Dam high-precision deformation monitoring equipment and method based on beidou satellite

Abstract

This invention discloses a high-precision deformation monitoring equipment and method for dams based on the BeiDou satellite navigation system, relating to the field of dam deformation monitoring technology. It includes multiple dam displacement sensing devices based on low-temperature superconducting magnetic levitation and a displacement monitoring center server. The multiple dam displacement sensing devices are respectively deployed at multiple displacement measurement points on the target dam. This invention first uses a displacement sensing unit based on BeiDou satellite positioning to sense whether displacement occurs at the measurement point and the direction of the displacement. A superconducting displacement detection controller controls the rotating part of a servo rotating device to rotate, making the magnetic levitation linear track of the low-temperature superconducting magnetic levitation displacement detection device parallel to the direction of displacement, thus realizing displacement measurement. Displacement measurement is performed using a laser displacement sensor, achieving high-precision measurement of the planar displacement of the target dam. The displacement accuracy can reach the micrometer level, detecting minute lateral displacements and providing high-precision data for dam deformation monitoring.

Description

Technical Field

[0001] This invention relates to the field of dam deformation monitoring technology, and in particular to high-precision dam deformation monitoring equipment and methods based on the BeiDou satellite system. Background Technology

[0002] Monitoring the external shape of dams in large-scale hydropower projects is a crucial engineering monitoring project aimed at ensuring the structural safety and effectiveness of the dam. The purpose of monitoring is to promptly detect deformation, displacement, cracks, or other structural problems in the dam, thereby enabling appropriate maintenance and repair measures to be taken.

[0003] Dam monitoring stations are typically used to monitor factors such as structural deformation, stress, seepage, and environmental conditions of dams. When abnormal monitoring data is detected, the monitoring station can issue an early warning in a timely manner, providing time for emergency measures to be taken and preventing accidents from occurring or escalating.

[0004] Under current technology, dam monitoring stations typically monitor structural deformation using visual or laser beacon methods. However, the foundation of the dam monitoring station is located in the same area as the monitored target, and regional geological displacement below it can significantly affect the monitoring accuracy of the dam monitoring station.

[0005] Therefore, developing a high-precision deformation monitoring device for dams is an urgent technical problem that needs to be solved. Summary of the Invention

[0006] To address the technical challenge of high-precision monitoring of lateral displacement in dam monitoring stations, this invention provides high-precision dam deformation monitoring equipment and method based on the BeiDou satellite navigation system. The technical solution is as follows:

[0007] The high-precision deformation monitoring equipment for dams based on the BeiDou satellite system includes multiple dam displacement sensing devices based on low-temperature superconducting magnetic levitation and a displacement monitoring center server. The multiple dam displacement sensing devices are respectively deployed at multiple displacement measuring points on the target dam. Each dam displacement sensing device includes a servo rotating device, a low-temperature superconducting magnetic levitation displacement detection device, a measuring point displacement sensing unit based on BeiDou satellite positioning, and a chip-based superconducting displacement detection controller. The base of the servo rotating device is detachably installed at the displacement measuring point. The bottom of the low-temperature superconducting magnetic levitation displacement detection device is detachably installed on the top surface of the rotating part of the servo rotating device. The measuring point displacement sensing unit is installed in the center of the top surface of the low-temperature superconducting magnetic levitation displacement detection device to sense whether displacement occurs and its direction. The superconducting displacement detection controller communicates with the measuring point displacement sensing unit, exchanging signal data on whether displacement occurs and its direction, and controlling the rotating part of the servo rotating device to rotate, making the magnetic levitation linear track of the low-temperature superconducting magnetic levitation displacement detection device parallel to the direction of displacement. The displacement detection results of the low-temperature superconducting magnetic levitation displacement detection device are communicated with the displacement monitoring center server.

