the present invention;

[0054] 1-First rangefinder, 2-Inclinometer, 3-Second rangefinder, 4-Auxiliary positioning component, 5-Processor, 6-Tower. Detailed Implementation

[0055] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0056] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0057] Example 1

[0058] This invention provides a device for monitoring equipment tilt deformation, including a first mounting platform, a second mounting platform, an auxiliary positioning component 4, a first rangefinder 1, a second rangefinder 3, an inclinometer 2, and a processor 5;

[0059] The second mounting platform is located above the first mounting platform. The two are respectively used to be perpendicularly connected to the top and bottom platforms of the device under test, that is, the extension direction of the second mounting platform and the first mounting platform is perpendicular to the extension direction of the central axis of the device under test.

[0060] The auxiliary positioning component 4 and the first rangefinder 1 are both mounted on the first mounting platform near the second mounting platform. The axial cross-section of the auxiliary positioning component 4 is V-shaped, with the V-shaped opening facing the second mounting platform. The ranging signal generated by the first rangefinder 1 is perpendicular to the first mounting platform. In specific implementation, once the position of the auxiliary positioning component 4 on the first mounting platform is installed, it will not change, and its coordinate position is known data. The inner reflective surface of the auxiliary positioning component 4 is conical. The vertical cross-section passing through the center line of the ranging signal generated by the second rangefinder and the cone apex of the auxiliary positioning component intersects with the inner reflective surface of the auxiliary positioning component to form two intersecting oblique lines. These two oblique lines are V-shaped and are defined as oblique lines L1 and L2. The angle between oblique lines L1 and L2 and the surface of the first mounting platform is θ; θ is known data.

[0061] The second rangefinder 3 and the inclinometer 2 are both mounted on the side of the second mounting platform close to the first mounting platform. The ranging signal generated by the second rangefinder 3 is perpendicular to the second mounting platform. In specific implementation, both the first rangefinder 1 and the second rangefinder 3 are laser rangefinders.

[0062] The output terminals of the first distance measuring instrument 1, the second distance measuring instrument 3, and the inclinometer 2 are all connected to the input terminal of the processor 5. The processor 5 completes the monitoring of equipment tilt deformation based on the output signals of the first distance measuring instrument 1, the second distance measuring instrument 3, and the inclinometer 2. In the specific implementation process, the processor 5 can also realize information management and result display.

[0063] In one specific embodiment of the present invention, the first mounting platform is disposed on a horizontal plane, and its surface plane is defined as the horizontal plane β; when the equipment does not undergo tilting deformation, the second mounting platform is parallel to the first mounting platform, and its surface plane is defined as plane α.

[0064] The installation coordinates of the first rangefinder 1 in the horizontal plane are known. Its laser beam shines vertically upward onto the second mounting platform. The first rangefinder outputs the distance between the emission point and the reflection target point to the processor. The processor calculates the spatial coordinates (x0, y0, z0) of the laser reflection target point A located in the plane α.

[0065] The inclinometer 2 outputs the measured value to the processor 5;

[0066] The processor 5 calculates the spatial vector of plane α based on the measured values. And based on the spatial coordinates (x, y, z) of any point P in plane α that is different from the laser reflection target point A, calculate according to The point-normal equation of plane α is: a(x-x0)+b(y-y0)+c(z-z0)=0. See details... Figure 1 ;

[0067] Based on the point-normal equation of plane α and the installation coordinates of auxiliary positioning component 4, the spatial coordinates (x0', y0', z0') of the intersection point P0 of the straight line perpendicularly upward through the center of auxiliary positioning component 4 and plane α are obtained.

[0068] The second rangefinder 3 is initially installed at point P0.

[0069] When the equipment tilts and deforms, there is an angle between the second mounting platform and the horizontal plane, and the second rangefinder 3 moves to P. x The point's spatial coordinates become (x', y', z'), and it is defined that the point passes through P0 and P in plane α. x The straight line Lx, The straight line Lx indicates the movement trajectory of the equipment after it tilts along the line;

[0070] The inclinometer 2 outputs the measured value to the processor 5, and the processor 5 calculates the direction vector of the line Lx.