[0008] Optionally, the low-temperature superconducting magnetic levitation displacement detection device includes a sealed heat-insulating box, a magnetic levitation linear track, a superconducting levitation block, a low-temperature vacuum maintaining device, and at least one laser displacement sensor. The bottom of the sealed heat-insulating box is detachably mounted on the rotating part of the servo rotating device. The bottom of the magnetic levitation linear track is mounted on the bottom of the inner wall of the sealed heat-insulating box. The superconducting levitation block is suspended above the magnetic levitation linear track and located at the center of the internal space of the sealed heat-insulating box. The four sides of the superconducting levitation block are parallel to the four sides of the sealed heat-insulating box. The laser displacement sensor is mounted on the sealed heat-insulating box, with the sensing head facing one side of the superconducting levitation block. The data output terminal of the laser displacement sensor is communicatively connected to the displacement monitoring center server. The low-temperature vacuum maintaining device is mounted on the outer wall of the sealed heat-insulating box to maintain the vacuum level of the sealed heat-insulating box at a high vacuum level and the temperature at the lowest superconducting temperature of the superconducting levitation block.

[0009] By adopting the above technical solution, in order to improve the accuracy of horizontal displacement monitoring at dam monitoring points, and distinguishing it from the traditional long-distance optical monitoring scheme of dam monitoring stations, a displacement sensing unit based on Beidou satellite positioning is first used to sense whether displacement has occurred at the monitoring point and the direction of displacement. While high-precision Beidou satellite positioning technology can achieve millimeter-level position change sensing, its accuracy is insufficient for direct planar displacement measurement. The purpose of the displacement sensing unit in sensing the displacement direction is to control the rotating part of the servo rotating device under the control of the superconducting displacement detection controller, so that the magnetic levitation linear track of the low-temperature superconducting magnetic levitation displacement detection device is parallel to the direction of displacement. This allows the superconducting levitation cube of the low-temperature superconducting magnetic levitation displacement detection device to move along the displacement direction and align with the magnetic field. The suspended linear track allows for resistance-free relative displacement, enabling displacement measurement. Displacement measurement can be performed using a laser displacement sensor. When displacement occurs, the sealed, insulated box and the magnetically levitated linear track shift laterally, while the superconducting levitated block remains suspended. The direction of the magnetically levitated linear track is adjusted to be parallel to the displacement direction. Thus, the superconducting levitated block is almost unaffected by any directional force, and its position remains nearly unchanged, but its position relative to the inner wall of the sealed, insulated box changes. The laser displacement sensor can measure this displacement with high precision, enabling high-precision measurement of the planar displacement of the target dam. The displacement accuracy can reach the micrometer level, detecting minute lateral displacements and providing high-precision data for dam deformation monitoring.

[0010] Optionally, the sealed and insulated box includes an outer heat insulation layer, an intermediate liquid nitrogen circulation space, and a heat-conducting inner layer. The outer heat insulation layer is provided with a pair of liquid nitrogen circulation suction ports and a vacuum suction port that penetrates the intermediate liquid nitrogen circulation space and the heat-conducting inner layer.

[0011] A displacement sensor mounting cavity is provided in the middle of the outer heat insulation layer, the intermediate liquid nitrogen circulation space and the heat-conducting inner layer. A sealed transparent plate is provided on the side of the displacement sensor mounting cavity near the heat-conducting inner layer. The laser displacement sensor is installed in the displacement sensor mounting cavity with the sensing head facing the sealed transparent plate.

[0012] Optionally, the cryogenic vacuum maintaining device includes a vacuum pump and a liquid nitrogen circulation device. The suction port of the vacuum pump is connected to the vacuum suction port through a pipe, and the circulation input and output ports of the liquid nitrogen circulation device are respectively connected to a pair of liquid nitrogen circulation suction ports to inject liquid nitrogen into the intermediate liquid nitrogen circulation space.

[0013] By adopting the above technical solution, the functions of the sealed and insulated box are to provide a sealed and reliable space and to achieve a vacuum temperature environment suitable for low-temperature superconductivity. Therefore, an outer heat insulation layer is set up to achieve heat insulation, which can be made of ceramic fiber material. The thermally conductive inner layer can be made of alumina or aluminum nitride material, which has good mechanical and thermal conductivity at liquid nitrogen temperature. The vacuum pump can circulate liquid nitrogen in the intermediate liquid nitrogen circulation space through the vacuum suction port. Under the heat absorption effect of liquid nitrogen, the temperature of the internal space of the thermally conductive inner layer can be maintained at the superconducting temperature required for the superconducting levitation cube. At the same time, the vacuum pump can also maintain the vacuum degree of the internal space of the thermally conductive inner layer at a high vacuum degree, which refers to a vacuum degree of 1.333 × 10⁻⁶. -1 -1.333×10 -6 A vacuum level in the Pa range can reduce air resistance in superconducting levitation blocks, further improving displacement measurement accuracy.

[0014] Optionally, the magnetic levitation linear track is composed of two rows of magnets arranged at equal intervals.

[0015] Optionally, the superconducting levitation cube is made of an iron-based superconductor or a mercury-based superconductor.

[0016] By adopting the above technical solutions, the superconducting temperature of iron-based or mercury-based superconductors is higher than 77K, and superconductivity can be achieved in a temperature environment created by liquid nitrogen.

[0017] Optionally, the displacement sensing unit includes an outer casing and a Beidou positioning module. The bottom of the outer casing is detachably installed at the top center of the sealed and insulated casing. The Beidou positioning module is detachably installed on the upper surface of the outer casing. The Beidou positioning module wirelessly connects with the superconducting displacement detection controller and the displacement monitoring center server to exchange positioning data. The superconducting displacement detection controller controls the execution action of the servo rotation device based on the positioning data from the Beidou positioning module.

[0018] By adopting the above technical solutions, the high-precision Beidou positioning module can achieve millimeter-level displacement sensing. However, it is not accurate enough in terms of precise displacement measurement. Nevertheless, it can sense displacement and displacement direction, providing a basis for the superconducting displacement detection controller to control the servo rotation device.

[0019] Optionally, the superconducting displacement detection controller includes a wireless communication module, a memory, and a main control chip. The wireless communication module wirelessly connects with the Beidou positioning module to exchange positioning data and stores it in the memory. The main control chip controls the servo rotation device to perform actions based on changes in the positioning data.

[0020] By adopting the above technical solution, the wireless communication module can wirelessly network with the Beidou positioning module based on Bluetooth or Zigbee technology. The main actuator of the servo rotation device is the servo motor. The main control chip can first communicate with the servo motor to obtain the orientation data of the current rotating part, thereby obtaining the orientation data of the low magnetic levitation linear track. According to the movement direction data of the Beidou positioning module, the rotating part of the servo motor is controlled to rotate, so that the low magnetic levitation linear track of the low-temperature superconducting magnetic levitation displacement detection device is parallel to the direction of displacement.

[0021] A high-precision deformation monitoring method for dams based on the BeiDou satellite system is used to monitor the displacement of multiple displacement points on a target dam using BeiDou satellite-based high-precision deformation monitoring equipment. The method includes the following steps:

[0022] Step 1: Deploy multiple dam displacement sensing devices at multiple displacement measurement points. Number the multiple Beidou positioning modules of the multiple dam displacement sensing devices as BDS1, BDS2, ..., BDSn; and number the multiple laser displacement sensors as CMOS1, CMOS2, ..., CMOSn, where n is the number of dam displacement sensing devices.

[0023] Step 2: At set time intervals, the superconducting displacement detection controller communicates with the displacement sensing unit of the measuring point to exchange the current Beidou positioning data. Based on the Beidou positioning data of the previous time point, it calculates whether displacement has occurred and the direction of displacement. If displacement is determined to have occurred, the direction of displacement is calculated, and according to the direction of displacement, the rotating part of the servo rotating device is controlled to rotate so that the low magnetic levitation linear track of the low-temperature superconducting magnetic levitation displacement detection device is parallel to the direction of displacement.

[0024] Step 3: After the servo rotation device has finished rotating and adjusting, the displacement monitoring center server calculates the displacement monitoring value of the current displacement measuring point based on the difference between the initial displacement data of the laser displacement sensor and the displacement data at the current time point. Combined with the displacement orientation in Step 2, it outputs a high-precision displacement monitoring value composed of the displacement orientation data and displacement monitoring value of the previous displacement measuring point.

[0025] By adopting the above technical solutions and using different dam displacement sensing devices to monitor the lateral displacement of multiple measuring points, high-precision monitoring of different lateral displacements at different locations of the dam can be achieved, providing more accurate displacement data for the deformation analysis of the entire dam.