[0071] according to The equation of line Lx is obtained as follows: See details Figure 2 ;

[0072] When the device tilts along the straight line Lx, the second rangefinder 3 measures the distance P from its installation position to the reflective surface of the auxiliary positioning device. x P t , where P t The target point on the auxiliary positioning component 4 is the measuring laser emitted by the second rangefinder 3; this value can be obtained by calculation.

[0073] The processor calculates the angle γ between the straight line Lx and the horizontal plane using the measurements from the inclinometer 2.

[0074] In right triangle Rt Δ C x P x P t In the middle, P x P t ⊥Lx,∠P x C x P t =α=θ-γ, where θ is the angle between the auxiliary positioning component 4 and the horizontal plane β, C x The intersection point of the straight line Lx and the extension of the oblique line L1 or oblique line L2 on the auxiliary positioning component 4 is obtained based on the equation of the straight line Lx and the equation of the oblique line L1 or oblique line L2.

[0075] By C x Px =P x P t *Cotα, calculate P x Based on the spatial position of the point, and the fixed positional relationship between the second rangefinder 3 and the top of the equipment, the final actual deformation displacement of the top of the equipment is calculated.

[0076] The following describes the working process of the monitoring device in this embodiment of the invention monitoring the tilt deformation of the tower 6, with reference to a specific implementation method.

[0077] like Figure 4 As shown, the X and Y planes in the three-dimensional spatial coordinate system represent the surface plane (horizontal plane β) of the first mounting platform, and the Z direction represents the vertical direction in space. The second mounting platform (whose surface plane is plane α) located at the top of the tower 6 maintains a fixed perpendicular relationship with the tower 6. A second laser rangefinder (referred to as "rangefinder 2", initial spatial position P0) is installed on the second mounting platform to indicate (follow) the spatial position changes of the top of the tower 6. The measuring laser beam of the second laser rangefinder is perpendicular to plane α. Simultaneously, an inclinometer is deployed on plane α to follow and indicate the spatial tilt attitude of plane α. A first rangefinder 1 (referred to as "rangefinder 1") with a vertically upward measuring laser beam is installed on the first mounting platform to measure the distance between rangefinder 1 and plane α along its measuring laser beam direction. Simultaneously, an auxiliary positioning device with a V-shaped conical cross-section is deployed on the base platform.

[0078] like Figure 4 As shown, the installation coordinates of the rangefinder 1 in the horizontal plane β are known. Its laser beam shines vertically upwards onto the plane α, and the spatial coordinates (x0, y0, z0) of the laser reflection target point A located in the plane α can be calculated. The measurement of the inclinometer 2 provides a spatial vector of the plane α. Point P(x, y, z) is any point in plane α that is different from the laser reflection target point A. Then there is The point-normal equation of plane α is thus obtained as: a(x-x0)+b(y-y0)+c(z-z0)=0.

[0079] The installation coordinates of the auxiliary positioning component 4 on the first mounting platform (horizontal plane β) and the angle θ between its side and the horizontal plane are known. The equation of the straight line perpendicularly upward through its center position is known. Based on the point-normal equation of plane α, the coordinates of the intersection point P0 of this line and plane α can be determined (x0', y0', z0'). After the tower 6 undergoes tilting deformation, the rangefinder 2 will move along the tilting direction to a new spatial position P. x Point, line Lx is a line in plane α that passes through P0 and P... x a straight line, This straight line also indicates the trajectory of tower 6 after it tilts along this line (the trajectory of rangefinder 2 has a fixed mapping relationship with the center point of the top of tower 6). The direction vector of the straight line Lx can be obtained by measuring the value of inclinometer 2. according to The equation of line Lx is obtained as follows:

[0080] When the tower 6 is not tilted or deformed, the measuring laser beam of the rangefinder 2 is pointing downwards towards the center position (O) of the auxiliary positioning device. When the tower 6 tilts or deforms in a certain direction, the rangefinder 2 will tilt synchronously with the tower 6 (P0→P). x The laser beam is measured at the target point P on the reflective surface of the auxiliary positioning component 4. t It will be synchronously offset along the tilt direction of tower 6 to a certain position of its "V" shaped positioning section.