[0026] In summary, the present invention has at least one of the following beneficial technical effects:

[0027] This invention provides a high-precision deformation monitoring equipment and method for dams based on the BeiDou satellite system. Unlike traditional long-distance optical monitoring schemes for dam monitoring stations, this invention first uses a displacement sensing unit based on BeiDou satellite positioning to detect whether displacement occurs at the measuring point and the direction of that displacement. A superconducting displacement detection controller controls the rotating part of a servo rotating device to rotate, ensuring that the magnetic levitation linear track of the low-temperature superconducting magnetic levitation displacement detection device is parallel to the direction of displacement. This allows the superconducting levitation block of the low-temperature superconducting magnetic levitation displacement detection device to move relative to the magnetic levitation linear track without resistance along the displacement direction, achieving displacement measurement. Displacement measurement is performed using a laser displacement sensor. When displacement occurs, the laser displacement sensor measures the displacement with high precision, thus achieving high-precision measurement of the planar displacement of the target dam. The displacement accuracy can reach the micrometer level, detecting minute lateral displacements and providing high-precision data for dam deformation monitoring. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the dam displacement sensing device structure of the high-precision dam deformation monitoring equipment based on the Beidou satellite of this invention.

[0029] Figure 2 This is a schematic diagram of the electrical component connection principle of the high-precision deformation monitoring equipment for dams based on the BeiDou satellite system of this invention;

[0030] Figure 3 This is a schematic diagram of the measurement point arrangement in a specific embodiment of the present invention.

[0031] Explanation of reference numerals in the attached drawings: 1. Servo rotation device; 2. Low-temperature superconducting magnetic levitation displacement detection device; 21. Sealed and insulated box; 23. Magnetic levitation linear track; 24. Superconducting levitation block; 25. Laser displacement sensor; 261. Vacuum pump; 262. Liquid nitrogen circulation device; 31. Outer box; 32. Beidou positioning module; 4. Superconducting displacement detection controller; 41. Wireless communication module; 42. Memory; 43. Main control chip; 100. Displacement monitoring center server. Detailed Implementation

[0032] The present invention will be further described in detail below with reference to the accompanying drawings.

[0033] This invention discloses a high-precision deformation monitoring equipment and method for dams based on the BeiDou satellite system.

[0034] Reference Figure 1 - Figure 3 The high-precision deformation monitoring equipment for dams based on the BeiDou satellite system includes multiple dam displacement sensing devices based on low-temperature superconducting magnetic levitation and a displacement monitoring center server 100. The multiple dam displacement sensing devices are respectively deployed at multiple displacement measuring points on the target dam. Each dam displacement sensing device includes a servo rotation device 1, a low-temperature superconducting magnetic levitation displacement detection device 2, a measuring point displacement sensing unit based on BeiDou satellite positioning, and a chip-based superconducting displacement detection controller 4. The base of the servo rotation device 1 is detachably installed at the displacement measuring point, and the bottom of the low-temperature superconducting magnetic levitation displacement detection device 2 is detachably installed... On the top surface of the rotating part of the servo rotating device 1, a displacement sensing unit is installed in the center of the top surface of the low-temperature superconducting magnetic levitation displacement detection device 2. This unit is used to sense whether displacement occurs and the direction of displacement. The superconducting displacement detection controller 4 is communicatively connected to the displacement sensing unit, exchanging signal data on whether displacement occurs and the direction of displacement. This controller controls the rotating part of the servo rotating device 1 to rotate, making the magnetic levitation linear track 23 of the low-temperature superconducting magnetic levitation displacement detection device 2 parallel to the direction of displacement. The displacement detection results of the low-temperature superconducting magnetic levitation displacement detection device 2 are communicatively connected to the displacement monitoring center server 100.

[0035] The low-temperature superconducting magnetic levitation displacement detection device 2 includes a sealed and insulated box 21, a magnetic levitation linear track 23, a superconducting levitation block 24, a low-temperature vacuum maintaining device, and at least one laser displacement sensor 25. The bottom of the sealed and insulated box 21 is detachably mounted on the rotating part of the servo rotating device 1. The bottom of the magnetic levitation linear track 23 is mounted on the bottom of the inner wall of the sealed and insulated box 21. The superconducting levitation block 24 is suspended above the magnetic levitation linear track 23 and located at the center of the internal space of the sealed and insulated box 21. The four sides of the superconducting levitation block 24 are parallel to the four sides of the sealed and insulated box 21. The laser displacement sensor 25 is mounted on the sealed and insulated box 21, with the sensing head facing one side of the superconducting levitation block 24. The data output terminal of the laser displacement sensor 25 is communicatively connected to the displacement monitoring center server 100. The low-temperature vacuum maintaining device is mounted on the outer wall of the sealed and insulated box 21 to maintain the vacuum level of the sealed and insulated box 21 at a high vacuum level and the temperature at the lowest superconducting temperature of the superconducting levitation block 24.

[0036] To improve the accuracy of horizontal displacement monitoring at dam monitoring points, and differing from traditional long-distance optical monitoring schemes for dam monitoring stations, a displacement sensing unit based on BeiDou satellite positioning is first used to detect whether displacement has occurred at the monitoring point and the direction of the displacement. While high-precision BeiDou satellite positioning technology can achieve millimeter-level position change sensing, its accuracy is insufficient for direct planar displacement measurement. The purpose of the displacement sensing unit in sensing the displacement direction is to control the rotating part of the servo rotating device 1 under the control of the superconducting displacement detection controller 4, so that the magnetically levitated linear track 23 of the low-temperature superconducting magnetic levitation displacement detection device 2 is parallel to the direction of displacement. This allows the superconducting levitated cube 24 of the low-temperature superconducting magnetic levitation displacement detection device 2 to move along the displacement direction without resistance along the magnetically levitated linear track 23. Relative displacement is measured using a laser displacement sensor 25. When displacement occurs, the sealed insulated box 21 and the magnetic levitation linear track 23 shift laterally, while the superconducting levitation block 24 remains suspended. The direction of the magnetic levitation linear track 23 is adjusted to be parallel to the displacement direction, so the superconducting levitation block 24 is almost unaffected by any directional force and its position remains almost unchanged. However, its position relative to the inner wall of the sealed insulated box 21 changes. The laser displacement sensor 25 can measure this displacement with high precision, thereby achieving high-precision measurement of the planar displacement of the target dam. The displacement accuracy can reach the micrometer level, detecting minute lateral displacements and providing high-precision data for dam deformation monitoring.

[0037] The sealed and insulated box 21 includes an outer heat insulation layer, an intermediate liquid nitrogen circulation space and a heat-conducting inner layer. The outer heat insulation layer is provided with a pair of liquid nitrogen circulation suction ports and a vacuum suction port that penetrates the intermediate liquid nitrogen circulation space and the heat-conducting inner layer.

[0038] A displacement sensor mounting cavity is provided in the middle of the outer heat insulation layer, the intermediate liquid nitrogen circulation space and the heat-conducting inner layer. A sealed transparent plate is provided on the side of the displacement sensor mounting cavity near the heat-conducting inner layer. The laser displacement sensor 25 is installed in the displacement sensor mounting cavity with the sensing head facing the sealed transparent plate.

[0039] The cryogenic vacuum maintenance device includes a vacuum pump 261 and a liquid nitrogen circulation device 262. The suction port of the vacuum pump 261 is connected to the vacuum suction port through a pipe. The circulation input and output ports of the liquid nitrogen circulation device 262 are respectively connected to a pair of liquid nitrogen circulation suction ports to inject liquid nitrogen into the intermediate liquid nitrogen circulation space.

[0040] The sealed and insulated box 21 serves two functions: firstly, to provide a sealed and reliable space, and secondly, to achieve a vacuum temperature environment suitable for low-temperature superconductivity. Therefore, an outer insulating layer is provided for insulation; this layer can be made of ceramic fiber material. The inner thermally conductive layer can be made of alumina or aluminum nitride, which possesses good mechanical and thermal conductivity at liquid nitrogen temperatures. The vacuum pump 261 circulates liquid nitrogen through a vacuum suction port within the intermediate liquid nitrogen circulation space. The heat absorption of the liquid nitrogen maintains the temperature inside the inner thermally conductive layer at the superconducting temperature required by the superconducting suspended cube 24. Simultaneously, the vacuum pump 261 maintains a high vacuum level inside the inner thermally conductive layer, defined as a vacuum level of 1.333 × 10⁻⁶. -1 -1.333×10 -6 A vacuum level in the Pa range can reduce air resistance in the superconducting levitation block 24, further improving the accuracy of displacement measurement.

[0041] The magnetic levitation linear track 23 is composed of two rows of magnets arranged at equal intervals.

[0042] The superconducting levitation cube 24 is made of iron-based or mercury-based superconductors.

[0043] Iron-based or mercury-based superconductors have superconducting temperatures above 77K and can achieve superconductivity in a temperature environment created by liquid nitrogen.