[0081] Figures (5) and (6) correspond to the positional relationship between the rangefinder 2 and the auxiliary positioning component 4 in the vertical section along the tilt direction when the tower 6 tilts to the right and to the left, respectively. In the figures, straight line Lx represents the moving trajectory (direction) of the rangefinder 2; L1 and L2 are the two intersection lines of the vertical section passing through the tilt trajectory line and the auxiliary positioning component 4, with the angle θ between them and the horizontal installation plane being a known value. The target point of the measuring laser beam of the rangefinder 2 is located on the intersection line (L1 or L2); C x It is the intersection point of line Lx and the extension of L1 or L2.

[0082] Assuming that tower 6 undergoes a rightward tilting deformation along a certain direction as shown in Figure (5) (P0→P x (i.e., tilted along the straight line Lx), the distance P measured by the rangefinder 2 from its installation position to the reflective surface of the auxiliary positioning component 4 is... x P t , where P t To measure the target point of the laser on the reflective surface of the auxiliary positioning component 4. When the tower 6 tilts along the straight line Lx, the angle γ between the straight line Lx and the horizontal plane is also the angle between the plane containing the straight line Lx and the horizontal plane (representing the tilt). This angle can be directly measured by a three-dimensional inclinometer installed on the monitoring plane, that is, the angle value of the Z-axis deviating from the vertical direction in the inclinometer 2 measurement. In the right triangle Rt Δ C x P x P t In the middle, P x P t ⊥Lx,∠P x C x P t=α = θ - γ, the angle γ (angle of inclination) between line Lx and the horizontal plane can be measured by an inclinometer, and the angle θ between L1 and the horizontal plane is known. From the above, it is clear that the spatial equation of line Lx is definite. It is easy to understand that the spatial equation of L1 (coplanar with line Lx) is also definite, therefore the intersection point C... x The coordinates can be determined. From C x P x =P x P t *Cotα can determine P x Based on the spatial position of the distance measuring instrument 2 and the top of the tower 6 during installation, the final actual deformation displacement of the top of the tower 6 can be calculated.

[0083] Similarly, when tower 6 undergoes a leftward tilting deformation along a certain direction as shown in Figure (6) (P0→P x It can also measure and calculate the final actual deformation displacement corresponding to the top of tower 6.

[0084] The method has a simple and clear measurement principle, no cumulative measurement error caused by intermediate measurement links, requires fewer monitoring instruments and equipment, does not damage the power tower body, is easy to install, and has a lower engineering cost than conventional methods.

[0085] Example 2

[0086] This invention provides a monitoring method for the equipment tilt deformation monitoring device described in Embodiment 1, characterized in that it includes:

[0087] The output signals of the first rangefinder 1, the second rangefinder 3, and the inclinometer 2 are sent to the processor 5;

[0088] The processor 5 uses the output signals of the first rangefinder 1, the second rangefinder 3, and the inclinometer 2 to complete the monitoring of equipment tilt deformation.

[0089] In one specific embodiment of the present invention, the inner reflective surface of the auxiliary positioning component 4 is conical in shape. After the vertical section of the auxiliary positioning component cone apex intersects with the inner reflective surface of the auxiliary positioning component through the center line of the ranging signal generated by the second rangefinder, two intersecting oblique lines are formed. The two oblique lines are in the shape of a "V". The two oblique lines are defined as oblique line L1 and oblique line L2, and the angle between the two and the surface of the first mounting platform is θ.

[0090] When the equipment does not tilt or deform, the first mounting platform is set on a horizontal plane, and its surface plane is defined as horizontal plane β; the second mounting platform is parallel to the first mounting platform, and its surface plane is defined as plane α;

[0091] The installation coordinates of the first rangefinder 1 in the horizontal plane are known. Its laser beam is perpendicular to the second mounting platform and the spatial coordinates (x0, y0, z0) of the laser reflection target point A located in the plane α are calculated.

[0092] The inclinometer 2 outputs the measured value to the processor 5;

[0093] The processor 5 calculates the spatial vector of plane α based on the measured values. And based on the spatial coordinates (x, y, z) of any point P in plane α that is different from the laser reflection target point A, calculate according to The point-normal equation of plane α is obtained as: a(x-x0)+b(y-y0)+c(z-z0)=0;

[0094] Based on the point-normal equation of plane α and the installation coordinates of auxiliary positioning component 4, the spatial coordinates (x0', y0', z0') of the intersection point P0 of the straight line perpendicularly upward through the center of auxiliary positioning component 4 and plane α are obtained.

[0095] The second rangefinder 3 is initially installed at point P0 on plane α.

[0096] In one specific embodiment of the present invention, after the device undergoes tilting deformation, the second rangefinder 3 moves to P. x The point's spatial coordinates become (x', y', z'), and it is defined that the point passes through P0 and P in plane α. x The straight line Lx, The straight line Lx indicates the movement trajectory of the equipment after it tilts along the line;

[0097] The inclinometer 2 outputs the measured value to the processor 5, and the processor 5 calculates the direction vector of the line Lx.

[0098] according to The equation of line Lx is obtained as follows:

[0099] In one specific embodiment of the present invention, when the device tilts along the straight line Lx, the second rangefinder 3 measures the distance P from its installation position to the auxiliary positioning device. x P t , where P t The target point on the auxiliary positioning component 4 is the measuring laser emitted by the second rangefinder 3;

[0100] The processor calculates the angle γ between the straight line Lx and the horizontal plane using the measurements from the inclinometer 2.

[0101] In right triangle Rt Δ Cx P x P t In the middle, P x P t ⊥Lx,∠P x C x P t =α=θ-γ, where θ is the angle between the auxiliary positioning component 4 and the horizontal plane β, C x The intersection point of the straight line Lx and the extension of the V-shaped inclined plane of the auxiliary positioning component 4 is obtained based on the equation of the straight line Lx and the equation of the inclined plane L1.

[0102] By C x P x =P x P t *Cotα, calculate P x Based on the spatial position of the point, and the fixed positional relationship between the second rangefinder 3 and the top of the equipment, the final actual deformation displacement of the top of the equipment is calculated.

[0103] The following describes the working process of monitoring the tilt deformation of the tower 6 using a specific embodiment of the present invention.

[0104] like Figure 4 As shown, the X and Y planes in the three-dimensional spatial coordinate system represent the surface plane (horizontal plane β) of the first mounting platform, and the Z direction represents the vertical direction in space. The second mounting platform (whose surface plane is plane α) located at the top of the tower 6 maintains a fixed perpendicular relationship with the tower 6. A second laser rangefinder (referred to as "rangefinder 2", initial spatial position P0) is installed on the second mounting platform to indicate (follow) the spatial position changes of the top of the tower 6. The measuring laser beam of the second laser rangefinder is perpendicular to plane α. Simultaneously, an inclinometer is deployed on plane α to follow and indicate the spatial tilt attitude of plane α. A first rangefinder 1 (referred to as "rangefinder 1") with a vertically upward measuring laser beam is installed on the first mounting platform to measure the distance between rangefinder 1 and plane α along its measuring laser beam direction. Simultaneously, a cone-shaped auxiliary positioning component with a vertical cross-section of "V" is deployed on the base platform.

[0105] like Figure 4 As shown, the installation coordinates of the rangefinder 1 in the horizontal plane β are known. Its laser beam shines vertically upwards onto the plane α, and the spatial coordinates (x0, y0, z0) of the laser reflection target point A located in the plane α can be calculated. The measurement of the inclinometer 2 provides a spatial vector of the plane α. Point P(x, y, z) is any point in plane α that is different from the laser reflection target point A. Then there is The point-normal equation of plane α is thus obtained as: a(x-x0)+b(y-y0)+c(z-z0)=0.