[0044] The displacement sensing unit includes an outer box 31 and a Beidou positioning module 32. The bottom of the outer box 31 is detachably installed at the top center of the sealed heat-insulating box 21. The Beidou positioning module 32 is detachably installed on the upper surface of the outer box 31. The Beidou positioning module 32 wirelessly connects with the superconducting displacement detection controller 4 and the displacement monitoring center server 100 to exchange positioning data. The superconducting displacement detection controller 4 controls the execution action of the servo rotation device 1 according to the positioning data of the Beidou positioning module 32.

[0045] The high-precision Beidou positioning module 32 can achieve millimeter-level displacement sensing, but its accuracy is insufficient for precise displacement measurement. However, it can sense displacement and displacement direction, providing a basis for the superconducting displacement detection controller 4 to control the servo rotation device 1.

[0046] The superconducting displacement detection controller 4 includes a wireless communication module 41, a memory 42, and a main control chip 43. The wireless communication module 41 wirelessly connects with the Beidou positioning module 32 to exchange positioning data, which is stored in the memory 42. The main control chip 43 controls the servo rotation device 1 to perform actions according to the changes in the positioning data.

[0047] The wireless communication module 41 can wirelessly network with the Beidou positioning module 32 based on Bluetooth or Zigbee technology. The main actuator of the servo rotation device 1 is a servo motor. The main control chip 43 can first communicate with the servo motor to obtain the orientation data of the current rotating part, thereby obtaining the orientation data of the low magnetic levitation straight track 23. According to the movement direction data of the Beidou positioning module 32, the rotating part of the servo motor is controlled to rotate, so that the low magnetic levitation straight track 23 of the low temperature superconducting magnetic levitation displacement detection device 2 is parallel to the direction of displacement.

[0048] A high-precision deformation monitoring method for dams based on the BeiDou satellite system is used to monitor the displacement of multiple displacement points on a target dam using BeiDou satellite-based high-precision deformation monitoring equipment. The method includes the following steps:

[0049] Step 1: Deploy multiple dam displacement sensing devices at multiple displacement measuring points. Number the multiple Beidou positioning modules 32 of the multiple dam displacement sensing devices as BDS1, BDS2, ..., BDSn; and number the multiple laser displacement sensors 25 as CMOS1, CMOS2, ..., CMOSn, where n is the number of dam displacement sensing devices.

[0050] Step 2: Every set time interval, the superconducting displacement detection controller 4 communicates with the measuring point displacement sensing unit to exchange the current Beidou positioning data. Based on the Beidou positioning data of the previous time point, it calculates whether displacement has occurred and the direction of displacement. If displacement is determined to have occurred, the direction of displacement is calculated, and according to the direction of displacement, the rotating part of the servo rotating device 1 is controlled to rotate so that the low magnetic levitation straight track 23 of the low temperature superconducting magnetic levitation displacement detection device 2 is parallel to the direction of displacement.

[0051] Step 3: After the servo rotating device 1 has finished rotating and adjusting, the displacement monitoring center server 100 calculates the displacement monitoring value of the current displacement measuring point based on the difference between the initial displacement data of the laser displacement sensor 25 and the displacement data at the current time point. Combined with the displacement orientation in step 2, it outputs a high-precision displacement monitoring value composed of the displacement orientation data and displacement monitoring value of the previous displacement measuring point.

[0052] By using different dam displacement sensing devices to monitor the lateral displacement of multiple measuring points, high-precision monitoring of different lateral displacements at different locations of the dam can be achieved, providing more accurate displacement data for the deformation analysis of the entire dam.

[0053] The following specific dam monitoring examples illustrate the implementation principle of the high-precision dam deformation monitoring equipment and method based on the BeiDou satellite system:

[0054] The plane control network is an independent coordinate system for a target dam.

[0055] The horizontal displacement monitoring benchmark network of the dam consists of seven points: horizontal displacement monitoring points TN01~TN04 in the hub area and dam monitoring benchmarks LT01B, LT05, LT08B, etc. It is an equilateral triangle network, with TN01~TN04 as the starting benchmark.

[0056] Seven dam displacement sensing devices were set up at seven displacement measuring points. The multiple Beidou positioning modules 32 of the multiple dam displacement sensing devices were numbered as BDS1, BDS2, ..., BDS7; and the multiple laser displacement sensors 25 were numbered as CMOS1, CMOS2, ..., CMOS7.