[0106] The installation coordinates of the auxiliary positioning component 4 on the first mounting platform (horizontal plane β) and the angle θ between its side and the horizontal plane are known. The equation of the straight line perpendicularly upward through its center position is known. Based on the point-normal equation of plane α, the coordinates of the intersection point P0 of this line and plane α can be determined (x0', y0', z0'). After the tower 6 undergoes tilting deformation, the rangefinder 2 will move along the tilting direction to a new spatial position P. x Point, line Lx is a line in plane α that passes through P0 and P... x a straight line, This straight line also indicates the trajectory of tower 6 after it tilts along this line (the trajectory of rangefinder 2 has a fixed mapping relationship with the center point of the top of tower 6). The direction vector of the straight line Lx can be obtained by measuring the value of inclinometer 2. according to The equation of line Lx is obtained as follows:

[0107] When the tower 6 is not tilted or deformed, the measuring laser beam of the rangefinder 2 is pointing downwards towards the center position (O) of the auxiliary positioning device. When the tower 6 tilts or deforms in a certain direction, the rangefinder 2 will tilt synchronously with the tower 6 (P0→P). x The laser beam is used to measure the target point P on the auxiliary positioning component 4. t It will be synchronously offset along the tilt direction of tower 6 to a certain position on the inclined line (L1 or L2) of its corresponding "V"-shaped positioning section.

[0108] Figures (5) and (6) correspond to the positional relationship between the rangefinder 2 and the auxiliary positioning component 4 in the vertical section along the tilt direction when the tower 6 tilts to the right and to the left, respectively. In the figures, straight line Lx represents the straight line of the rangefinder 2's movement trajectory (direction); L1 and L2 are the two intersection lines of the vertical section along the tilt direction and the auxiliary positioning component 4, and the angle θ between them and the horizontal installation plane is a known value. The target point of the measuring laser beam of the rangefinder 2 is located on the intersection line (L1 or L2); C x It is the intersection point of line Lx and the extension of L1 or L2.

[0109] Assuming that tower 6 undergoes a rightward tilting deformation along a certain direction as shown in Figure (5) (P0→P x (i.e., tilted along the straight line Lx), the distance P measured by the rangefinder 2 from its installation position to the auxiliary positioning component 4 is... x P t , where P tTo measure the target point of the laser on the auxiliary positioning component 4, when the tower 6 tilts along the straight line Lx, the angle γ between the straight line Lx and the horizontal plane is also the angle between the plane containing the straight line Lx and the horizontal plane (representing the tilt). This angle can be directly measured by a three-dimensional inclinometer installed on the monitoring plane, i.e., the angle of the Z-axis deviating from the vertical direction in the inclinometer 2 measurement. In the right triangle Rt... Δ C x P x P t In the middle, P x P t ⊥Lx,∠P x C x P t =α = θ - γ, the angle γ (angle of inclination) between line Lx and the horizontal line can be measured by an inclinometer, and the angle θ between L1 and the horizontal plane is known. From the above, it is clear that the spatial equation of line Lx is definite. It is easy to understand that the spatial equation of L1 (coplanar with line Lx) is also definite, therefore the intersection point C... x The coordinates can be determined. From C x P x =P x P t *Cotα can determine P x Based on the spatial position of the distance measuring instrument 2 and the top of the tower 6 during installation, the final actual deformation displacement of the top of the tower 6 can be calculated.

[0110] Similarly, when tower 6 undergoes a leftward tilting deformation along a certain direction as shown in Figure (6) (P0→P x It can also measure and calculate the final actual deformation displacement corresponding to the top of tower 6.

[0111] The method has a simple and clear measurement principle, no cumulative measurement error caused by intermediate measurement links, requires fewer monitoring instruments and equipment, does not damage the power tower body, is easy to install, and has a lower engineering cost than conventional methods.

[0112] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0113] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0114] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0115] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0116] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

[0117] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A monitoring device for equipment tilting deformation, characterized in that: It includes a first mounting platform, a second mounting platform, auxiliary positioning components, a first rangefinder, a second rangefinder, an inclinometer, and a processor; The second mounting platform is located above the first mounting platform, and the two are respectively used to be vertically connected to the top and bottom platforms of the device under test; The auxiliary positioning component and the first rangefinder are both located on the side of the first mounting platform close to the second mounting platform. The axial cross-section of the auxiliary positioning component is V-shaped, and the V-shaped opening faces the second mounting platform. The ranging signal generated by the first rangefinder is perpendicular to the first mounting platform. The second rangefinder and the inclinometer are both mounted on the side of the second mounting platform close to the first mounting platform, and the ranging signal generated by the second rangefinder is perpendicular to the second mounting platform. The output terminals of the first distance measuring instrument, the second distance measuring instrument, and the inclinometer are all connected to the input terminal of the processor. The processor completes the monitoring of equipment tilt deformation based on the output signals of the first distance measuring instrument, the second distance measuring instrument, and the inclinometer. The inner reflective surface of the auxiliary positioning component is conical. When the vertical section of the center line of the ranging signal generated by the second rangefinder and the cone apex of the auxiliary positioning component intersects the inner reflective surface, two intersecting oblique lines are formed. These two intersecting oblique lines are V-shaped and are defined as oblique lines L1 and L2. The angle between oblique lines L1 and L2 and the surface of the first mounting platform is [value missing]. ; The first mounting platform is set on a horizontal plane, and its surface is defined as a horizontal plane. When the equipment does not tilt or deform, the second mounting platform is parallel to the first mounting platform, and its surface is defined as a plane. ; The first rangefinder is on the horizontal plane The installation coordinates within the target area are known. The laser beam shines vertically upwards onto the second mounting platform, forming a laser reflection target point A. The first rangefinder outputs the distance between the emission point and the reflection target point to the processor. The processor calculates the distance located on the plane... Laser reflection target inside spatial coordinates ; The inclinometer outputs the measured value to the processor; The processor calculates the plane based on the measured values. spatial vectors and based on the plane The inner part is different from the laser reflection target. any point spatial coordinates Calculate ,according to , to obtain a plane Point-normal equation: ; Based on the plane Using the point-normal equation and the installation coordinates of the auxiliary positioning component, the line perpendicularly upward through the center of the auxiliary positioning component and the plane are obtained. intersection spatial coordinates ; The initial installation position of the second rangefinder is at Place; After the device tilts and deforms, the second rangefinder moves to... Point, spatial coordinates become Define a plane Inner Passage , straight line , ,straight line It indicates the movement trajectory of the equipment after it tilts along the straight line; The inclinometer outputs measured values ​​to the processor, and the processor calculates a straight line based on the measured values ​​output by the inclinometer. Direction vector ; according to Obtain a straight line The equation is: ; When the device is along a straight line When the direction is tilted, the second rangefinder measures the distance from its current position to the reflective surface of the auxiliary positioning device as follows: ,in The target point on the reflective surface of the auxiliary positioning component is the measuring laser emitted by the second rangefinder; The processor calculates the straight line using the inclinometer measurements. Angle with the horizontal plane ; In a right triangle middle, , , To assist in positioning the components and the horizontal plane The angle between them; It is a straight line The intersection point with the extension of the oblique line L1 or oblique line L2 on the reflective surface of the auxiliary positioning component is determined by a straight line. The equations of the two lines are obtained from the equations of the two lines and the equations of the two lines L1 or L2. Depend on Calculate Based on the spatial position of the point, and the fixed positional relationship between the second rangefinder and the top of the equipment, the final actual deformation displacement of the top of the equipment is calculated.

2. The monitoring device for equipment tilting deformation according to claim 1, characterized in that: Both the first and second rangefinders are laser rangefinders.

3. A monitoring method based on the equipment tilt deformation monitoring device according to claim 1, characterized in that, include: The output signals of the first rangefinder, the second rangefinder, and the inclinometer are sent to the processor. The processor uses the output signals from the first rangefinder, the second rangefinder, and the inclinometer to monitor the tilt and deformation of the equipment.

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