[0057] Every 5-10 seconds, the superconducting displacement detection controller 4 communicates with the displacement sensing unit at the measuring point to exchange the current BeiDou positioning data.

[0058] At a certain point in time, based on the BeiDou positioning data of the previous point in time, it is calculated whether displacement and displacement direction have occurred. It is determined that BDS2 has displacement, and the displacement direction is calculated to be due east. The rotating part of the servo rotating device 1 is controlled to rotate so that the low magnetic levitation straight track 23 of the low temperature superconducting magnetic levitation displacement detection device 2 is parallel to the direction of displacement.

[0059] After the servo rotation device 1 completes its rotation adjustment, the displacement monitoring center server 100 calculates the displacement monitoring value of the current displacement measuring point based on the difference between the initial displacement data of the laser displacement sensor 25 and the displacement data at the current time point. The initial position distance is 250.052 mm, and the current position distance is 251.558 mm.

[0060] The displacement monitoring center server 100 calculated the displacement as 251.55mm - 250.05mm = 1.506mm. Combined with the displacement orientation, the high-precision displacement monitoring value, composed of the displacement orientation data of the previous displacement measuring point and the displacement monitoring value, was output. The value showed that measuring point 2 had a lateral displacement of 1.506mm to the east. After continuous monitoring, after 24 hours, measuring point 2 had a total lateral displacement of 3.506mm to the east, which posed a significant risk of deformation and required on-site personnel to handle the situation.

[0061] The above are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A high-precision deformation monitoring equipment for dams based on the BeiDou satellite system, characterized in that: The system includes multiple dam displacement sensing devices based on low-temperature superconducting magnetic levitation and a displacement monitoring center server (100). The multiple dam displacement sensing devices are respectively arranged at multiple displacement measuring points of the target dam. The dam displacement sensing devices include a servo rotating device (1), a low-temperature superconducting magnetic levitation displacement detection device (2), a measuring point displacement sensing unit based on Beidou satellite positioning, and a chip-based superconducting displacement detection controller (4). The base of the servo rotating device (1) is detachably installed at the displacement measuring point, and the bottom of the low-temperature superconducting magnetic levitation displacement detection device (2) is detachably installed on the rotating part of the servo rotating device (1). On the top surface of the rotating part, the measuring point displacement sensing unit is installed in the center of the top surface of the low-temperature superconducting magnetic levitation displacement detection device (2) to sense whether displacement occurs and the direction of displacement. The superconducting displacement detection controller (4) is connected to the measuring point displacement sensing unit to exchange signal data on whether displacement occurs and the direction of displacement, and controls the rotating part of the servo rotating device (1) to rotate, so that the magnetic levitation linear track (23) of the low-temperature superconducting magnetic levitation displacement detection device (2) is parallel to the direction of displacement. The displacement detection result of the low-temperature superconducting magnetic levitation displacement detection device (2) is connected to the displacement monitoring center server (100) for communication.

2. The high-precision deformation monitoring equipment for dams based on BeiDou satellites according to claim 1, characterized in that: The low-temperature superconducting magnetic levitation displacement detection device (2) includes a sealed heat-insulating box (21), a magnetic levitation linear track (23), a superconducting levitation cube (24), a low-temperature vacuum maintaining device, and at least one laser displacement sensor (25). The bottom of the sealed heat-insulating box (21) is detachably mounted on the rotating part of the servo rotating device (1). The bottom of the magnetic levitation linear track (23) is mounted on the bottom of the inner wall of the sealed heat-insulating box (21). The superconducting levitation cube (24) is suspended above the magnetic levitation linear track (23) and located at the center of the internal space of the sealed heat-insulating box (21). The four sides of the superconducting levitation block (24) are parallel to the four sides of the sealed heat insulation box (21). The laser displacement sensor (25) is installed on the sealed heat insulation box (21), with the sensor head facing one side of the superconducting levitation block (24). The data output terminal of the laser displacement sensor (25) is connected to the displacement monitoring center server (100). The low-temperature vacuum maintenance device is installed on the outer wall of the sealed heat insulation box (21) to maintain the vacuum degree of the sealed heat insulation box (21) at a high vacuum degree and the temperature at the lowest superconducting temperature of the superconducting levitation block (24).

3. The high-precision deformation monitoring equipment for dams based on BeiDou satellites according to claim 2, characterized in that: The sealed heat insulation box (21) includes an outer heat insulation layer, an intermediate liquid nitrogen circulation space and a heat-conducting inner layer. The outer heat insulation layer is provided with a pair of liquid nitrogen circulation suction ports and a vacuum suction port that penetrates the intermediate liquid nitrogen circulation space and the heat-conducting inner layer. A displacement sensor mounting cavity is provided in the middle of the outer heat insulation layer, the intermediate liquid nitrogen circulation space and the heat-conducting inner layer. A sealed transparent plate is provided on the side of the displacement sensor mounting cavity near the heat-conducting inner layer. The laser displacement sensor (25) is installed in the displacement sensor mounting cavity with the sensing head facing the sealed transparent plate.

4. The high-precision deformation monitoring equipment for dams based on BeiDou satellites according to claim 3, characterized in that: The cryogenic vacuum maintenance device includes a vacuum pump (261) and a liquid nitrogen circulation device (262). The suction port of the vacuum pump (261) is connected to the vacuum suction port through a pipe. The circulation input and output ports of the liquid nitrogen circulation device (262) are respectively connected to a pair of liquid nitrogen circulation suction ports to inject liquid nitrogen into the intermediate liquid nitrogen circulation space.

5. The high-precision deformation monitoring equipment for dams based on BeiDou satellites according to claim 4, characterized in that: The magnetic levitation linear track (23) is composed of two rows of magnets arranged at equal intervals.

6. The high-precision deformation monitoring equipment for dams based on BeiDou satellites according to claim 5, characterized in that: The superconducting levitation cube (24) is made of iron-based or mercury-based superconductors.

7. The high-precision deformation monitoring equipment for dams based on BeiDou satellites according to claim 6, characterized in that: The displacement sensing unit includes an outer box (31) and a Beidou positioning module (32). The bottom of the outer box (31) is detachably installed at the top center of the sealed heat-insulating box (21). The Beidou positioning module (32) is detachably installed on the upper surface of the outer box (31). The Beidou positioning module (32) is wirelessly connected to the superconducting displacement detection controller (4) and the displacement monitoring center server (100) to exchange positioning data. The superconducting displacement detection controller (4) controls the execution action of the servo rotation device (1) according to the positioning data of the Beidou positioning module (32).

8. The high-precision deformation monitoring equipment for dams based on BeiDou satellites according to claim 7, characterized in that: The superconducting displacement detection controller (4) includes a wireless communication module (41), a memory (42) and a main control chip (43). The wireless communication module (41) wirelessly connects with the Beidou positioning module (32) to exchange positioning data and stores it in the memory (42). The main control chip (43) controls the servo rotation device (1) to perform actions according to the changes in positioning data.

9. A high-precision deformation monitoring method for dams based on BeiDou satellites, characterized in that: The high-precision deformation monitoring equipment for dams based on the BeiDou satellite as described in claim 8 is used to monitor the displacement of multiple displacement measuring points of a target dam, comprising the following steps: Step 1: Arrange multiple dam displacement sensing devices at multiple displacement measuring points respectively, and number the multiple Beidou positioning modules (32) of the multiple dam displacement sensing devices as BDS1, BDS2, ..., BDSn respectively; number the multiple laser displacement sensors (25) as CMOS1, CMOS2, ..., CMOSn respectively, where n is the number of dam displacement sensing devices; Step 2: Every set time interval, the superconducting displacement detection controller (4) communicates with the measuring point displacement sensing unit to exchange the current Beidou positioning data. Based on the Beidou positioning data of the previous time point, it calculates whether displacement and displacement direction have occurred. If displacement is determined to have occurred, the displacement direction is calculated, and according to the displacement direction, the rotating part of the servo rotating device (1) is controlled to rotate so that the low magnetic levitation straight track (23) of the low temperature superconducting magnetic levitation displacement detection device (2) is parallel to the direction of displacement. Step 3: After the servo rotating device (1) has finished rotating and adjusting, the displacement monitoring center server (100) calculates the displacement monitoring value of the current displacement measuring point based on the difference between the initial displacement data of the laser displacement sensor (25) and the displacement data at the current time point. Combined with the displacement orientation in step 2, it outputs a high-precision displacement monitoring value composed of the displacement orientation data and displacement monitoring value of the previous displacement measuring point.

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